2025-01-09T00:37:51.400Z,1736383071.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534691
2025-01-09T00:37:51.453Z,1736383071.453 [CommandExec](IMPORTANT): got command restart logs
2025-01-09T00:37:51.653Z,1736383071.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787914
2025-01-09T00:37:51.767Z,1736383071.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:51.791Z,1736383071.791 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-01-09T00:37:51.791Z,1736383071.791 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-01-09T00:37:51.904Z,1736383071.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038929
2025-01-09T00:37:52.156Z,1736383072.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290859
2025-01-09T00:37:52.189Z,1736383072.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:52.408Z,1736383072.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542894
2025-01-09T00:37:52.568Z,1736383072.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:52.661Z,1736383072.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795962
2025-01-09T00:37:52.912Z,1736383072.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046864
2025-01-09T00:37:53.020Z,1736383073.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T00:37:53.021Z,1736383073.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:53.164Z,1736383073.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298849
2025-01-09T00:37:53.416Z,1736383073.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550870
2025-01-09T00:37:53.502Z,1736383073.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T00:37:53.502Z,1736383073.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:53.669Z,1736383073.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803623
2025-01-09T00:37:53.868Z,1736383073.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s.
2025-01-09T00:37:53.869Z,1736383073.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:53.921Z,1736383073.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055151
2025-01-09T00:37:54.172Z,1736383074.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306909
2025-01-09T00:37:54.267Z,1736383074.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s.
2025-01-09T00:37:54.268Z,1736383074.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:54.424Z,1736383074.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558820
2025-01-09T00:37:54.677Z,1736383074.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811881
2025-01-09T00:37:54.802Z,1736383074.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:54.928Z,1736383074.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062994
2025-01-09T00:37:55.121Z,1736383075.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:55.180Z,1736383075.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314829
2025-01-09T00:37:55.432Z,1736383075.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566812
2025-01-09T00:37:55.489Z,1736383075.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:55.685Z,1736383075.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819604
2025-01-09T00:37:55.891Z,1736383075.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:55.936Z,1736383075.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070768
2025-01-09T00:37:56.189Z,1736383076.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323234
2025-01-09T00:37:56.287Z,1736383076.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:56.440Z,1736383076.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574976
2025-01-09T00:37:56.692Z,1736383076.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826740
2025-01-09T00:37:56.782Z,1736383076.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:56.945Z,1736383076.945 [DAT](INFO): Reached modem response timeout
2025-01-09T00:37:57.140Z,1736383077.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:57.515Z,1736383077.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:57.701Z,1736383077.701 [DAT](INFO): DAT read: Response Not Received

2025-01-09T00:37:57.701Z,1736383077.701 [DAT](INFO): response not received
2025-01-09T00:37:57.701Z,1736383077.701 [DAT](ERROR): No response from remote modem.
2025-01-09T00:37:57.918Z,1736383077.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:58.321Z,1736383078.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:58.791Z,1736383078.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:59.140Z,1736383079.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:59.520Z,1736383079.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:37:59.940Z,1736383079.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:00.339Z,1736383080.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:00.755Z,1736383080.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:01.161Z,1736383081.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:01.554Z,1736383081.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:01.944Z,1736383081.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:02.349Z,1736383082.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:02.780Z,1736383082.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:03.138Z,1736383083.138 [NAL9602](INFO): SBD MO Status=0, MOMSN=46757, MT Status=0, MTMSN=0
2025-01-09T00:38:03.138Z,1736383083.138 [NAL9602](INFO): No messages in MT queue
2025-01-09T00:38:03.159Z,1736383083.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:03.575Z,1736383083.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:03.971Z,1736383083.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:04.368Z,1736383084.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:04.811Z,1736383084.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:05.165Z,1736383085.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:05.581Z,1736383085.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:05.988Z,1736383085.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:06.388Z,1736383086.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:06.870Z,1736383086.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:07.208Z,1736383087.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:07.615Z,1736383087.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:08.021Z,1736383088.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:08.436Z,1736383088.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:08.864Z,1736383088.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:09.224Z,1736383089.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:09.629Z,1736383089.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:10.066Z,1736383090.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:10.509Z,1736383090.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:11.096Z,1736383091.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:11.463Z,1736383091.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:11.848Z,1736383091.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:12.271Z,1736383092.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:12.892Z,1736383092.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:13.326Z,1736383093.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:13.745Z,1736383093.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:14.121Z,1736383094.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:14.528Z,1736383094.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:15.232Z,1736383095.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:15.592Z,1736383095.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:15.990Z,1736383095.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:16.407Z,1736383096.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:16.842Z,1736383096.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:17.193Z,1736383097.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:17.585Z,1736383097.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:18.041Z,1736383098.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:18.438Z,1736383098.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:18.967Z,1736383098.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:19.258Z,1736383099.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:19.636Z,1736383099.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:20.021Z,1736383100.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:20.453Z,1736383100.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:20.940Z,1736383100.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:21.301Z,1736383101.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:21.701Z,1736383101.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:22.044Z,1736383102.044 [DataOverHttps](INFO): Sending 436 bytes from file Logs/20250109T001009/Express0010.lzma
2025-01-09T00:38:22.088Z,1736383102.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:22.503Z,1736383102.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:23.035Z,1736383103.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:23.046Z,1736383103.046 [DataOverHttps](INFO): Moved sent file to Logs/20250109T001009/Express0010.lzma.bak
2025-01-09T00:38:23.047Z,1736383103.047 [DataOverHttps](INFO): SBD MOMSN=23886728
2025-01-09T00:38:23.317Z,1736383103.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:23.739Z,1736383103.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:24.048Z,1736383104.048 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:38:24.125Z,1736383104.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:24.538Z,1736383104.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:25.016Z,1736383105.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:25.326Z,1736383105.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:25.736Z,1736383105.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:26.176Z,1736383106.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:26.674Z,1736383106.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:27.054Z,1736383107.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:38:27.055Z,1736383107.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:27.415Z,1736383107.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.7 s old, using for 20.0 s.
2025-01-09T00:38:27.415Z,1736383107.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:27.882Z,1736383107.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:38:27.882Z,1736383107.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:28.286Z,1736383108.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:38:28.287Z,1736383108.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:28.965Z,1736383108.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.3 s old, using for 20.0 s.
2025-01-09T00:38:28.965Z,1736383108.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:29.306Z,1736383109.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.6 s old, using for 20.0 s.
2025-01-09T00:38:29.306Z,1736383109.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:29.840Z,1736383109.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T00:38:29.840Z,1736383109.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:30.215Z,1736383110.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.5 s old, using for 20.0 s.
2025-01-09T00:38:30.215Z,1736383110.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:30.688Z,1736383110.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T00:38:30.688Z,1736383110.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:31.312Z,1736383111.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s.
2025-01-09T00:38:31.312Z,1736383111.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:31.842Z,1736383111.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T00:38:31.842Z,1736383111.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:32.184Z,1736383112.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.5 s old, using for 20.0 s.
2025-01-09T00:38:32.184Z,1736383112.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:32.601Z,1736383112.601 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T00:38:32.635Z,1736383112.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s.
2025-01-09T00:38:32.647Z,1736383112.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:33.037Z,1736383113.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.4 s old, using for 20.0 s.
2025-01-09T00:38:33.037Z,1736383113.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:33.388Z,1736383113.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.7 s old, using for 20.0 s.
2025-01-09T00:38:33.388Z,1736383113.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:33.760Z,1736383113.760 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-09T00:38:33.781Z,1736383113.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.1 s old, using for 20.0 s.
2025-01-09T00:38:33.781Z,1736383113.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:34.188Z,1736383114.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.5 s old, using for 20.0 s.
2025-01-09T00:38:34.188Z,1736383114.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:34.652Z,1736383114.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.0 s old, using for 20.0 s.
2025-01-09T00:38:34.652Z,1736383114.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:35.064Z,1736383115.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.4 s old, using for 20.0 s.
2025-01-09T00:38:35.064Z,1736383115.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:35.401Z,1736383115.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.7 s old, using for 20.0 s.
2025-01-09T00:38:35.401Z,1736383115.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:35.794Z,1736383115.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.1 s old, using for 20.0 s.
2025-01-09T00:38:35.794Z,1736383115.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:36.192Z,1736383116.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.5 s old, using for 20.0 s.
2025-01-09T00:38:36.192Z,1736383116.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:36.657Z,1736383116.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.0 s old, using for 20.0 s.
2025-01-09T00:38:36.657Z,1736383116.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:37.029Z,1736383117.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:37.401Z,1736383117.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:37.814Z,1736383117.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:38.216Z,1736383118.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:38.703Z,1736383118.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:39.021Z,1736383119.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:39.421Z,1736383119.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:39.841Z,1736383119.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:40.228Z,1736383120.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:40.705Z,1736383120.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:41.059Z,1736383121.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:41.451Z,1736383121.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:41.842Z,1736383121.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:42.249Z,1736383122.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:42.709Z,1736383122.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:43.059Z,1736383123.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:43.465Z,1736383123.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:43.865Z,1736383123.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:44.279Z,1736383124.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:44.718Z,1736383124.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:45.085Z,1736383125.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:45.497Z,1736383125.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:45.886Z,1736383125.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:46.334Z,1736383126.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:46.725Z,1736383126.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:46.733Z,1736383126.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:38:46.934Z,1736383126.934 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:38:46.934Z,1736383126.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:38:47.103Z,1736383127.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:47.184Z,1736383127.184 [DAT](INFO): DAT read: 

2025-01-09T00:38:47.185Z,1736383127.185 [DAT](INFO): DAT read: Tx time:00:38:46.3773

2025-01-09T00:38:47.185Z,1736383127.185 [DAT](INFO): Ping request sent.
2025-01-09T00:38:47.185Z,1736383127.185 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:38:47.186Z,1736383127.186 [DAT](INFO): DAT read: TxSync time:00:38:46.3765

2025-01-09T00:38:47.186Z,1736383127.186 [DAT](INFO): publishing transmit ping time
2025-01-09T00:38:47.187Z,1736383127.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001528
2025-01-09T00:38:47.436Z,1736383127.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250895
2025-01-09T00:38:47.513Z,1736383127.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:47.688Z,1736383127.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503034
2025-01-09T00:38:47.919Z,1736383127.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:47.943Z,1736383127.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757228
2025-01-09T00:38:48.192Z,1736383128.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006937
2025-01-09T00:38:48.316Z,1736383128.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:48.445Z,1736383128.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259777
2025-01-09T00:38:48.697Z,1736383128.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511254
2025-01-09T00:38:48.768Z,1736383128.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:48.949Z,1736383128.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763620
2025-01-09T00:38:49.130Z,1736383129.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:49.201Z,1736383129.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015270
2025-01-09T00:38:49.452Z,1736383129.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267007
2025-01-09T00:38:49.523Z,1736383129.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:49.704Z,1736383129.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518940
2025-01-09T00:38:49.950Z,1736383129.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:49.957Z,1736383129.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771398
2025-01-09T00:38:50.208Z,1736383130.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023010
2025-01-09T00:38:50.336Z,1736383130.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:50.461Z,1736383130.461 [DAT](INFO): DAT read: Rx Time:00:38:49.2750

2025-01-09T00:38:50.461Z,1736383130.461 [DAT](INFO): Rx dataTimestamp_ set to:1736383130.461170
2025-01-09T00:38:50.462Z,1736383130.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276727
2025-01-09T00:38:50.712Z,1736383130.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526926
2025-01-09T00:38:50.805Z,1736383130.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:50.982Z,1736383130.982 [DAT](INFO): DAT read: 00:38:49.2750 LVL= 13776, 22337, 13922, 18499, AGC= 62, IDX= 298, 0.02, 2.346, 1.163, 2.520, 1.554, PHS= 0.880,-0.344, 0.963, RAW= 153.3, -22.7, CAL= 157.8, -29.3, ROT= 352.2,  29.3

2025-01-09T00:38:50.987Z,1736383130.987 [DAT](INFO): got valid direction response:
 00:38:49.2750 LVL= 13776, 22337, 13922, 18499, AGC= 62, IDX= 298, 0.02, 2.346, 1.163, 2.520, 1.554, PHS= 0.880,-0.344, 0.963, RAW= 153.3, -22.7, CAL= 157.8, -29.3, ROT= 352.2,  29.3

2025-01-09T00:38:51.002Z,1736383131.002 [DAT](INFO): DAT read: Range 10 to 50 : 370.1 m  (Round-trip  493.5 ms) speed  0.0 m/s

2025-01-09T00:38:51.004Z,1736383131.004 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:38:51.021Z,1736383131.021 [DAT](INFO): direction in FSK: [0.864001,-0.118353,-0.489382]
2025-01-09T00:38:51.021Z,1736383131.021 [DAT](INFO): publishing direction and range info
2025-01-09T00:38:51.150Z,1736383131.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:51.544Z,1736383131.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:51.948Z,1736383131.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:52.376Z,1736383132.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:52.786Z,1736383132.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:53.170Z,1736383133.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:53.565Z,1736383133.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:53.995Z,1736383133.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:54.379Z,1736383134.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:54.814Z,1736383134.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:55.192Z,1736383135.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:55.585Z,1736383135.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:55.000Z,1736383136.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:56.025Z,1736383136.025 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:38:56.405Z,1736383136.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:56.817Z,1736383136.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:57.202Z,1736383137.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:57.603Z,1736383137.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:58.017Z,1736383138.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:58.412Z,1736383138.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:58.837Z,1736383138.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:59.222Z,1736383139.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:38:59.629Z,1736383139.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:00.032Z,1736383140.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:00.439Z,1736383140.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:00.873Z,1736383140.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:01.246Z,1736383141.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:01.647Z,1736383141.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:02.119Z,1736383142.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:02.471Z,1736383142.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:02.931Z,1736383142.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:03.268Z,1736383143.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:03.689Z,1736383143.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:04.072Z,1736383144.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:04.473Z,1736383144.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:04.896Z,1736383144.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:05.290Z,1736383145.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:05.698Z,1736383145.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:06.096Z,1736383146.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:06.496Z,1736383146.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:06.932Z,1736383146.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:07.337Z,1736383147.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:07.717Z,1736383147.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:08.140Z,1736383148.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:08.517Z,1736383148.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:08.938Z,1736383148.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:09.333Z,1736383149.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:09.738Z,1736383149.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:10.159Z,1736383150.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:10.533Z,1736383150.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:10.963Z,1736383150.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:11.343Z,1736383151.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:11.749Z,1736383151.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:12.157Z,1736383152.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:12.563Z,1736383152.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:13.010Z,1736383153.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:13.359Z,1736383153.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:13.764Z,1736383153.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:14.176Z,1736383154.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:14.609Z,1736383154.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:15.006Z,1736383155.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:15.391Z,1736383155.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:15.791Z,1736383155.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:16.205Z,1736383156.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:16.640Z,1736383156.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:17.032Z,1736383157.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:17.407Z,1736383157.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:17.834Z,1736383157.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:18.237Z,1736383158.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:18.686Z,1736383158.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:19.041Z,1736383159.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:19.436Z,1736383159.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:19.846Z,1736383159.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:20.249Z,1736383160.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:20.703Z,1736383160.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:21.042Z,1736383161.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:21.444Z,1736383161.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:21.842Z,1736383161.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:22.252Z,1736383162.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:22.718Z,1736383162.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:23.073Z,1736383163.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:23.136Z,1736383163.136 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.090034
2025-01-09T00:39:23.470Z,1736383163.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:23.502Z,1736383163.502 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-09T00:39:23.502Z,1736383163.502 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-01-09T00:39:23.502Z,1736383163.502 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-01-09T00:39:23.502Z,1736383163.502 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-09T00:39:23.502Z,1736383163.502 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-01-09T00:39:23.502Z,1736383163.502 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-09T00:39:23.507Z,1736383163.507 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-09T00:39:23.868Z,1736383163.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:23.876Z,1736383163.876 [lineCaptureHoming:MicromodemComms] Stopped
2025-01-09T00:39:23.876Z,1736383163.876 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-01-09T00:39:23.876Z,1736383163.876 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-01-09T00:39:23.876Z,1736383163.876 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-09T00:39:23.876Z,1736383163.876 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-01-09T00:39:24.140Z,1736383164.140 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:39:24.274Z,1736383164.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:24.282Z,1736383164.282 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-09T00:39:24.282Z,1736383164.282 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-01-09T00:39:24.282Z,1736383164.282 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-01-09T00:39:24.283Z,1736383164.283 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-09T00:39:24.283Z,1736383164.283 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-01-09T00:39:24.727Z,1736383164.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:25.081Z,1736383165.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:25.489Z,1736383165.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:25.893Z,1736383165.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:26.292Z,1736383166.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:26.735Z,1736383166.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:27.092Z,1736383167.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:27.507Z,1736383167.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:27.904Z,1736383167.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:28.317Z,1736383168.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:28.736Z,1736383168.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:29.133Z,1736383169.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:29.523Z,1736383169.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:29.925Z,1736383169.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:30.340Z,1736383170.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:30.769Z,1736383170.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:31.140Z,1736383171.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:31.541Z,1736383171.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:31.953Z,1736383171.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:32.361Z,1736383172.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:32.787Z,1736383172.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:33.165Z,1736383173.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:33.589Z,1736383173.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:33.974Z,1736383173.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:34.371Z,1736383174.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:34.816Z,1736383174.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:35.180Z,1736383175.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:35.593Z,1736383175.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:35.987Z,1736383175.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:36.416Z,1736383176.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:36.829Z,1736383176.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:37.201Z,1736383177.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:37.606Z,1736383177.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:38.034Z,1736383178.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:38.422Z,1736383178.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:38.747Z,1736383178.747 [Radio_Surface](INFO): Powering down
2025-01-09T00:39:38.850Z,1736383178.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:39.220Z,1736383179.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:39.641Z,1736383179.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:40.031Z,1736383180.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:40.432Z,1736383180.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:40.869Z,1736383180.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:41.242Z,1736383181.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:41.650Z,1736383181.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:42.044Z,1736383182.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:42.453Z,1736383182.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:42.896Z,1736383182.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:43.276Z,1736383183.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:43.680Z,1736383183.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:44.068Z,1736383184.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:44.488Z,1736383184.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:44.936Z,1736383184.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:45.284Z,1736383185.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:45.692Z,1736383185.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:46.135Z,1736383186.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:46.503Z,1736383186.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:46.926Z,1736383186.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:46.934Z,1736383186.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:39:46.940Z,1736383186.940 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:39:46.940Z,1736383186.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:39:47.192Z,1736383187.192 [DAT](INFO): DAT read: user:3664>

2025-01-09T00:39:47.193Z,1736383187.193 [DAT](INFO): DAT read: Tx time:00:39:46.3778

2025-01-09T00:39:47.193Z,1736383187.193 [DAT](INFO): Ping request sent.
2025-01-09T00:39:47.193Z,1736383187.193 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:39:47.194Z,1736383187.194 [DAT](INFO): DAT read: TxSync time:00:39:46.3770

2025-01-09T00:39:47.195Z,1736383187.195 [DAT](INFO): publishing transmit ping time
2025-01-09T00:39:47.196Z,1736383187.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002560
2025-01-09T00:39:47.308Z,1736383187.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:47.446Z,1736383187.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252172
2025-01-09T00:39:47.697Z,1736383187.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503364
2025-01-09T00:39:47.707Z,1736383187.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:47.948Z,1736383187.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754773
2025-01-09T00:39:48.117Z,1736383188.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:48.200Z,1736383188.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006911
2025-01-09T00:39:48.452Z,1736383188.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258778
2025-01-09T00:39:48.508Z,1736383188.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:48.707Z,1736383188.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513444
2025-01-09T00:39:48.953Z,1736383188.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:48.960Z,1736383188.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767077
2025-01-09T00:39:49.213Z,1736383189.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019579
2025-01-09T00:39:49.336Z,1736383189.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:49.464Z,1736383189.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270720
2025-01-09T00:39:49.716Z,1736383189.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522923
2025-01-09T00:39:49.736Z,1736383189.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:49.968Z,1736383189.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774865
2025-01-09T00:39:50.134Z,1736383190.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:50.223Z,1736383190.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029579
2025-01-09T00:39:50.473Z,1736383190.473 [DAT](INFO): DAT read: Rx Time:00:39:49.2356

2025-01-09T00:39:50.473Z,1736383190.473 [DAT](INFO): Rx dataTimestamp_ set to:1736383190.472768
2025-01-09T00:39:50.474Z,1736383190.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280183
2025-01-09T00:39:50.573Z,1736383190.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:50.727Z,1736383190.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533297
2025-01-09T00:39:50.996Z,1736383190.996 [DAT](INFO): DAT read: 00:39:49.2356 LVL= 28912, 32657, 31154, 32755, AGC= 66, IDX=  34, 0.03, 0.144,-1.294,-0.733,-0.742, PHS= 0.973,-0.506, 0.006, RAW= 109.9,  -7.3, CAL= 114.6, -20.1, ROT=  35.4,  20.1

2025-01-09T00:39:50.997Z,1736383190.997 [DAT](INFO): got valid direction response:
 00:39:49.2356 LVL= 28912, 32657, 31154, 32755, AGC= 66, IDX=  34, 0.03, 0.144,-1.294,-0.733,-0.742, PHS= 0.973,-0.506, 0.006, RAW= 109.9,  -7.3, CAL= 114.6, -20.1, ROT=  35.4,  20.1

2025-01-09T00:39:50.998Z,1736383190.998 [DAT](INFO): DAT read: Bearing  35.4,  20.1 (Local)

2025-01-09T00:39:50.998Z,1736383190.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.4,  20.1 (Local)

2025-01-09T00:39:50.000Z,1736383191.000 [DAT](INFO): DAT read: Range 10 to 50 : 340.2 m  (Round-trip  453.7 ms) speed  0.1 m/s

2025-01-09T00:39:51.000Z,1736383191.000 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:39:51.001Z,1736383191.001 [DAT](INFO): direction in FSK: [0.765482,0.544000,-0.343660]
2025-01-09T00:39:51.001Z,1736383191.001 [DAT](INFO): publishing direction and range info
2025-01-09T00:39:51.074Z,1736383191.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:51.364Z,1736383191.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:51.744Z,1736383191.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:52.164Z,1736383192.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:52.553Z,1736383192.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:53.028Z,1736383193.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:53.281Z,1736383193.281 [CTD_Seabird](ERROR): Failed to parse device response: 25.25,,3.88494,9526.16
2025-01-09T00:39:53.362Z,1736383193.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:53.762Z,1736383193.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:54.169Z,1736383194.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:54.260Z,1736383194.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:39:54.588Z,1736383194.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:54.970Z,1736383194.970 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-09T00:39:55.018Z,1736383195.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:55.265Z,1736383195.265 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-09T00:39:55.265Z,1736383195.265 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:39:55.385Z,1736383195.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:55.783Z,1736383195.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:56.232Z,1736383196.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:56.647Z,1736383196.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:57.026Z,1736383197.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:57.400Z,1736383197.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:57.829Z,1736383197.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:58.222Z,1736383198.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:58.702Z,1736383198.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:59.015Z,1736383199.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:59.427Z,1736383199.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:39:59.828Z,1736383199.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:00.229Z,1736383200.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:00.704Z,1736383200.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:01.043Z,1736383201.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:01.440Z,1736383201.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:01.847Z,1736383201.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:02.263Z,1736383202.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:02.717Z,1736383202.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:03.057Z,1736383203.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:03.466Z,1736383203.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:03.864Z,1736383203.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:04.276Z,1736383204.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:04.709Z,1736383204.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:05.093Z,1736383205.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:05.484Z,1736383205.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:05.890Z,1736383205.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:06.321Z,1736383206.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:06.730Z,1736383206.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:07.093Z,1736383207.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:07.513Z,1736383207.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:07.902Z,1736383207.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:08.312Z,1736383208.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:08.737Z,1736383208.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:09.119Z,1736383209.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:09.536Z,1736383209.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:09.950Z,1736383209.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:10.326Z,1736383210.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:10.760Z,1736383210.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:11.136Z,1736383211.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:11.555Z,1736383211.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:11.966Z,1736383211.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:12.348Z,1736383212.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:12.770Z,1736383212.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:13.169Z,1736383213.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:13.568Z,1736383213.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:13.961Z,1736383213.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:14.371Z,1736383214.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:14.807Z,1736383214.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:15.175Z,1736383215.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:15.575Z,1736383215.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:15.989Z,1736383215.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:16.419Z,1736383216.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:16.816Z,1736383216.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:17.197Z,1736383217.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:17.614Z,1736383217.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:18.010Z,1736383218.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:18.425Z,1736383218.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:18.841Z,1736383218.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:19.224Z,1736383219.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:19.624Z,1736383219.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:20.040Z,1736383220.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:20.427Z,1736383220.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:20.916Z,1736383220.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:21.242Z,1736383221.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:21.653Z,1736383221.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:22.048Z,1736383222.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:22.450Z,1736383222.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:22.875Z,1736383222.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:23.268Z,1736383223.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:23.685Z,1736383223.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:24.064Z,1736383224.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:24.477Z,1736383224.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:24.897Z,1736383224.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:25.275Z,1736383225.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:25.388Z,1736383225.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:40:25.695Z,1736383225.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:26.089Z,1736383226.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:26.392Z,1736383226.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:40:26.503Z,1736383226.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:26.924Z,1736383226.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:27.300Z,1736383227.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:27.709Z,1736383227.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:28.107Z,1736383228.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:28.516Z,1736383228.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:28.964Z,1736383228.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:29.334Z,1736383229.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:29.741Z,1736383229.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:30.127Z,1736383230.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:30.530Z,1736383230.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:30.956Z,1736383230.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:31.336Z,1736383231.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:31.742Z,1736383231.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:32.148Z,1736383232.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:32.590Z,1736383232.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:32.953Z,1736383232.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:33.363Z,1736383233.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:33.796Z,1736383233.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:34.186Z,1736383234.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:34.588Z,1736383234.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:34.976Z,1736383234.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:35.387Z,1736383235.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:35.810Z,1736383235.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:36.192Z,1736383236.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:36.659Z,1736383236.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:36.990Z,1736383236.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:37.419Z,1736383237.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:37.846Z,1736383237.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:38.205Z,1736383238.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:38.641Z,1736383238.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:39.040Z,1736383239.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:39.418Z,1736383239.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:39.852Z,1736383239.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:40.232Z,1736383240.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:40.679Z,1736383240.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:41.031Z,1736383241.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:41.439Z,1736383241.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:41.880Z,1736383241.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:42.243Z,1736383242.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:42.710Z,1736383242.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:43.077Z,1736383243.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:43.471Z,1736383243.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:43.922Z,1736383243.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:44.265Z,1736383244.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:44.738Z,1736383244.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:45.093Z,1736383245.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:45.506Z,1736383245.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:45.936Z,1736383245.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:46.292Z,1736383246.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:46.755Z,1736383246.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:47.099Z,1736383247.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:47.122Z,1736383247.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:40:47.224Z,1736383247.224 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:40:47.224Z,1736383247.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:40:47.477Z,1736383247.477 [DAT](INFO): DAT read: user:3665>

2025-01-09T00:40:47.478Z,1736383247.478 [DAT](INFO): DAT read: Tx time:00:40:46.6783

2025-01-09T00:40:47.479Z,1736383247.479 [DAT](INFO): Ping request sent.
2025-01-09T00:40:47.479Z,1736383247.479 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:40:47.479Z,1736383247.479 [DAT](INFO): publishing transmit ping time
2025-01-09T00:40:47.480Z,1736383247.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001345
2025-01-09T00:40:47.508Z,1736383247.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:47.732Z,1736383247.732 [DAT](INFO): DAT read: TxSync time:00:40:46.6775

2025-01-09T00:40:47.735Z,1736383247.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255955
2025-01-09T00:40:47.928Z,1736383247.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:47.982Z,1736383247.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503043
2025-01-09T00:40:48.232Z,1736383248.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753699
2025-01-09T00:40:48.318Z,1736383248.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:48.484Z,1736383248.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005762
2025-01-09T00:40:48.739Z,1736383248.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259984
2025-01-09T00:40:48.803Z,1736383248.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:48.988Z,1736383248.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509843
2025-01-09T00:40:49.130Z,1736383249.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:49.240Z,1736383249.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761679
2025-01-09T00:40:49.492Z,1736383249.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013571
2025-01-09T00:40:49.543Z,1736383249.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:49.748Z,1736383249.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269155
2025-01-09T00:40:49.961Z,1736383249.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:49.997Z,1736383249.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518224
2025-01-09T00:40:50.248Z,1736383250.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769575
2025-01-09T00:40:50.324Z,1736383250.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:50.500Z,1736383250.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021661
2025-01-09T00:40:50.756Z,1736383250.756 [DAT](INFO): DAT read: Rx Time:00:40:49.5130

2025-01-09T00:40:50.757Z,1736383250.757 [DAT](INFO): Rx dataTimestamp_ set to:1736383250.756426
2025-01-09T00:40:50.762Z,1736383250.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280416
2025-01-09T00:40:50.833Z,1736383250.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:51.004Z,1736383251.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525615
2025-01-09T00:40:51.148Z,1736383251.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:51.262Z,1736383251.262 [DAT](INFO): DAT read: 00:40:49.5130 LVL= 14560, 24945, 18498, 27523, AGC= 64, IDX= 198,-0.01, 1.326,-0.113,-0.646, 0.122, PHS= 1.292,-0.189,-0.771, RAW=  74.1,  -3.6, CAL=  81.7,  -9.5, ROT=  68.3,   9.5

2025-01-09T00:40:51.264Z,1736383251.264 [DAT](INFO): got valid direction response:
 00:40:49.5130 LVL= 14560, 24945, 18498, 27523, AGC= 64, IDX= 198,-0.01, 1.326,-0.113,-0.646, 0.122, PHS= 1.292,-0.189,-0.771, RAW=  74.1,  -3.6, CAL=  81.7,  -9.5, ROT=  68.3,   9.5

2025-01-09T00:40:51.265Z,1736383251.265 [DAT](INFO): DAT read: Bearing  68.3,   9.5 (Local)

2025-01-09T00:40:51.265Z,1736383251.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.3,   9.5 (Local)

2025-01-09T00:40:51.266Z,1736383251.266 [DAT](INFO): DAT read: Range 10 to 50 : 322.9 m  (Round-trip  430.6 ms) speed  0.0 m/s

2025-01-09T00:40:51.267Z,1736383251.267 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:40:51.268Z,1736383251.268 [DAT](INFO): direction in FSK: [0.364676,0.916390,-0.165048]
2025-01-09T00:40:51.268Z,1736383251.268 [DAT](INFO): publishing direction and range info
2025-01-09T00:40:51.562Z,1736383251.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:51.974Z,1736383251.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:52.351Z,1736383252.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:52.813Z,1736383252.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:53.210Z,1736383253.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:53.564Z,1736383253.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:53.992Z,1736383253.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:54.368Z,1736383254.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:54.835Z,1736383254.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:55.201Z,1736383255.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:55.584Z,1736383255.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:56.020Z,1736383256.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:56.386Z,1736383256.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:56.512Z,1736383256.512 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:40:56.814Z,1736383256.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:57.233Z,1736383257.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:57.515Z,1736383257.515 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:40:57.600Z,1736383257.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:58.021Z,1736383258.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:58.412Z,1736383258.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:58.834Z,1736383258.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:59.233Z,1736383259.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:40:59.629Z,1736383259.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:00.050Z,1736383260.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:00.436Z,1736383260.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:00.839Z,1736383260.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:01.258Z,1736383261.258 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,32768,V
2025-01-09T00:41:01.265Z,1736383261.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:41:01.265Z,1736383261.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:01.651Z,1736383261.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:41:01.652Z,1736383261.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:02.092Z,1736383262.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:02.443Z,1736383262.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:02.855Z,1736383262.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:03.291Z,1736383263.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:03.666Z,1736383263.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:04.086Z,1736383264.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:04.469Z,1736383264.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:04.884Z,1736383264.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:05.304Z,1736383265.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:05.690Z,1736383265.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:06.146Z,1736383266.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:06.485Z,1736383266.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:06.906Z,1736383266.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:07.328Z,1736383267.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:07.707Z,1736383267.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:08.149Z,1736383268.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:08.513Z,1736383268.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:08.933Z,1736383268.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:09.344Z,1736383269.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:09.724Z,1736383269.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:10.149Z,1736383270.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:10.534Z,1736383270.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:10.945Z,1736383270.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:11.369Z,1736383271.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:11.749Z,1736383271.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:12.175Z,1736383272.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:12.558Z,1736383272.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:12.957Z,1736383272.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:13.366Z,1736383273.366 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768V
2025-01-09T00:41:13.374Z,1736383273.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:41:13.374Z,1736383273.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:13.776Z,1736383273.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:41:13.776Z,1736383273.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:14.197Z,1736383274.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:14.597Z,1736383274.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:14.977Z,1736383274.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:14.984Z,1736383274.984 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-01-09T00:41:14.985Z,1736383274.985 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-01-09T00:41:14.985Z,1736383274.985 [lineCaptureHoming:InitialDive] Stopped
2025-01-09T00:41:14.985Z,1736383274.985 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-01-09T00:41:14.985Z,1736383274.985 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-01-09T00:41:14.985Z,1736383274.985 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-01-09T00:41:14.986Z,1736383274.986 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-01-09T00:41:14.986Z,1736383274.986 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-01-09T00:41:14.986Z,1736383274.986 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-01-09T00:41:14.986Z,1736383274.986 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-01-09T00:41:14.986Z,1736383274.986 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-01-09T00:41:15.425Z,1736383275.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:15.432Z,1736383275.432 [lineCaptureHoming:RepeatHack:A] Stopped
2025-01-09T00:41:15.432Z,1736383275.432 [lineCaptureHoming:RepeatHack](INFO): Completed lineCaptureHoming:RepeatHack
2025-01-09T00:41:15.432Z,1736383275.432 [lineCaptureHoming:RepeatHack] Stopped
2025-01-09T00:41:15.432Z,1736383275.432 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-01-09T00:41:15.432Z,1736383275.432 [lineCaptureHoming:Lap] Running Loop=1
2025-01-09T00:41:15.432Z,1736383275.432 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-01-09T00:41:15.432Z,1736383275.432 [lineCaptureHoming:Lap:A] Running Loop=1
2025-01-09T00:41:15.794Z,1736383275.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:15.801Z,1736383275.801 [lineCaptureHoming:Lap:A] Stopped
2025-01-09T00:41:15.801Z,1736383275.801 [lineCaptureHoming:Lap:B] Running Loop=1
2025-01-09T00:41:15.801Z,1736383275.801 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-01-09T00:41:16.231Z,1736383276.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:16.241Z,1736383276.241 [lineCaptureHoming:LineCapture] Running Loop=1
2025-01-09T00:41:16.241Z,1736383276.241 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-01-09T00:41:16.241Z,1736383276.241 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-01-09T00:41:16.241Z,1736383276.241 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-01-09T00:41:16.241Z,1736383276.241 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-09T00:41:16.241Z,1736383276.241 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-09T00:41:16.241Z,1736383276.241 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-09T00:41:16.242Z,1736383276.242 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-09T00:41:16.242Z,1736383276.242 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-09T00:41:16.242Z,1736383276.242 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-09T00:41:16.242Z,1736383276.242 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-01-09T00:41:16.242Z,1736383276.242 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-01-09T00:41:16.242Z,1736383276.242 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-01-09T00:41:16.242Z,1736383276.242 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-01-09T00:41:16.242Z,1736383276.242 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-01-09T00:41:16.242Z,1736383276.242 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-01-09T00:41:16.242Z,1736383276.242 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-01-09T00:41:16.242Z,1736383276.242 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-01-09T00:41:16.243Z,1736383276.243 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-01-09T00:41:16.243Z,1736383276.243 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-01-09T00:41:16.243Z,1736383276.243 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-09T00:41:16.243Z,1736383276.243 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-01-09T00:41:16.244Z,1736383276.244 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-01-09T00:41:16.244Z,1736383276.244 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-01-09T00:41:16.244Z,1736383276.244 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-01-09T00:41:16.244Z,1736383276.244 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-01-09T00:41:16.244Z,1736383276.244 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-01-09T00:41:16.244Z,1736383276.244 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-01-09T00:41:16.245Z,1736383276.245 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-01-09T00:41:16.246Z,1736383276.246 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-01-09T00:41:16.246Z,1736383276.246 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-09T00:41:16.246Z,1736383276.246 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-09T00:41:16.246Z,1736383276.246 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-09T00:41:16.247Z,1736383276.247 [lineCaptureHoming:LineCapture:A] Stopped
2025-01-09T00:41:16.247Z,1736383276.247 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-01-09T00:41:16.608Z,1736383276.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:16.631Z,1736383276.631 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-01-09T00:41:16.631Z,1736383276.631 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-09T00:41:16.632Z,1736383276.632 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-01-09T00:41:16.633Z,1736383276.633 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 322.899994 m (mode  0.000000 count ).
2025-01-09T00:41:16.633Z,1736383276.633 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-01-09T00:41:16.633Z,1736383276.633 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-01-09T00:41:16.641Z,1736383276.641 [lineCaptureHoming:LineCapture:B] Stopped
2025-01-09T00:41:16.641Z,1736383276.641 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-01-09T00:41:17.001Z,1736383277.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:17.007Z,1736383277.007 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-01-09T00:41:17.007Z,1736383277.007 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-01-09T00:41:17.008Z,1736383277.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:17.010Z,1736383277.010 [lineCaptureHoming:LineCapture:D] Stopped
2025-01-09T00:41:17.010Z,1736383277.010 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-01-09T00:41:17.240Z,1736383277.240 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:41:17.240Z,1736383277.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:41:17.430Z,1736383277.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:17.436Z,1736383277.436 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-01-09T00:41:17.437Z,1736383277.437 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-01-09T00:41:17.439Z,1736383277.439 [lineCaptureHoming:LineCapture:E] Stopped
2025-01-09T00:41:17.439Z,1736383277.439 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-01-09T00:41:17.492Z,1736383277.492 [DAT](INFO): DAT read: user:3666>

2025-01-09T00:41:17.493Z,1736383277.493 [DAT](INFO): DAT read: Tx time:00:41:16.7285

2025-01-09T00:41:17.493Z,1736383277.493 [DAT](INFO): Ping request sent.
2025-01-09T00:41:17.493Z,1736383277.493 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:41:17.494Z,1736383277.494 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:17.494Z,1736383277.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-01-09T00:41:17.744Z,1736383277.744 [DAT](INFO): DAT read: TxSync time:00:41:16.7277

2025-01-09T00:41:17.746Z,1736383277.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252433
2025-01-09T00:41:17.808Z,1736383277.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:17.832Z,1736383277.832 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-01-09T00:41:17.832Z,1736383277.832 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-09T00:41:17.832Z,1736383277.832 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-01-09T00:41:17.832Z,1736383277.832 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-09T00:41:17.834Z,1736383277.834 [lineCaptureHoming:LineCapture:F] Stopped
2025-01-09T00:41:17.834Z,1736383277.834 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-01-09T00:41:17.835Z,1736383277.835 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-01-09T00:41:17.835Z,1736383277.835 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-01-09T00:41:17.835Z,1736383277.835 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-01-09T00:41:17.835Z,1736383277.835 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-01-09T00:41:17.839Z,1736383277.839 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-01-09T00:41:17.839Z,1736383277.839 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-01-09T00:41:17.840Z,1736383277.840 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-01-09T00:41:17.840Z,1736383277.840 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-01-09T00:41:17.840Z,1736383277.840 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-01-09T00:41:17.840Z,1736383277.840 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-01-09T00:41:17.840Z,1736383277.840 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-01-09T00:41:17.840Z,1736383277.840 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-01-09T00:41:17.840Z,1736383277.840 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-01-09T00:41:17.841Z,1736383277.841 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-01-09T00:41:17.841Z,1736383277.841 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-01-09T00:41:17.841Z,1736383277.841 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-01-09T00:41:17.841Z,1736383277.841 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-01-09T00:41:17.841Z,1736383277.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-01-09T00:41:17.841Z,1736383277.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-09T00:41:17.841Z,1736383277.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-01-09T00:41:17.841Z,1736383277.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-09T00:41:17.841Z,1736383277.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-01-09T00:41:17.842Z,1736383277.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-01-09T00:41:17.842Z,1736383277.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-01-09T00:41:17.842Z,1736383277.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-01-09T00:41:17.842Z,1736383277.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-01-09T00:41:17.842Z,1736383277.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-01-09T00:41:17.842Z,1736383277.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-01-09T00:41:17.842Z,1736383277.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-01-09T00:41:17.842Z,1736383277.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-01-09T00:41:17.842Z,1736383277.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-01-09T00:41:17.842Z,1736383277.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-01-09T00:41:17.997Z,1736383277.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503283
2025-01-09T00:41:18.235Z,1736383278.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:18.250Z,1736383278.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756602
2025-01-09T00:41:18.263Z,1736383278.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-01-09T00:41:18.263Z,1736383278.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-09T00:41:18.272Z,1736383278.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-01-09T00:41:18.272Z,1736383278.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-09T00:41:18.272Z,1736383278.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-01-09T00:41:18.272Z,1736383278.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-01-09T00:41:18.272Z,1736383278.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-01-09T00:41:18.272Z,1736383278.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-01-09T00:41:18.272Z,1736383278.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-01-09T00:41:18.272Z,1736383278.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-01-09T00:41:18.272Z,1736383278.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-01-09T00:41:18.273Z,1736383278.273 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-01-09T00:41:18.274Z,1736383278.274 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-01-09T00:41:18.274Z,1736383278.274 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.395435 m.
2025-01-09T00:41:18.324Z,1736383278.324 [DockingStepper](INFO): Resume
2025-01-09T00:41:18.500Z,1736383278.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006816
2025-01-09T00:41:18.625Z,1736383278.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:18.717Z,1736383278.717 [DockingStepper](INFO): Resuming
2025-01-09T00:41:18.752Z,1736383278.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258827
2025-01-09T00:41:19.004Z,1736383279.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510826
2025-01-09T00:41:19.018Z,1736383279.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:19.041Z,1736383279.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:19.089Z,1736383279.089 [DockingStepper](INFO): Start
2025-01-09T00:41:19.089Z,1736383279.089 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-09T00:41:19.090Z,1736383279.090 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-09T00:41:19.257Z,1736383279.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763241
2025-01-09T00:41:19.456Z,1736383279.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:19.509Z,1736383279.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015825
2025-01-09T00:41:19.644Z,1736383279.644 [DockingStepper](INFO): Starting
2025-01-09T00:41:19.760Z,1736383279.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266776
2025-01-09T00:41:19.836Z,1736383279.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:19.908Z,1736383279.908 [DockingStepper](INFO): Starting
2025-01-09T00:41:20.013Z,1736383280.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519556
2025-01-09T00:41:20.264Z,1736383280.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771024
2025-01-09T00:41:20.304Z,1736383280.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:20.381Z,1736383280.381 [DockingStepper](INFO): Starting
2025-01-09T00:41:20.432Z,1736383280.432 [DockingStepper](INFO): Init string: /1z16367aE13561N3m50
2025-01-09T00:41:20.516Z,1736383280.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022705
2025-01-09T00:41:20.636Z,1736383280.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:20.768Z,1736383280.768 [DAT](INFO): DAT read: Rx Time:00:41:19.5705

2025-01-09T00:41:20.769Z,1736383280.769 [DAT](INFO): Rx dataTimestamp_ set to:1736383280.768482
2025-01-09T00:41:20.769Z,1736383280.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275858
2025-01-09T00:41:20.772Z,1736383280.772 [DockingStepper](INFO): Starting
2025-01-09T00:41:21.020Z,1736383281.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526804
2025-01-09T00:41:21.048Z,1736383281.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:21.054Z,1736383281.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:21.222Z,1736383281.222 [DockingStepper](INFO): Starting
2025-01-09T00:41:21.287Z,1736383281.287 [DAT](INFO): DAT read: 00:41:19.5705 LVL= 22592, 32049, 23026, 28499, AGC= 63, IDX= 511, 0.07,-1.796,-2.810, 2.541,-2.636, PHS= 0.928,-0.127,-1.109, RAW=  61.2,   3.5, CAL=  61.9,   2.7, ROT=  88.1,  -2.7

2025-01-09T00:41:21.288Z,1736383281.288 [DAT](INFO): got valid direction response:
 00:41:19.5705 LVL= 22592, 32049, 23026, 28499, AGC= 63, IDX= 511, 0.07,-1.796,-2.810, 2.541,-2.636, PHS= 0.928,-0.127,-1.109, RAW=  61.2,   3.5, CAL=  61.9,   2.7, ROT=  88.1,  -2.7

2025-01-09T00:41:21.289Z,1736383281.289 [DAT](INFO): DAT read: Bearing  88.1,  -2.7 (Local)

2025-01-09T00:41:21.290Z,1736383281.290 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.1,  -2.7 (Local)

2025-01-09T00:41:21.296Z,1736383281.296 [DAT](INFO): DAT read: Range 10 to 50 : 328.2 m  (Round-trip  437.7 ms) speed  0.1 m/s

2025-01-09T00:41:21.297Z,1736383281.297 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:41:21.298Z,1736383281.298 [DAT](INFO): direction in FSK: [0.033118,0.998341,0.047106]
2025-01-09T00:41:21.298Z,1736383281.298 [DAT](INFO): publishing direction and range info
2025-01-09T00:41:21.306Z,1736383281.306 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:41:21.307Z,1736383281.307 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:41:21.307Z,1736383281.307 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:41:21.459Z,1736383281.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:21.525Z,1736383281.525 [DAT](INFO): DAT read: user:3667>

2025-01-09T00:41:21.526Z,1736383281.526 [DAT](INFO): DAT read: Tx time:00:41:20.7786

2025-01-09T00:41:21.527Z,1736383281.527 [DAT](INFO): Ping request sent.
2025-01-09T00:41:21.527Z,1736383281.527 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:41:21.527Z,1736383281.527 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:21.528Z,1736383281.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001345
2025-01-09T00:41:21.648Z,1736383281.648 [DockingStepper](INFO): Starting
2025-01-09T00:41:21.776Z,1736383281.776 [DAT](INFO): DAT read: TxSync time:00:41:20.7778

2025-01-09T00:41:21.777Z,1736383281.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250137
2025-01-09T00:41:21.875Z,1736383281.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:21.936Z,1736383281.936 [DockingStepper](INFO): Starting
2025-01-09T00:41:21.964Z,1736383281.964 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-09T00:41:22.029Z,1736383282.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501139
2025-01-09T00:41:22.280Z,1736383282.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753119
2025-01-09T00:41:22.293Z,1736383282.293 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010816422748,35.0, +12.6,   0.0  0
2025-01-09T00:41:22.301Z,1736383282.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:41:22.301Z,1736383282.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:22.346Z,1736383282.346 [DockingStepper](INFO): Starting
2025-01-09T00:41:22.534Z,1736383282.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006686
2025-01-09T00:41:22.669Z,1736383282.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:41:22.670Z,1736383282.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:22.749Z,1736383282.749 [DockingStepper](INFO): Changing to mode: 3
2025-01-09T00:41:22.749Z,1736383282.749 [DockingStepper](INFO): Detach mode.
2025-01-09T00:41:22.785Z,1736383282.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257732
2025-01-09T00:41:22.811Z,1736383282.811 [DockingStepper](INFO): Commanding negative:54586
2025-01-09T00:41:23.037Z,1736383283.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510102
2025-01-09T00:41:23.101Z,1736383283.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:41:23.101Z,1736383283.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:23.116Z,1736383283.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:23.288Z,1736383283.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761136
2025-01-09T00:41:23.490Z,1736383283.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:23.540Z,1736383283.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013112
2025-01-09T00:41:23.792Z,1736383283.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265088
2025-01-09T00:41:23.869Z,1736383283.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:24.044Z,1736383284.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517149
2025-01-09T00:41:24.297Z,1736383284.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769939
2025-01-09T00:41:24.337Z,1736383284.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:24.548Z,1736383284.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021199
2025-01-09T00:41:24.704Z,1736383284.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:24.801Z,1736383284.801 [DAT](INFO): DAT read: Rx Time:00:41:23.6201

2025-01-09T00:41:24.802Z,1736383284.802 [DAT](INFO): Rx dataTimestamp_ set to:1736383284.801525
2025-01-09T00:41:24.803Z,1736383284.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275278
2025-01-09T00:41:25.052Z,1736383285.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525083
2025-01-09T00:41:25.077Z,1736383285.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:25.305Z,1736383285.305 [DAT](INFO): DAT read: $Error in header

2025-01-09T00:41:25.305Z,1736383285.305 [DAT](INFO): Received a bad header
2025-01-09T00:41:25.320Z,1736383285.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792455
2025-01-09T00:41:25.500Z,1736383285.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:25.506Z,1736383285.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:25.558Z,1736383285.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031100
2025-01-09T00:41:25.808Z,1736383285.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281119
2025-01-09T00:41:25.889Z,1736383285.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:26.060Z,1736383286.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533210
2025-01-09T00:41:26.315Z,1736383286.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787512
2025-01-09T00:41:26.390Z,1736383286.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:26.564Z,1736383286.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037183
2025-01-09T00:41:26.705Z,1736383286.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:26.817Z,1736383286.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289677
2025-01-09T00:41:27.068Z,1736383287.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541199
2025-01-09T00:41:27.101Z,1736383287.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:27.320Z,1736383287.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793362
2025-01-09T00:41:27.533Z,1736383287.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:27.560Z,1736383287.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:27.573Z,1736383287.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045676
2025-01-09T00:41:27.668Z,1736383287.668 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:41:27.824Z,1736383287.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297201
2025-01-09T00:41:27.919Z,1736383287.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:28.077Z,1736383288.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550149
2025-01-09T00:41:28.332Z,1736383288.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803620
2025-01-09T00:41:28.372Z,1736383288.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:28.580Z,1736383288.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053321
2025-01-09T00:41:28.674Z,1736383288.674 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:41:28.733Z,1736383288.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:28.754Z,1736383288.754 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-01-09T00:41:28.834Z,1736383288.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306108
2025-01-09T00:41:29.084Z,1736383289.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557158
2025-01-09T00:41:29.126Z,1736383289.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:29.339Z,1736383289.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811317
2025-01-09T00:41:29.552Z,1736383289.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:29.588Z,1736383289.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061242
2025-01-09T00:41:29.841Z,1736383289.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313707
2025-01-09T00:41:29.948Z,1736383289.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:29.955Z,1736383289.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:30.093Z,1736383290.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565620
2025-01-09T00:41:30.348Z,1736383290.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820182
2025-01-09T00:41:30.425Z,1736383290.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:30.597Z,1736383290.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070018
2025-01-09T00:41:30.757Z,1736383290.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:30.851Z,1736383290.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323435
2025-01-09T00:41:31.100Z,1736383291.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573080
2025-01-09T00:41:31.156Z,1736383291.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:31.357Z,1736383291.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829097
2025-01-09T00:41:31.604Z,1736383291.604 [DAT](INFO): Reached modem response timeout
2025-01-09T00:41:31.605Z,1736383291.605 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:41:31.605Z,1736383291.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:41:31.628Z,1736383291.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:31.856Z,1736383291.856 [DAT](INFO): DAT read: 

2025-01-09T00:41:31.856Z,1736383291.856 [DAT](INFO): Reached modem response timeout
2025-01-09T00:41:31.857Z,1736383291.857 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:41:31.857Z,1736383291.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:41:31.952Z,1736383291.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:31.958Z,1736383291.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:32.108Z,1736383292.108 [DAT](INFO): Reached modem response timeout
2025-01-09T00:41:32.108Z,1736383292.108 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:41:32.109Z,1736383292.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:41:32.366Z,1736383292.366 [DAT](INFO): DAT read: Response Not Received

2025-01-09T00:41:32.366Z,1736383292.366 [DAT](INFO): response not received
2025-01-09T00:41:32.369Z,1736383292.369 [DAT](INFO): DAT read: user:3669>

2025-01-09T00:41:32.371Z,1736383292.371 [DAT](INFO): DAT read: Tx time:00:41:31.7287

2025-01-09T00:41:32.372Z,1736383292.372 [DAT](INFO): Ping request sent.
2025-01-09T00:41:32.372Z,1736383292.372 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:41:32.373Z,1736383292.373 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:32.375Z,1736383292.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002548
2025-01-09T00:41:32.475Z,1736383292.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:32.620Z,1736383292.620 [DAT](INFO): DAT read: TxSync time:00:41:31.7279

2025-01-09T00:41:32.621Z,1736383292.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249424
2025-01-09T00:41:32.817Z,1736383292.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:32.872Z,1736383292.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500628
2025-01-09T00:41:33.125Z,1736383293.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753331
2025-01-09T00:41:33.171Z,1736383293.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:33.380Z,1736383293.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007974
2025-01-09T00:41:33.590Z,1736383293.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:33.629Z,1736383293.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257199
2025-01-09T00:41:33.881Z,1736383293.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509512
2025-01-09T00:41:33.971Z,1736383293.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:33.997Z,1736383293.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:34.132Z,1736383294.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760450
2025-01-09T00:41:34.388Z,1736383294.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015010
2025-01-09T00:41:34.438Z,1736383294.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:34.636Z,1736383294.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264523
2025-01-09T00:41:34.808Z,1736383294.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:34.891Z,1736383294.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519077
2025-01-09T00:41:35.140Z,1736383295.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768514
2025-01-09T00:41:35.195Z,1736383295.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:35.395Z,1736383295.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022874
2025-01-09T00:41:35.610Z,1736383295.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:35.644Z,1736383295.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272645
2025-01-09T00:41:35.896Z,1736383295.896 [DAT](INFO): DAT read: Rx Time:00:41:34.5693

2025-01-09T00:41:35.897Z,1736383295.897 [DAT](INFO): Rx dataTimestamp_ set to:1736383295.896473
2025-01-09T00:41:35.897Z,1736383295.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525586
2025-01-09T00:41:36.003Z,1736383296.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:36.030Z,1736383296.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:36.148Z,1736383296.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776622
2025-01-09T00:41:36.419Z,1736383296.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:36.426Z,1736383296.426 [DAT](INFO): DAT read: 00:41:34.5693 LVL= 18032, 32753, 20946, 32755, AGC= 62, IDX= 434, 0.02,-0.821,-2.226,-2.795,-1.687, PHS= 0.953,-0.492,-1.111, RAW=  73.0,   7.1, CAL=  75.7,   9.3, ROT=  74.3,  -9.3

2025-01-09T00:41:36.451Z,1736383296.451 [DAT](INFO): got valid direction response:
 00:41:34.5693 LVL= 18032, 32753, 20946, 32755, AGC= 62, IDX= 434, 0.02,-0.821,-2.226,-2.795,-1.687, PHS= 0.953,-0.492,-1.111, RAW=  73.0,   7.1, CAL=  75.7,   9.3, ROT=  74.3,  -9.3

2025-01-09T00:41:36.472Z,1736383296.472 [DAT](INFO): DAT read: Range 10 to 50 : 327.3 m  (Round-trip  436.5 ms) speed  0.1 m/s

2025-01-09T00:41:36.473Z,1736383296.473 [DAT](INFO): DAT read: user:3670>

2025-01-09T00:41:36.473Z,1736383296.473 [DAT](INFO): DAT read: Tx time:00:41:35.6787

2025-01-09T00:41:36.474Z,1736383296.474 [DAT](INFO): Ping request sent.
2025-01-09T00:41:36.474Z,1736383296.474 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:41:36.474Z,1736383296.474 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:41:36.475Z,1736383296.475 [DAT](INFO): direction in FSK: [0.267044,0.950038,0.161604]
2025-01-09T00:41:36.484Z,1736383296.484 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:36.484Z,1736383296.484 [DAT](INFO): publishing direction and range info
2025-01-09T00:41:36.497Z,1736383296.497 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:36.497Z,1736383296.497 [DAT](INFO): publishing direction and range info
2025-01-09T00:41:36.654Z,1736383296.654 [DAT](INFO): DAT read: TxSync time:00:41:35.6779

2025-01-09T00:41:36.848Z,1736383296.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:37.205Z,1736383297.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:37.646Z,1736383297.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:38.028Z,1736383298.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:38.035Z,1736383298.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:38.164Z,1736383298.164 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:41:38.164Z,1736383298.164 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:41:38.164Z,1736383298.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:41:38.417Z,1736383298.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942923
2025-01-09T00:41:38.417Z,1736383298.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:38.669Z,1736383298.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194836
2025-01-09T00:41:38.841Z,1736383298.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:38.922Z,1736383298.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.447678
2025-01-09T00:41:39.172Z,1736383299.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698675
2025-01-09T00:41:39.230Z,1736383299.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:39.424Z,1736383299.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950496
2025-01-09T00:41:39.661Z,1736383299.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:39.677Z,1736383299.677 [DAT](INFO): DAT read: Rx Time:00:41:38.5049

2025-01-09T00:41:39.678Z,1736383299.678 [DAT](INFO): Rx dataTimestamp_ set to:1736383299.677575
2025-01-09T00:41:39.679Z,1736383299.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205305
2025-01-09T00:41:39.928Z,1736383299.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.454617
2025-01-09T00:41:40.035Z,1736383300.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:40.046Z,1736383300.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:40.184Z,1736383300.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.709939
2025-01-09T00:41:40.442Z,1736383300.442 [DAT](INFO): DAT read: 00:41:38.5049 LVL= 14512, 25169, 17298, 23283, AGC= 64, IDX= 287,-0.01,-0.217,-1.630,-2.143,-1.040, PHS= 0.911,-0.544,-1.106, RAW=  74.3,   8.2, CAL=  77.3,  11.6, ROT=  72.7, -11.6

2025-01-09T00:41:40.444Z,1736383300.444 [DAT](INFO): got valid direction response:
 00:41:38.5049 LVL= 14512, 25169, 17298, 23283, AGC= 64, IDX= 287,-0.01,-0.217,-1.630,-2.143,-1.040, PHS= 0.911,-0.544,-1.106, RAW=  74.3,   8.2, CAL=  77.3,  11.6, ROT=  72.7, -11.6

2025-01-09T00:41:40.445Z,1736383300.445 [DAT](INFO): DAT read: Bearing  72.7, -11.6 (Local)

2025-01-09T00:41:40.445Z,1736383300.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.7, -11.6 (Local)

2025-01-09T00:41:40.452Z,1736383300.452 [DAT](INFO): DAT read: Range 10 to 50 : 316.5 m  (Round-trip  422.1 ms) speed  0.0 m/s

2025-01-09T00:41:40.453Z,1736383300.453 [DAT](INFO): DAT read: user:3671>

2025-01-09T00:41:40.453Z,1736383300.453 [DAT](INFO): DAT read: Tx time:00:41:39.6287

2025-01-09T00:41:40.454Z,1736383300.454 [DAT](INFO): Ping request sent.
2025-01-09T00:41:40.454Z,1736383300.454 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:41:40.454Z,1736383300.454 [DAT](INFO): DAT read: TxSync time:00:41:39.6279

2025-01-09T00:41:40.464Z,1736383300.464 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:41:40.488Z,1736383300.488 [DAT](INFO): direction in FSK: [0.291301,0.935260,0.201078]
2025-01-09T00:41:40.489Z,1736383300.489 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:40.489Z,1736383300.489 [DAT](INFO): publishing direction and range info
2025-01-09T00:41:40.547Z,1736383300.547 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:40.548Z,1736383300.548 [DAT](INFO): publishing direction and range info
2025-01-09T00:41:40.625Z,1736383300.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:40.856Z,1736383300.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:41.259Z,1736383301.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:41.680Z,1736383301.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:42.050Z,1736383302.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:42.058Z,1736383302.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:42.197Z,1736383302.197 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:41:42.197Z,1736383302.197 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:41:42.197Z,1736383302.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:41:42.448Z,1736383302.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994416
2025-01-09T00:41:42.457Z,1736383302.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:42.700Z,1736383302.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246531
2025-01-09T00:41:42.876Z,1736383302.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:42.952Z,1736383302.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498495
2025-01-09T00:41:43.204Z,1736383303.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750395
2025-01-09T00:41:43.285Z,1736383303.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:43.457Z,1736383303.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002937
2025-01-09T00:41:43.699Z,1736383303.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:43.709Z,1736383303.709 [DAT](INFO): DAT read: Rx Time:00:41:42.4549

2025-01-09T00:41:43.709Z,1736383303.709 [DAT](INFO): Rx dataTimestamp_ set to:1736383303.708823
2025-01-09T00:41:43.710Z,1736383303.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255904
2025-01-09T00:41:43.960Z,1736383303.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506493
2025-01-09T00:41:44.078Z,1736383304.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:44.084Z,1736383304.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:44.219Z,1736383304.219 [DAT](INFO): DAT read: 00:41:42.4549 LVL= 15536, 30513, 18962, 27027, AGC= 60, IDX= 447,-0.06, 1.093,-0.444,-0.794, 0.228, PHS= 0.954,-0.625,-1.024, RAW=  79.0,   7.7, CAL=  83.5,   9.9, ROT=  66.5,  -9.9

2025-01-09T00:41:44.220Z,1736383304.220 [DAT](INFO): got valid direction response:
 00:41:42.4549 LVL= 15536, 30513, 18962, 27027, AGC= 60, IDX= 447,-0.06, 1.093,-0.444,-0.794, 0.228, PHS= 0.954,-0.625,-1.024, RAW=  79.0,   7.7, CAL=  83.5,   9.9, ROT=  66.5,  -9.9

2025-01-09T00:41:44.221Z,1736383304.221 [DAT](INFO): DAT read: Bearing  66.5,  -9.9 (Local)

2025-01-09T00:41:44.222Z,1736383304.222 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.5,  -9.9 (Local)

2025-01-09T00:41:44.223Z,1736383304.223 [DAT](INFO): DAT read: Range 10 to 50 : 316.5 m  (Round-trip  422.1 ms) speed -0.1 m/s

2025-01-09T00:41:44.224Z,1736383304.224 [DAT](INFO): DAT read: user:3672>

2025-01-09T00:41:44.225Z,1736383304.225 [DAT](INFO): DAT read: Tx time:00:41:43.5787

2025-01-09T00:41:44.225Z,1736383304.225 [DAT](INFO): Ping request sent.
2025-01-09T00:41:44.225Z,1736383304.225 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:41:44.226Z,1736383304.226 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:41:44.226Z,1736383304.226 [DAT](INFO): direction in FSK: [0.392811,0.903404,0.171929]
2025-01-09T00:41:44.227Z,1736383304.227 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:44.227Z,1736383304.227 [DAT](INFO): publishing direction and range info
2025-01-09T00:41:44.231Z,1736383304.231 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:44.231Z,1736383304.231 [DAT](INFO): publishing direction and range info
2025-01-09T00:41:44.464Z,1736383304.464 [DAT](INFO): DAT read: TxSync time:00:41:43.5779

2025-01-09T00:41:44.490Z,1736383304.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:44.925Z,1736383304.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:45.299Z,1736383305.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:45.715Z,1736383305.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:46.088Z,1736383306.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:46.094Z,1736383306.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:46.228Z,1736383306.228 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:41:46.228Z,1736383306.228 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:41:46.229Z,1736383306.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:41:46.481Z,1736383306.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255209
2025-01-09T00:41:46.500Z,1736383306.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:46.732Z,1736383306.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507037
2025-01-09T00:41:46.920Z,1736383306.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:46.985Z,1736383306.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759927
2025-01-09T00:41:47.236Z,1736383307.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010922
2025-01-09T00:41:47.311Z,1736383307.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:47.488Z,1736383307.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262947
2025-01-09T00:41:47.732Z,1736383307.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:47.740Z,1736383307.740 [DAT](INFO): DAT read: Rx Time:00:41:46.4045

2025-01-09T00:41:47.741Z,1736383307.741 [DAT](INFO): Rx dataTimestamp_ set to:1736383307.740538
2025-01-09T00:41:47.741Z,1736383307.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516070
2025-01-09T00:41:47.993Z,1736383307.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767210
2025-01-09T00:41:48.162Z,1736383308.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:48.169Z,1736383308.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:48.256Z,1736383308.256 [DAT](INFO): DAT read: 00:41:46.4045 LVL= 15744, 29201, 25922, 29363, AGC= 60, IDX= 426, 0.37,-0.986,-2.508,-2.803,-1.872, PHS= 0.974,-0.588,-0.933, RAW=  80.2,   6.3, CAL=  85.0,   6.8, ROT=  65.0, earing  65.0,  -6.8 (Local)

2025-01-09T00:41:48.257Z,1736383308.257 [DAT](INFO): Local bearing/azimuth received:
 00:41:46.4045 LVL= 15744, 29201, 25922, 29363, AGC= 60, IDX= 426, 0.37,-0.986,-2.508,-2.803,-1.872, PHS= 0.974,-0.588,-0.933, RAW=  80.2,   6.3, CAL=  85.0,   6.8, ROT=  65.0, earing  65.0,  -6.8 (Local)

2025-01-09T00:41:48.259Z,1736383308.259 [DAT](INFO): DAT read: Range 10 to 50 : 316.2 m  (Round-trip  421.6 ms) speed  0.4 m/s

2025-01-09T00:41:48.260Z,1736383308.260 [DAT](INFO): DAT read: user:3673>

2025-01-09T00:41:48.261Z,1736383308.261 [DAT](INFO): DAT read: Tx time:00:41:47.5288

2025-01-09T00:41:48.262Z,1736383308.262 [DAT](INFO): Ping request sent.
2025-01-09T00:41:48.263Z,1736383308.263 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:41:48.263Z,1736383308.263 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T00:41:48.264Z,1736383308.264 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:48.264Z,1736383308.264 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:48.497Z,1736383308.497 [DAT](INFO): DAT read: TxSync time:00:41:47.5280

2025-01-09T00:41:48.520Z,1736383308.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:48.972Z,1736383308.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:48.981Z,1736383308.981 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 316.20 m. Transitioning docking module to standby.
2025-01-09T00:41:49.340Z,1736383309.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:49.452Z,1736383309.452 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T00:41:49.452Z,1736383309.452 [DockingStepper](INFO): Standby mode.
2025-01-09T00:41:49.515Z,1736383309.515 [DockingStepper](INFO): Commanding positive:54593
2025-01-09T00:41:49.744Z,1736383309.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:50.143Z,1736383310.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:50.535Z,1736383310.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:50.541Z,1736383310.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:50.764Z,1736383310.764 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:41:50.764Z,1736383310.764 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:41:50.764Z,1736383310.764 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:41:50.977Z,1736383310.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:51.017Z,1736383311.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754321
2025-01-09T00:41:51.270Z,1736383311.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007229
2025-01-09T00:41:51.341Z,1736383311.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:51.520Z,1736383311.520 [DAT](INFO): DAT read: Rx Time:00:41:50.3539

2025-01-09T00:41:51.521Z,1736383311.521 [DAT](INFO): Rx dataTimestamp_ set to:1736383311.520407
2025-01-09T00:41:51.521Z,1736383311.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258932
2025-01-09T00:41:51.771Z,1736383311.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:51.773Z,1736383311.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510292
2025-01-09T00:41:52.028Z,1736383312.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765166
2025-01-09T00:41:52.152Z,1736383312.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:52.297Z,1736383312.297 [DAT](INFO): DAT read: 00:41:50.3539 LVL= 14224, 26369, 18002, 27075, AGC= 59, IDX= 435,-0.29, 2.134, 0.563, 0.280, 1.226, PHS= 0.996,-0.615,-0.948, RAW=  80.8,   6.4, CAL=  85.7,   6.9, ROT=  64.3,  -6.9

2025-01-09T00:41:52.299Z,1736383312.299 [DAT](INFO): got valid direction response:
 00:41:50.3539 LVL= 14224, 26369, 18002, 27075, AGC= 59, IDX= 435,-0.29, 2.134, 0.563, 0.280, 1.226, PHS= 0.996,-0.615,-0.948, RAW=  80.8,   6.4, CAL=  85.7,   6.9, ROT=  64.3,  -6.9

2025-01-09T00:41:52.301Z,1736383312.301 [DAT](INFO): DAT read: Bearing  64.3,  -6.9 (Local)

2025-01-09T00:41:52.301Z,1736383312.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.3,  -6.9 (Local)

2025-01-09T00:41:52.303Z,1736383312.303 [DAT](INFO): DAT read: Range 10 to 50 : 315.6 m  (Round-trip  420.9 ms) speed  0.3 m/s

2025-01-09T00:41:52.304Z,1736383312.304 [DAT](INFO): DAT read: user:3674>

2025-01-09T00:41:52.305Z,1736383312.305 [DAT](INFO): DAT read: Tx time:00:41:51.4788

2025-01-09T00:41:52.306Z,1736383312.306 [DAT](INFO): Ping request sent.
2025-01-09T00:41:52.306Z,1736383312.306 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:41:52.306Z,1736383312.306 [DAT](INFO): DAT read: TxSync time:00:41:51.4780

2025-01-09T00:41:52.307Z,1736383312.307 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:41:52.308Z,1736383312.308 [DAT](INFO): direction in FSK: [0.430518,0.894551,0.120137]
2025-01-09T00:41:52.308Z,1736383312.308 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:52.308Z,1736383312.308 [DAT](INFO): publishing direction and range info
2025-01-09T00:41:52.312Z,1736383312.312 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:52.312Z,1736383312.312 [DAT](INFO): publishing direction and range info
2025-01-09T00:41:52.572Z,1736383312.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:52.978Z,1736383312.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:52.991Z,1736383312.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:53.032Z,1736383313.032 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:41:53.032Z,1736383313.032 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:41:53.032Z,1736383313.032 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:41:53.286Z,1736383313.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980035
2025-01-09T00:41:53.359Z,1736383313.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:53.536Z,1736383313.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230543
2025-01-09T00:41:53.788Z,1736383313.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482774
2025-01-09T00:41:53.804Z,1736383313.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:54.041Z,1736383314.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734825
2025-01-09T00:41:54.172Z,1736383314.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:54.292Z,1736383314.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986679
2025-01-09T00:41:54.545Z,1736383314.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239621
2025-01-09T00:41:54.608Z,1736383314.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:54.798Z,1736383314.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491803
2025-01-09T00:41:55.014Z,1736383315.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:55.021Z,1736383315.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:55.048Z,1736383315.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742717
2025-01-09T00:41:55.300Z,1736383315.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994574
2025-01-09T00:41:55.381Z,1736383315.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:55.388Z,1736383315.388 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-01-09T00:41:55.553Z,1736383315.553 [DAT](INFO): DAT read: Rx Time:00:41:54.3039

2025-01-09T00:41:55.553Z,1736383315.553 [DAT](INFO): Rx dataTimestamp_ set to:1736383315.552794
2025-01-09T00:41:55.554Z,1736383315.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247927
2025-01-09T00:41:55.805Z,1736383315.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498850
2025-01-09T00:41:55.833Z,1736383315.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:55.841Z,1736383315.841 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-01-09T00:41:55.841Z,1736383315.841 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-01-09T00:41:55.841Z,1736383315.841 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-01-09T00:41:56.063Z,1736383316.063 [DAT](INFO): DAT read: 00:41:54.3039 LVL= 14128, 27345, 20978, 29283, AGC= 64, IDX= 435, 0.14,-2.137, 2.625, 2.350,-3.036, PHS= 0.986,-0.575,-0.901, RAW=  80.7,   5.7, CAL=  85.6,   5.5, ROT=  64.4,  -5.5

2025-01-09T00:41:56.064Z,1736383316.064 [DAT](INFO): got valid direction response:
 00:41:54.3039 LVL= 14128, 27345, 20978, 29283, AGC= 64, IDX= 435, 0.14,-2.137, 2.625, 2.350,-3.036, PHS= 0.986,-0.575,-0.901, RAW=  80.7,   5.7, CAL=  85.6,   5.5, ROT=  64.4,  -5.5

2025-01-09T00:41:56.065Z,1736383316.065 [DAT](INFO): DAT read: Bearing  64.4,  -5.5 (Local)

2025-01-09T00:41:56.066Z,1736383316.066 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.4,  -5.5 (Local)

2025-01-09T00:41:56.068Z,1736383316.068 [DAT](INFO): DAT read: Range 10 to 50 : 315.6 m  (Round-trip  420.9 ms) speed -0.1 m/s

2025-01-09T00:41:56.068Z,1736383316.068 [DAT](INFO): DAT read: user:3675>

2025-01-09T00:41:56.069Z,1736383316.069 [DAT](INFO): DAT read: Tx time:00:41:55.4288

2025-01-09T00:41:56.069Z,1736383316.069 [DAT](INFO): Ping request sent.
2025-01-09T00:41:56.069Z,1736383316.069 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:41:56.070Z,1736383316.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:41:56.071Z,1736383316.071 [DAT](INFO): direction in FSK: [0.430096,0.897681,0.095846]
2025-01-09T00:41:56.071Z,1736383316.071 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:56.071Z,1736383316.071 [DAT](INFO): publishing direction and range info
2025-01-09T00:41:56.074Z,1736383316.074 [DAT](INFO): publishing transmit ping time
2025-01-09T00:41:56.075Z,1736383316.075 [DAT](INFO): publishing direction and range info
2025-01-09T00:41:56.200Z,1736383316.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:56.248Z,1736383316.248 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-01-09T00:41:56.248Z,1736383316.248 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-01-09T00:41:56.248Z,1736383316.248 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-01-09T00:41:56.311Z,1736383316.311 [DAT](INFO): DAT read: TxSync time:00:41:55.4280

2025-01-09T00:41:56.324Z,1736383316.324 [DockingStepper](INFO): Pause
2025-01-09T00:41:56.605Z,1736383316.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:56.613Z,1736383316.613 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-01-09T00:41:56.613Z,1736383316.613 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-01-09T00:41:56.613Z,1736383316.613 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-01-09T00:41:56.613Z,1736383316.613 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-01-09T00:41:56.614Z,1736383316.614 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-01-09T00:41:57.035Z,1736383317.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:57.041Z,1736383317.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:57.043Z,1736383317.043 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-01-09T00:41:57.043Z,1736383317.043 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-01-09T00:41:57.043Z,1736383317.043 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-01-09T00:41:57.043Z,1736383317.043 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-01-09T00:41:57.043Z,1736383317.043 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-01-09T00:41:57.043Z,1736383317.043 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-01-09T00:41:57.044Z,1736383317.044 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-01-09T00:41:57.044Z,1736383317.044 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-01-09T00:41:57.044Z,1736383317.044 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-01-09T00:41:57.044Z,1736383317.044 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-01-09T00:41:57.044Z,1736383317.044 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-01-09T00:41:57.045Z,1736383317.045 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-01-09T00:41:57.045Z,1736383317.045 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-01-09T00:41:57.045Z,1736383317.045 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-01-09T00:41:57.046Z,1736383317.046 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-01-09T00:41:57.046Z,1736383317.046 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 315.600006 m 
2025-01-09T00:41:57.047Z,1736383317.047 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-01-09T00:41:57.047Z,1736383317.047 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-01-09T00:41:57.048Z,1736383317.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg )
2025-01-09T00:41:57.048Z,1736383317.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-01-09T00:41:57.048Z,1736383317.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-01-09T00:41:57.048Z,1736383317.048 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-09T00:41:57.049Z,1736383317.049 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.903300,-122.119000
2025-01-09T00:41:57.064Z,1736383317.064 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:41:57.064Z,1736383317.064 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:41:57.064Z,1736383317.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:41:57.316Z,1736383317.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246740
2025-01-09T00:41:57.404Z,1736383317.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:57.414Z,1736383317.414 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.903300,-122.119000
2025-01-09T00:41:57.415Z,1736383317.415 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-01-09T00:41:57.416Z,1736383317.416 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-01-09T00:41:57.416Z,1736383317.416 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-01-09T00:41:57.416Z,1736383317.416 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-01-09T00:41:57.442Z,1736383317.442 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-01-09T00:41:57.443Z,1736383317.443 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-01-09T00:41:57.568Z,1736383317.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498671
2025-01-09T00:41:57.820Z,1736383317.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750923
2025-01-09T00:41:57.868Z,1736383317.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:57.874Z,1736383317.874 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-01-09T00:41:57.874Z,1736383317.874 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-01-09T00:41:57.874Z,1736383317.874 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-01-09T00:41:57.876Z,1736383317.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-01-09T00:41:57.876Z,1736383317.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-09T00:41:57.876Z,1736383317.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-01-09T00:41:57.876Z,1736383317.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-09T00:41:57.876Z,1736383317.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-01-09T00:41:57.876Z,1736383317.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-01-09T00:41:57.876Z,1736383317.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-01-09T00:41:57.876Z,1736383317.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-01-09T00:41:57.877Z,1736383317.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-01-09T00:41:57.877Z,1736383317.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-01-09T00:41:57.877Z,1736383317.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-01-09T00:41:57.877Z,1736383317.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-01-09T00:41:57.877Z,1736383317.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-01-09T00:41:57.877Z,1736383317.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-01-09T00:41:57.877Z,1736383317.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-01-09T00:41:57.877Z,1736383317.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-01-09T00:41:57.878Z,1736383317.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-01-09T00:41:57.878Z,1736383317.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-01-09T00:41:57.878Z,1736383317.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-01-09T00:41:57.878Z,1736383317.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-01-09T00:41:57.879Z,1736383317.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-01-09T00:41:57.879Z,1736383317.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-01-09T00:41:57.880Z,1736383317.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-01-09T00:41:57.880Z,1736383317.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-01-09T00:41:57.880Z,1736383317.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-01-09T00:41:57.881Z,1736383317.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-01-09T00:41:57.881Z,1736383317.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-01-09T00:41:57.881Z,1736383317.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-01-09T00:41:57.881Z,1736383317.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-01-09T00:41:57.881Z,1736383317.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-01-09T00:41:57.882Z,1736383317.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00.
2025-01-09T00:41:57.882Z,1736383317.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-01-09T00:41:57.883Z,1736383317.883 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-01-09T00:41:57.883Z,1736383317.883 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-01-09T00:41:57.883Z,1736383317.883 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-01-09T00:41:57.883Z,1736383317.883 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-01-09T00:41:57.883Z,1736383317.883 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-01-09T00:41:57.883Z,1736383317.883 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-01-09T00:41:57.883Z,1736383317.883 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-01-09T00:41:57.883Z,1736383317.883 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-01-09T00:41:57.883Z,1736383317.883 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-09T00:41:58.072Z,1736383318.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002747
2025-01-09T00:41:58.224Z,1736383318.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:58.233Z,1736383318.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 315.600006 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-01-09T00:41:58.236Z,1736383318.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 315.600006 m,
      bearing: 277.603399 deg,
      lat: 36.903608 deg,
      lon: -122.119035 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-01-09T00:41:58.237Z,1736383318.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m.
2025-01-09T00:41:58.239Z,1736383318.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 315.600006 m,
      nav range: 309.674438 m,
      bearing: 277.619626 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 215.685681 deg,
      new cmd heading: 277.619626 deg.

2025-01-09T00:41:58.240Z,1736383318.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845376 target range: 315.600006 and range: 315.60 m.
2025-01-09T00:41:58.252Z,1736383318.252 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-01-09T00:41:58.253Z,1736383318.253 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-01-09T00:41:58.324Z,1736383318.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254937
2025-01-09T00:41:58.420Z,1736383318.420 [DockingStepper](INFO): Resume
2025-01-09T00:41:58.576Z,1736383318.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506685
2025-01-09T00:41:58.621Z,1736383318.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:58.630Z,1736383318.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m.
2025-01-09T00:41:58.633Z,1736383318.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 315.600006 m,
      nav range: 309.664703 m,
      bearing: 277.619306 deg,
      approach rate: -0.024516 m/s,
      LOS rate: nan deg/s,
      cmd heading: 277.619623 deg,
      new cmd heading: 277.619306 deg.

2025-01-09T00:41:58.633Z,1736383318.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845371 target range: 315.600006 and range: 315.60 m.
2025-01-09T00:41:58.708Z,1736383318.708 [DockingStepper](INFO): Resuming
2025-01-09T00:41:58.799Z,1736383318.799 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:41:58.832Z,1736383318.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762503
2025-01-09T00:41:59.061Z,1736383319.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:59.073Z,1736383319.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:41:59.081Z,1736383319.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011152
2025-01-09T00:41:59.081Z,1736383319.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m.
2025-01-09T00:41:59.088Z,1736383319.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 315.600006 m,
      nav range: 309.636322 m,
      bearing: 277.619117 deg,
      approach rate: -0.063675 m/s,
      LOS rate: nan deg/s,
      cmd heading: 277.619295 deg,
      new cmd heading: 277.619117 deg.

2025-01-09T00:41:59.089Z,1736383319.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845367 target range: 315.600006 and range: 315.60 m.
2025-01-09T00:41:59.165Z,1736383319.165 [DockingStepper](INFO): Start
2025-01-09T00:41:59.165Z,1736383319.165 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-09T00:41:59.165Z,1736383319.165 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-09T00:41:59.334Z,1736383319.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264008
2025-01-09T00:41:59.443Z,1736383319.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:59.452Z,1736383319.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m.
2025-01-09T00:41:59.454Z,1736383319.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 315.600006 m,
      nav range: 309.611633 m,
      bearing: 277.618953 deg,
      approach rate: -0.065522 m/s,
      LOS rate: nan deg/s,
      cmd heading: 277.619104 deg,
      new cmd heading: 277.618953 deg.

2025-01-09T00:41:59.456Z,1736383319.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845365 target range: 315.600006 and range: 315.60 m.
2025-01-09T00:41:59.584Z,1736383319.584 [DAT](INFO): DAT read: Rx Time:00:41:58.2541

2025-01-09T00:41:59.585Z,1736383319.585 [DAT](INFO): Rx dataTimestamp_ set to:1736383319.584576
2025-01-09T00:41:59.585Z,1736383319.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515866
2025-01-09T00:41:59.622Z,1736383319.622 [DockingStepper](INFO): Starting
2025-01-09T00:41:59.806Z,1736383319.806 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:41:59.836Z,1736383319.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766751
2025-01-09T00:41:59.880Z,1736383319.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:41:59.901Z,1736383319.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m.
2025-01-09T00:41:59.908Z,1736383319.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 315.600006 m,
      nav range: 309.570648 m,
      bearing: 277.619741 deg,
      approach rate: -0.091363 m/s,
      LOS rate: nan deg/s,
      cmd heading: 277.618940 deg,
      new cmd heading: 277.619741 deg.

2025-01-09T00:41:59.909Z,1736383319.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845378 target range: 315.600006 and range: 315.60 m.
2025-01-09T00:42:00.014Z,1736383320.014 [DockingStepper](INFO): Starting
2025-01-09T00:42:00.099Z,1736383320.099 [DAT](INFO): DAT read: 00:41:58.2541 LVL= 16336, 30305, 23538, 32755, AGC= 62, IDX= 420, 0.36,-2.836, 1.961, 1.720, 2.579, PHS= 0.956,-0.570,-0.861, RAW=  81.4,   5.7, CAL=  86.5,   5.5, ROT=  63.5,  -5.5

2025-01-09T00:42:00.100Z,1736383320.100 [DAT](INFO): got valid direction response:
 00:41:58.2541 LVL= 16336, 30305, 23538, 32755, AGC= 62, IDX= 420, 0.36,-2.836, 1.961, 1.720, 2.579, PHS= 0.956,-0.570,-0.861, RAW=  81.4,   5.7, CAL=  86.5,   5.5, ROT=  63.5,  -5.5

2025-01-09T00:42:00.101Z,1736383320.101 [DAT](INFO): DAT read: Bearing  63.5,  -5.5 (Local)

2025-01-09T00:42:00.101Z,1736383320.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.5,  -5.5 (Local)

2025-01-09T00:42:00.103Z,1736383320.103 [DAT](INFO): DAT read: Range 10 to 50 : 315.7 m  (Round-trip  421.0 ms) speed  0.2 m/s

2025-01-09T00:42:00.104Z,1736383320.104 [DAT](INFO): DAT read: user:3676>

2025-01-09T00:42:00.105Z,1736383320.105 [DAT](INFO): DAT read: Tx time:00:41:59.3789

2025-01-09T00:42:00.105Z,1736383320.105 [DAT](INFO): Ping request sent.
2025-01-09T00:42:00.105Z,1736383320.105 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:00.105Z,1736383320.105 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:00.106Z,1736383320.106 [DAT](INFO): direction in FSK: [0.444144,0.890814,0.095846]
2025-01-09T00:42:00.106Z,1736383320.106 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:00.107Z,1736383320.107 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:00.110Z,1736383320.110 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:00.110Z,1736383320.110 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:00.264Z,1736383320.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:00.289Z,1736383320.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 315.700012 m,
      deltaT: 4.035995 s,
      deltaX: 0.100006 m,
      approachRate: 0.024779 m/s,
      rangeRepo size: 2

2025-01-09T00:42:00.308Z,1736383320.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 315.700012 m,
      bearing: 276.762344 deg,
      lat: 36.903568 deg,
      lon: -122.119035 deg,
      deltaT: 4.035995 s,
      deltaX: 0.100006 m,
      approachRate: 0.024779 m/s,
      posRepo size: 2

2025-01-09T00:42:00.309Z,1736383320.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.70 m.
2025-01-09T00:42:00.310Z,1736383320.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 276.762344 deg.
2025-01-09T00:42:00.311Z,1736383320.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830414 target range: 315.700012 and range: 315.70 m.
2025-01-09T00:42:00.341Z,1736383320.341 [DAT](INFO): DAT read: TxSync time:00:41:59.3781

2025-01-09T00:42:00.374Z,1736383320.374 [DockingStepper](INFO): Starting
2025-01-09T00:42:00.424Z,1736383320.424 [DockingStepper](INFO): Init string: /1z16336aE13561N3m50
2025-01-09T00:42:00.693Z,1736383320.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:00.721Z,1736383320.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.70 m.
2025-01-09T00:42:00.724Z,1736383320.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.700012 m,
      nav range: 308.935669 m,
      bearing: 276.802393 deg,
      approach rate: -0.092701 m/s,
      LOS rate: 0.001680 deg/s,
      cmd heading: 276.762352 deg,
      new cmd heading: 276.764531 deg.

2025-01-09T00:42:00.725Z,1736383320.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830452 target range: 315.700012 and range: 315.70 m.
2025-01-09T00:42:00.765Z,1736383320.764 [DockingStepper](INFO): Starting
2025-01-09T00:42:01.130Z,1736383321.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:01.137Z,1736383321.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:01.139Z,1736383321.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.70 m.
2025-01-09T00:42:01.142Z,1736383321.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.700012 m,
      nav range: 308.885345 m,
      bearing: 276.804570 deg,
      approach rate: -0.120325 m/s,
      LOS rate: 0.005206 deg/s,
      cmd heading: 276.764538 deg,
      new cmd heading: 276.771070 deg.

2025-01-09T00:42:01.143Z,1736383321.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830566 target range: 315.700012 and range: 315.70 m.
2025-01-09T00:42:01.184Z,1736383321.184 [DockingStepper](INFO): Starting
2025-01-09T00:42:01.348Z,1736383321.348 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:01.348Z,1736383321.348 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:01.348Z,1736383321.348 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:01.492Z,1736383321.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:01.501Z,1736383321.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.70 m.
2025-01-09T00:42:01.504Z,1736383321.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.700012 m,
      nav range: 308.843811 m,
      bearing: 276.806447 deg,
      approach rate: -0.114770 m/s,
      LOS rate: 0.005186 deg/s,
      cmd heading: 276.771068 deg,
      new cmd heading: 276.776699 deg.

2025-01-09T00:42:01.505Z,1736383321.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830665 target range: 315.700012 and range: 315.70 m.
2025-01-09T00:42:01.569Z,1736383321.569 [DockingStepper](INFO): Starting
2025-01-09T00:42:01.602Z,1736383321.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497493
2025-01-09T00:42:01.852Z,1736383321.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747365
2025-01-09T00:42:01.921Z,1736383321.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:01.931Z,1736383321.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.70 m.
2025-01-09T00:42:01.934Z,1736383321.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.700012 m,
      nav range: 308.786896 m,
      bearing: 276.811756 deg,
      approach rate: -0.132480 m/s,
      LOS rate: 0.012360 deg/s,
      cmd heading: 276.776696 deg,
      new cmd heading: 276.792625 deg.

2025-01-09T00:42:01.935Z,1736383321.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830943 target range: 315.700012 and range: 315.70 m.
2025-01-09T00:42:02.016Z,1736383322.016 [DockingStepper](INFO): Starting
2025-01-09T00:42:02.040Z,1736383322.040 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-09T00:42:02.105Z,1736383322.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999608
2025-01-09T00:42:02.303Z,1736383322.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:02.321Z,1736383322.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.70 m.
2025-01-09T00:42:02.328Z,1736383322.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.700012 m,
      nav range: 308.736877 m,
      bearing: 276.816458 deg,
      approach rate: -0.130070 m/s,
      LOS rate: 0.012229 deg/s,
      cmd heading: 276.792624 deg,
      new cmd heading: 276.806732 deg.

2025-01-09T00:42:02.330Z,1736383322.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831189 target range: 315.700012 and range: 315.70 m.
2025-01-09T00:42:02.356Z,1736383322.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251481
2025-01-09T00:42:02.401Z,1736383322.401 [DockingStepper](INFO): Starting
2025-01-09T00:42:02.608Z,1736383322.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503362
2025-01-09T00:42:02.712Z,1736383322.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:02.721Z,1736383322.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.70 m.
2025-01-09T00:42:02.724Z,1736383322.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.700012 m,
      nav range: 308.682281 m,
      bearing: 276.821623 deg,
      approach rate: -0.134584 m/s,
      LOS rate: 0.012735 deg/s,
      cmd heading: 276.806721 deg,
      new cmd heading: 276.822220 deg.

2025-01-09T00:42:02.725Z,1736383322.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831459 target range: 315.700012 and range: 315.70 m.
2025-01-09T00:42:02.801Z,1736383322.801 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T00:42:02.802Z,1736383322.802 [DockingStepper](INFO): Standby mode.
2025-01-09T00:42:02.864Z,1736383322.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758651
2025-01-09T00:42:03.114Z,1736383323.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009286
2025-01-09T00:42:03.166Z,1736383323.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:03.173Z,1736383323.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:03.175Z,1736383323.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.70 m.
2025-01-09T00:42:03.178Z,1736383323.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.700012 m,
      nav range: 308.622284 m,
      bearing: 276.831913 deg,
      approach rate: -0.132096 m/s,
      LOS rate: 0.022660 deg/s,
      cmd heading: 276.822212 deg,
      new cmd heading: 276.853089 deg.

2025-01-09T00:42:03.200Z,1736383323.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831998 target range: 315.700012 and range: 315.70 m.
2025-01-09T00:42:03.366Z,1736383323.366 [DAT](INFO): DAT read: Rx Time:00:42:02.2033

2025-01-09T00:42:03.368Z,1736383323.368 [DAT](INFO): Rx dataTimestamp_ set to:1736383323.366712
2025-01-09T00:42:03.368Z,1736383323.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263389
2025-01-09T00:42:03.508Z,1736383323.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:03.517Z,1736383323.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.70 m.
2025-01-09T00:42:03.520Z,1736383323.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.700012 m,
      nav range: 308.577148 m,
      bearing: 276.839645 deg,
      approach rate: -0.132067 m/s,
      LOS rate: 0.022628 deg/s,
      cmd heading: 276.853085 deg,
      new cmd heading: 276.876285 deg.

2025-01-09T00:42:03.521Z,1736383323.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832403 target range: 315.700012 and range: 315.70 m.
2025-01-09T00:42:03.616Z,1736383323.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511520
2025-01-09T00:42:03.871Z,1736383323.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765696
2025-01-09T00:42:03.961Z,1736383323.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:03.971Z,1736383323.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.70 m.
2025-01-09T00:42:03.974Z,1736383323.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.700012 m,
      nav range: 308.519226 m,
      bearing: 276.853265 deg,
      approach rate: -0.127608 m/s,
      LOS rate: 0.030011 deg/s,
      cmd heading: 276.876280 deg,
      new cmd heading: 276.917147 deg.

2025-01-09T00:42:03.975Z,1736383323.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833116 target range: 315.700012 and range: 315.70 m.
2025-01-09T00:42:04.128Z,1736383324.128 [DAT](INFO): DAT read: 00:42:02.2033 LVL= 15696, 28657, 16498, 24819, AGC= 63, IDX= 428,-0.45,-2.002, 2.846, 2.500,-2.821, PHS= 0.907,-0.569,-0.965, RAW=  78.4,   7.4, CAL=  82.7,   9.3, ROT=  67.3,  -9.3

2025-01-09T00:42:04.132Z,1736383324.132 [DAT](INFO): got valid direction response:
 00:42:02.2033 LVL= 15696, 28657, 16498, 24819, AGC= 63, IDX= 428,-0.45,-2.002, 2.846, 2.500,-2.821, PHS= 0.907,-0.569,-0.965, RAW=  78.4,   7.4, CAL=  82.7,   9.3, ROT=  67.3,  -9.3

2025-01-09T00:42:04.133Z,1736383324.133 [DAT](INFO): DAT read: Bearing  67.3,  -9.3 (Local)

2025-01-09T00:42:04.133Z,1736383324.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.3,  -9.3 (Local)

2025-01-09T00:42:04.135Z,1736383324.135 [DAT](INFO): DAT read: Range 10 to 50 : 315.2 m  (Round-trip  420.3 ms) speed  0.0 m/s

2025-01-09T00:42:04.136Z,1736383324.136 [DAT](INFO): DAT read: user:3677>

2025-01-09T00:42:04.137Z,1736383324.137 [DAT](INFO): DAT read: Tx time:00:42:03.3289

2025-01-09T00:42:04.137Z,1736383324.137 [DAT](INFO): Ping request sent.
2025-01-09T00:42:04.137Z,1736383324.137 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:04.138Z,1736383324.138 [DAT](INFO): DAT read: TxSync time:00:42:03.3281

2025-01-09T00:42:04.138Z,1736383324.138 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:04.140Z,1736383324.140 [DAT](INFO): direction in FSK: [0.380833,0.910412,0.161604]
2025-01-09T00:42:04.140Z,1736383324.140 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:04.140Z,1736383324.140 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:04.151Z,1736383324.151 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:04.152Z,1736383324.152 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:04.326Z,1736383324.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:04.355Z,1736383324.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 315.200012 m,
      deltaT: 4.028393 s,
      deltaX: -0.500000 m,
      approachRate: -0.124119 m/s,
      rangeRepo size: 3

2025-01-09T00:42:04.357Z,1736383324.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 315.200012 m,
      bearing: 279.659385 deg,
      lat: 36.903568 deg,
      lon: -122.119035 deg,
      deltaT: 4.028393 s,
      deltaX: -0.500000 m,
      approachRate: -0.124119 m/s,
      posRepo size: 3

2025-01-09T00:42:04.358Z,1736383324.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.20 m.
2025-01-09T00:42:04.375Z,1736383324.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.200012 m,
      nav range: 308.472443 m,
      bearing: 276.864175 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030011 deg/s,
      cmd heading: 276.917152 deg,
      new cmd heading: 276.951322 deg.

2025-01-09T00:42:04.382Z,1736383324.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833713 target range: 315.200012 and range: 315.20 m.
2025-01-09T00:42:04.725Z,1736383324.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:04.734Z,1736383324.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.20 m.
2025-01-09T00:42:04.737Z,1736383324.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.200012 m,
      nav range: 308.420898 m,
      bearing: 276.876121 deg,
      approach rate: -0.134170 m/s,
      LOS rate: 0.031101 deg/s,
      cmd heading: 276.951330 deg,
      new cmd heading: 276.987174 deg.

2025-01-09T00:42:04.738Z,1736383324.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834338 target range: 315.200012 and range: 315.20 m.
2025-01-09T00:42:05.149Z,1736383325.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:05.157Z,1736383325.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.20 m.
2025-01-09T00:42:05.160Z,1736383325.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.200012 m,
      nav range: 308.367065 m,
      bearing: 276.891706 deg,
      approach rate: -0.127318 m/s,
      LOS rate: 0.036867 deg/s,
      cmd heading: 276.987175 deg,
      new cmd heading: 277.033939 deg.

2025-01-09T00:42:05.161Z,1736383325.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835155 target range: 315.200012 and range: 315.20 m.
2025-01-09T00:42:05.526Z,1736383325.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:05.534Z,1736383325.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:05.536Z,1736383325.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.20 m.
2025-01-09T00:42:05.539Z,1736383325.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.200012 m,
      nav range: 308.318451 m,
      bearing: 276.905537 deg,
      approach rate: -0.128393 m/s,
      LOS rate: 0.036533 deg/s,
      cmd heading: 277.033948 deg,
      new cmd heading: 277.075447 deg.

2025-01-09T00:42:05.540Z,1736383325.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835879 target range: 315.200012 and range: 315.20 m.
2025-01-09T00:42:05.633Z,1736383325.633 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:05.633Z,1736383325.633 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:05.633Z,1736383325.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:05.887Z,1736383325.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748929
2025-01-09T00:42:05.961Z,1736383325.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:05.970Z,1736383325.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.20 m.
2025-01-09T00:42:05.973Z,1736383325.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.200012 m,
      nav range: 308.262726 m,
      bearing: 276.923453 deg,
      approach rate: -0.128359 m/s,
      LOS rate: 0.041276 deg/s,
      cmd heading: 277.075448 deg,
      new cmd heading: 277.129206 deg.

2025-01-09T00:42:05.974Z,1736383325.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836817 target range: 315.200012 and range: 315.20 m.
2025-01-09T00:42:06.136Z,1736383326.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998947
2025-01-09T00:42:06.352Z,1736383326.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:06.362Z,1736383326.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.20 m.
2025-01-09T00:42:06.365Z,1736383326.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.200012 m,
      nav range: 308.211517 m,
      bearing: 276.939471 deg,
      approach rate: -0.130664 m/s,
      LOS rate: 0.040879 deg/s,
      cmd heading: 277.129216 deg,
      new cmd heading: 277.177278 deg.

2025-01-09T00:42:06.366Z,1736383326.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.837656 target range: 315.200012 and range: 315.20 m.
2025-01-09T00:42:06.388Z,1736383326.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250984
2025-01-09T00:42:06.640Z,1736383326.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503016
2025-01-09T00:42:06.746Z,1736383326.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:06.755Z,1736383326.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.20 m.
2025-01-09T00:42:06.758Z,1736383326.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.200012 m,
      nav range: 308.158844 m,
      bearing: 276.955456 deg,
      approach rate: -0.134103 m/s,
      LOS rate: 0.040703 deg/s,
      cmd heading: 277.177273 deg,
      new cmd heading: 277.225235 deg.

2025-01-09T00:42:06.759Z,1736383326.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838493 target range: 315.200012 and range: 315.20 m.
2025-01-09T00:42:06.898Z,1736383326.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759947
2025-01-09T00:42:07.144Z,1736383327.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007060
2025-01-09T00:42:07.166Z,1736383327.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:07.175Z,1736383327.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.20 m.
2025-01-09T00:42:07.178Z,1736383327.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.200012 m,
      nav range: 308.098450 m,
      bearing: 276.973805 deg,
      approach rate: -0.143794 m/s,
      LOS rate: 0.043696 deg/s,
      cmd heading: 277.225248 deg,
      new cmd heading: 277.280305 deg.

2025-01-09T00:42:07.200Z,1736383327.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839454 target range: 315.200012 and range: 315.20 m.
2025-01-09T00:42:07.396Z,1736383327.396 [DAT](INFO): DAT read: Rx Time:00:42:06.1527

2025-01-09T00:42:07.397Z,1736383327.397 [DAT](INFO): Rx dataTimestamp_ set to:1736383327.396455
2025-01-09T00:42:07.397Z,1736383327.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259991
2025-01-09T00:42:07.556Z,1736383327.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:07.563Z,1736383327.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:07.566Z,1736383327.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.20 m.
2025-01-09T00:42:07.568Z,1736383327.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.200012 m,
      nav range: 308.041229 m,
      bearing: 276.990605 deg,
      approach rate: -0.146437 m/s,
      LOS rate: 0.043004 deg/s,
      cmd heading: 277.280299 deg,
      new cmd heading: 277.330710 deg.

2025-01-09T00:42:07.569Z,1736383327.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.840334 target range: 315.200012 and range: 315.20 m.
2025-01-09T00:42:07.649Z,1736383327.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511743
2025-01-09T00:42:07.929Z,1736383327.929 [DAT](INFO): DAT read: 00:42:06.1527 LVL= 15648, 32753, 25010, 32755, AGC= 64, IDX= 438, 0.26, 2.835, 1.182, 1.039, 1.841, PHS= 1.082,-0.612,-0.805, RAW=  84.7,   3.8, CAL=  90.3,   1.8, ROT=  59.7,  -1.8

2025-01-09T00:42:07.930Z,1736383327.930 [DAT](INFO): got valid direction response:
 00:42:06.1527 LVL= 15648, 32753, 25010, 32755, AGC= 64, IDX= 438, 0.26, 2.835, 1.182, 1.039, 1.841, PHS= 1.082,-0.612,-0.805, RAW=  84.7,   3.8, CAL=  90.3,   1.8, ROT=  59.7,  -1.8

2025-01-09T00:42:07.944Z,1736383327.944 [DAT](INFO): DAT read: Bearing  59.7,  -1.8 (Local)

2025-01-09T00:42:07.944Z,1736383327.944 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.7,  -1.8 (Local)

2025-01-09T00:42:07.946Z,1736383327.946 [DAT](INFO): DAT read: Range 10 to 50 : 314.7 m  (Round-trip  419.7 ms) speed  0.0 m/s

2025-01-09T00:42:07.947Z,1736383327.947 [DAT](INFO): DAT read: user:3678>

2025-01-09T00:42:07.964Z,1736383327.964 [DAT](INFO): DAT read: Tx time:00:42:07.2789

2025-01-09T00:42:07.964Z,1736383327.964 [DAT](INFO): Ping request sent.
2025-01-09T00:42:07.965Z,1736383327.965 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:07.965Z,1736383327.965 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:07.966Z,1736383327.966 [DAT](INFO): direction in FSK: [0.504279,0.862970,0.031411]
2025-01-09T00:42:07.966Z,1736383327.966 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:07.966Z,1736383327.966 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:07.992Z,1736383327.992 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:07.993Z,1736383327.993 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:08.152Z,1736383328.152 [DAT](INFO): DAT read: TxSync time:00:42:07.2781

2025-01-09T00:42:08.153Z,1736383328.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:08.192Z,1736383328.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 314.700012 m,
      deltaT: 3.781196 s,
      deltaX: -0.500000 m,
      approachRate: -0.132233 m/s,
      rangeRepo size: 4

2025-01-09T00:42:08.194Z,1736383328.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 314.700012 m,
      bearing: 279.783176 deg,
      lat: 36.903608 deg,
      lon: -122.119043 deg,
      deltaT: 3.781196 s,
      deltaX: -0.500000 m,
      approachRate: -0.132233 m/s,
      posRepo size: 4

2025-01-09T00:42:08.199Z,1736383328.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m.
2025-01-09T00:42:08.202Z,1736383328.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.700012 m,
      nav range: 309.174988 m,
      bearing: 277.821204 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.043004 deg/s,
      cmd heading: 277.330706 deg,
      new cmd heading: 277.410906 deg.

2025-01-09T00:42:08.203Z,1736383328.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.841733 target range: 314.700012 and range: 314.70 m.
2025-01-09T00:42:08.522Z,1736383328.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:08.531Z,1736383328.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m.
2025-01-09T00:42:08.534Z,1736383328.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.700012 m,
      nav range: 309.108734 m,
      bearing: 277.838101 deg,
      approach rate: -0.192761 m/s,
      LOS rate: 0.049169 deg/s,
      cmd heading: 277.410893 deg,
      new cmd heading: 277.461592 deg.

2025-01-09T00:42:08.535Z,1736383328.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842618 target range: 314.700012 and range: 314.70 m.
2025-01-09T00:42:08.990Z,1736383328.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:09.016Z,1736383329.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m.
2025-01-09T00:42:09.021Z,1736383329.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.700012 m,
      nav range: 309.013702 m,
      bearing: 277.860127 deg,
      approach rate: -0.195761 m/s,
      LOS rate: 0.045388 deg/s,
      cmd heading: 277.461600 deg,
      new cmd heading: 277.527700 deg.

2025-01-09T00:42:09.022Z,1736383329.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.843772 target range: 314.700012 and range: 314.70 m.
2025-01-09T00:42:09.356Z,1736383329.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:09.366Z,1736383329.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m.
2025-01-09T00:42:09.369Z,1736383329.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.700012 m,
      nav range: 308.937561 m,
      bearing: 277.877119 deg,
      approach rate: -0.217572 m/s,
      LOS rate: 0.048564 deg/s,
      cmd heading: 277.527689 deg,
      new cmd heading: 277.578675 deg.

2025-01-09T00:42:09.370Z,1736383329.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.844662 target range: 314.700012 and range: 314.70 m.
2025-01-09T00:42:09.756Z,1736383329.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:09.780Z,1736383329.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:09.782Z,1736383329.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m.
2025-01-09T00:42:09.786Z,1736383329.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.700012 m,
      nav range: 308.852264 m,
      bearing: 277.895319 deg,
      approach rate: -0.205076 m/s,
      LOS rate: 0.043771 deg/s,
      cmd heading: 277.578669 deg,
      new cmd heading: 277.633286 deg.

2025-01-09T00:42:09.787Z,1736383329.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845615 target range: 314.700012 and range: 314.70 m.
2025-01-09T00:42:09.920Z,1736383329.920 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:09.921Z,1736383329.921 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:09.922Z,1736383329.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:10.168Z,1736383330.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203717
2025-01-09T00:42:10.201Z,1736383330.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:10.210Z,1736383330.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m.
2025-01-09T00:42:10.214Z,1736383330.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.700012 m,
      nav range: 308.741150 m,
      bearing: 277.916686 deg,
      approach rate: -0.259801 m/s,
      LOS rate: 0.049976 deg/s,
      cmd heading: 277.633283 deg,
      new cmd heading: 277.697406 deg.

2025-01-09T00:42:10.215Z,1736383330.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.846734 target range: 314.700012 and range: 314.70 m.
2025-01-09T00:42:10.420Z,1736383330.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455573
2025-01-09T00:42:10.573Z,1736383330.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:10.589Z,1736383330.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m.
2025-01-09T00:42:10.592Z,1736383330.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.700012 m,
      nav range: 308.644653 m,
      bearing: 277.933641 deg,
      approach rate: -0.254264 m/s,
      LOS rate: 0.044689 deg/s,
      cmd heading: 277.697405 deg,
      new cmd heading: 277.748285 deg.

2025-01-09T00:42:10.593Z,1736383330.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.847622 target range: 314.700012 and range: 314.70 m.
2025-01-09T00:42:10.674Z,1736383330.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709101
2025-01-09T00:42:10.927Z,1736383330.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962011
2025-01-09T00:42:11.024Z,1736383331.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:11.034Z,1736383331.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m.
2025-01-09T00:42:11.037Z,1736383331.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.700012 m,
      nav range: 308.507721 m,
      bearing: 277.955359 deg,
      approach rate: -0.307860 m/s,
      LOS rate: 0.048849 deg/s,
      cmd heading: 277.748277 deg,
      new cmd heading: 277.813459 deg.

2025-01-09T00:42:11.038Z,1736383331.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.848760 target range: 314.700012 and range: 314.70 m.
2025-01-09T00:42:11.177Z,1736383331.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212452
2025-01-09T00:42:11.372Z,1736383331.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:11.384Z,1736383331.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m.
2025-01-09T00:42:11.386Z,1736383331.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.700012 m,
      nav range: 308.400665 m,
      bearing: 277.971549 deg,
      approach rate: -0.306655 m/s,
      LOS rate: 0.046393 deg/s,
      cmd heading: 277.813464 deg,
      new cmd heading: 277.862052 deg.

2025-01-09T00:42:11.404Z,1736383331.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.849607 target range: 314.700012 and range: 314.70 m.
2025-01-09T00:42:11.429Z,1736383331.429 [DAT](INFO): DAT read: Rx Time:00:42:10.1024

2025-01-09T00:42:11.429Z,1736383331.429 [DAT](INFO): Rx dataTimestamp_ set to:1736383331.428982
2025-01-09T00:42:11.430Z,1736383331.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465190
2025-01-09T00:42:11.682Z,1736383331.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.717294
2025-01-09T00:42:11.794Z,1736383331.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:11.834Z,1736383331.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:11.844Z,1736383331.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.70 m.
2025-01-09T00:42:11.848Z,1736383331.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.700012 m,
      nav range: 308.268280 m,
      bearing: 277.990631 deg,
      approach rate: -0.289744 m/s,
      LOS rate: 0.041782 deg/s,
      cmd heading: 277.862040 deg,
      new cmd heading: 277.919312 deg.

2025-01-09T00:42:11.849Z,1736383331.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.850607 target range: 314.700012 and range: 314.70 m.
2025-01-09T00:42:11.961Z,1736383331.961 [DAT](INFO): DAT read: 00:42:10.1024 LVL= 18608, 32753, 24258, 30435, AGC= 63, IDX= 435,-0.13,-2.730, 1.879, 2.080, 2.702, PHS= 0.939,-0.776,-0.625, RAW=  94.6,   5.7, CAL= 103.2,   4.6, ROT=  46.8,  -4.6

2025-01-09T00:42:11.984Z,1736383331.984 [DAT](INFO): got valid direction response:
 00:42:10.1024 LVL= 18608, 32753, 24258, 30435, AGC= 63, IDX= 435,-0.13,-2.730, 1.879, 2.080, 2.702, PHS= 0.939,-0.776,-0.625, RAW=  94.6,   5.7, CAL= 103.2,   4.6, ROT=  46.8,  -4.6

2025-01-09T00:42:11.986Z,1736383331.986 [DAT](INFO): DAT read: Bearing  46.8,  -4.6 (Local)

2025-01-09T00:42:11.986Z,1736383331.986 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.8,  -4.6 (Local)

2025-01-09T00:42:12.001Z,1736383332.001 [DAT](INFO): DAT read: Range 10 to 50 : 314.5 m  (Round-trip  419.4 ms) speed  0.5 m/s

2025-01-09T00:42:12.003Z,1736383332.003 [DAT](INFO): DAT read: user:3679>

2025-01-09T00:42:12.013Z,1736383332.013 [DAT](INFO): DAT read: Tx time:00:42:11.2289

2025-01-09T00:42:12.013Z,1736383332.013 [DAT](INFO): Ping request sent.
2025-01-09T00:42:12.013Z,1736383332.013 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:12.014Z,1736383332.014 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:12.015Z,1736383332.015 [DAT](INFO): direction in FSK: [0.682342,0.726621,0.080199]
2025-01-09T00:42:12.015Z,1736383332.015 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:12.019Z,1736383332.019 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:12.022Z,1736383332.022 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:12.022Z,1736383332.022 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:12.189Z,1736383332.189 [DAT](INFO): DAT read: TxSync time:00:42:11.2281

2025-01-09T00:42:12.238Z,1736383332.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:12.274Z,1736383332.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 314.500000 m,
      deltaT: 4.036428 s,
      deltaX: -0.200012 m,
      approachRate: -0.049552 m/s,
      rangeRepo size: 4

2025-01-09T00:42:12.281Z,1736383332.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 314.500000 m,
      bearing: 278.399830 deg,
      lat: 36.903626 deg,
      lon: -122.119043 deg,
      deltaT: 4.036428 s,
      deltaX: -0.200012 m,
      approachRate: -0.049552 m/s,
      posRepo size: 4

2025-01-09T00:42:12.282Z,1736383332.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:12.289Z,1736383332.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 308.400238 m,
      bearing: 278.384314 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.041782 deg/s,
      cmd heading: 277.919304 deg,
      new cmd heading: 277.973626 deg.

2025-01-09T00:42:12.290Z,1736383332.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851555 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:12.653Z,1736383332.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:12.685Z,1736383332.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:12.689Z,1736383332.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 308.254852 m,
      bearing: 278.403885 deg,
      approach rate: -0.353655 m/s,
      LOS rate: 0.047629 deg/s,
      cmd heading: 277.973618 deg,
      new cmd heading: 278.032358 deg.

2025-01-09T00:42:12.690Z,1736383332.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.852580 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:13.055Z,1736383333.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:13.065Z,1736383333.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:13.068Z,1736383333.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 308.093964 m,
      bearing: 278.423535 deg,
      approach rate: -0.423311 m/s,
      LOS rate: 0.051729 deg/s,
      cmd heading: 278.032358 deg,
      new cmd heading: 278.091340 deg.

2025-01-09T00:42:13.069Z,1736383333.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853610 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:13.468Z,1736383333.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:13.476Z,1736383333.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:13.479Z,1736383333.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 307.928772 m,
      bearing: 278.443734 deg,
      approach rate: -0.401256 m/s,
      LOS rate: 0.049091 deg/s,
      cmd heading: 278.091343 deg,
      new cmd heading: 278.151973 deg.

2025-01-09T00:42:13.480Z,1736383333.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.854668 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:13.848Z,1736383333.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:13.854Z,1736383333.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:13.857Z,1736383333.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:13.863Z,1736383333.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 307.771973 m,
      bearing: 278.460873 deg,
      approach rate: -0.412443 m/s,
      LOS rate: 0.045104 deg/s,
      cmd heading: 278.151968 deg,
      new cmd heading: 278.203410 deg.

2025-01-09T00:42:13.864Z,1736383333.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.855566 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:13.955Z,1736383333.955 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:13.956Z,1736383333.956 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:13.957Z,1736383333.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:14.204Z,1736383334.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.190794
2025-01-09T00:42:14.288Z,1736383334.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:14.311Z,1736383334.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:14.315Z,1736383334.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 307.574677 m,
      bearing: 278.481247 deg,
      approach rate: -0.437867 m/s,
      LOS rate: 0.045245 deg/s,
      cmd heading: 278.203413 deg,
      new cmd heading: 278.264573 deg.

2025-01-09T00:42:14.324Z,1736383334.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.856633 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:14.457Z,1736383334.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443228
2025-01-09T00:42:14.677Z,1736383334.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:14.690Z,1736383334.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:14.708Z,1736383334.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694974
2025-01-09T00:42:14.710Z,1736383334.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 307.397949 m,
      bearing: 278.498550 deg,
      approach rate: -0.461925 m/s,
      LOS rate: 0.045253 deg/s,
      cmd heading: 278.264584 deg,
      new cmd heading: 278.316524 deg.

2025-01-09T00:42:14.716Z,1736383334.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857540 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:14.963Z,1736383334.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949226
2025-01-09T00:42:15.109Z,1736383335.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:15.119Z,1736383335.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:15.122Z,1736383335.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 307.196472 m,
      bearing: 278.519553 deg,
      approach rate: -0.469777 m/s,
      LOS rate: 0.049004 deg/s,
      cmd heading: 278.316521 deg,
      new cmd heading: 278.379571 deg.

2025-01-09T00:42:15.123Z,1736383335.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858640 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:15.214Z,1736383335.214 [DAT](INFO): DAT read: Rx Time:00:42:14.0642

2025-01-09T00:42:15.214Z,1736383335.214 [DAT](INFO): Rx dataTimestamp_ set to:1736383335.214207
2025-01-09T00:42:15.216Z,1736383335.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202523
2025-01-09T00:42:15.464Z,1736383335.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451036
2025-01-09T00:42:15.471Z,1736383335.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:15.482Z,1736383335.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:15.491Z,1736383335.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 307.026123 m,
      bearing: 278.536379 deg,
      approach rate: -0.470541 m/s,
      LOS rate: 0.046503 deg/s,
      cmd heading: 278.379577 deg,
      new cmd heading: 278.430083 deg.

2025-01-09T00:42:15.492Z,1736383335.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.859522 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:15.717Z,1736383335.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.703600
2025-01-09T00:42:15.872Z,1736383335.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:15.889Z,1736383335.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:15.894Z,1736383335.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:15.898Z,1736383335.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 306.834656 m,
      bearing: 278.554260 deg,
      approach rate: -0.466130 m/s,
      LOS rate: 0.043558 deg/s,
      cmd heading: 278.430093 deg,
      new cmd heading: 278.483769 deg.

2025-01-09T00:42:15.899Z,1736383335.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860459 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:15.975Z,1736383335.975 [DAT](INFO): DAT read: Range 10 to 50 : 323.4 m  (Round-trip  431.2 ms) speed  0.4 m/s

2025-01-09T00:42:15.977Z,1736383335.977 [DAT](INFO): DAT read: user:3680>

2025-01-09T00:42:15.982Z,1736383335.982 [DAT](INFO): DAT read: Tx time:00:42:15.1789

2025-01-09T00:42:15.983Z,1736383335.983 [DAT](INFO): Ping request sent.
2025-01-09T00:42:15.983Z,1736383335.983 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:15.986Z,1736383335.986 [DAT](INFO): DAT read: TxSync time:00:42:15.1781

2025-01-09T00:42:15.997Z,1736383335.997 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T00:42:15.998Z,1736383335.998 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:16.016Z,1736383336.016 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:16.305Z,1736383336.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:16.316Z,1736383336.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 323.399994 m,
      deltaT: 4.035658 s,
      deltaX: 8.899994 m,
      approachRate: 2.205339 m/s,
      rangeRepo size: 4

2025-01-09T00:42:16.316Z,1736383336.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:16.320Z,1736383336.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 306.628723 m,
      bearing: 278.574805 deg,
      approach rate: -0.486689 m/s,
      LOS rate: 0.048588 deg/s,
      cmd heading: 278.483779 deg,
      new cmd heading: 278.545456 deg.

2025-01-09T00:42:16.321Z,1736383336.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861536 target range: 314.500000 and range: 323.40 m.
2025-01-09T00:42:16.697Z,1736383336.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:16.722Z,1736383336.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:16.730Z,1736383336.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 306.438354 m,
      bearing: 278.591790 deg,
      approach rate: -0.467639 m/s,
      LOS rate: 0.041750 deg/s,
      cmd heading: 278.545469 deg,
      new cmd heading: 278.596457 deg.

2025-01-09T00:42:16.736Z,1736383336.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.862425 target range: 314.500000 and range: 323.40 m.
2025-01-09T00:42:17.129Z,1736383337.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:17.138Z,1736383337.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:17.141Z,1736383337.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 306.237274 m,
      bearing: 278.611124 deg,
      approach rate: -0.482822 m/s,
      LOS rate: 0.046454 deg/s,
      cmd heading: 278.596449 deg,
      new cmd heading: 278.654489 deg.

2025-01-09T00:42:17.142Z,1736383337.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863438 target range: 314.500000 and range: 323.40 m.
2025-01-09T00:42:17.493Z,1736383337.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:17.502Z,1736383337.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:17.505Z,1736383337.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 306.065247 m,
      bearing: 278.626594 deg,
      approach rate: -0.472232 m/s,
      LOS rate: 0.042489 deg/s,
      cmd heading: 278.654479 deg,
      new cmd heading: 278.700913 deg.

2025-01-09T00:42:17.506Z,1736383337.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.864249 target range: 314.500000 and range: 323.40 m.
2025-01-09T00:42:18.077Z,1736383338.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:18.165Z,1736383338.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:18.167Z,1736383338.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:18.174Z,1736383338.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 305.786255 m,
      bearing: 278.650034 deg,
      approach rate: -0.420048 m/s,
      LOS rate: 0.035324 deg/s,
      cmd heading: 278.700924 deg,
      new cmd heading: 278.771309 deg.

2025-01-09T00:42:18.175Z,1736383338.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865477 target range: 314.500000 and range: 323.40 m.
2025-01-09T00:42:18.240Z,1736383338.240 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:18.240Z,1736383338.240 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:18.240Z,1736383338.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:18.492Z,1736383338.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509350
2025-01-09T00:42:18.702Z,1736383338.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:18.721Z,1736383338.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:18.725Z,1736383338.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 305.500732 m,
      bearing: 278.674594 deg,
      approach rate: -0.515662 m/s,
      LOS rate: 0.044397 deg/s,
      cmd heading: 278.771302 deg,
      new cmd heading: 278.845051 deg.

2025-01-09T00:42:18.726Z,1736383338.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866764 target range: 314.500000 and range: 323.40 m.
2025-01-09T00:42:18.744Z,1736383338.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761406
2025-01-09T00:42:18.997Z,1736383338.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014549
2025-01-09T00:42:19.141Z,1736383339.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:19.150Z,1736383339.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:19.154Z,1736383339.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 305.308533 m,
      bearing: 278.689399 deg,
      approach rate: -0.446836 m/s,
      LOS rate: 0.034441 deg/s,
      cmd heading: 278.845041 deg,
      new cmd heading: 278.889484 deg.

2025-01-09T00:42:19.155Z,1736383339.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867540 target range: 314.500000 and range: 323.40 m.
2025-01-09T00:42:19.253Z,1736383339.253 [DAT](INFO): DAT read: Rx Time:00:42:18.0120

2025-01-09T00:42:19.254Z,1736383339.254 [DAT](INFO): Rx dataTimestamp_ set to:1736383339.253595
2025-01-09T00:42:19.254Z,1736383339.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271491
2025-01-09T00:42:19.466Z,1736383339.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:19.474Z,1736383339.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:19.477Z,1736383339.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 305.164734 m,
      bearing: 278.699661 deg,
      approach rate: -0.444028 m/s,
      LOS rate: 0.031701 deg/s,
      cmd heading: 278.889492 deg,
      new cmd heading: 278.920291 deg.

2025-01-09T00:42:19.478Z,1736383339.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868077 target range: 314.500000 and range: 323.40 m.
2025-01-09T00:42:19.517Z,1736383339.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534338
2025-01-09T00:42:19.770Z,1736383339.770 [DAT](INFO): DAT read: Range 10 to 50 : 321.6 m  (Round-trip  428.9 ms) speed  0.4 m/s

2025-01-09T00:42:19.770Z,1736383339.770 [DAT](INFO): DAT read: user:3681>

2025-01-09T00:42:19.771Z,1736383339.771 [DAT](INFO): DAT read: Tx time:00:42:19.1290

2025-01-09T00:42:19.771Z,1736383339.771 [DAT](INFO): Ping request sent.
2025-01-09T00:42:19.772Z,1736383339.772 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:19.772Z,1736383339.772 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T00:42:19.772Z,1736383339.772 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:19.773Z,1736383339.773 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:19.869Z,1736383339.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:19.887Z,1736383339.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 321.600006 m,
      deltaT: 3.794618 s,
      deltaX: -1.799988 m,
      approachRate: -0.474353 m/s,
      rangeRepo size: 4

2025-01-09T00:42:19.892Z,1736383339.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:19.894Z,1736383339.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 304.984314 m,
      bearing: 278.711489 deg,
      approach rate: -0.437968 m/s,
      LOS rate: 0.028731 deg/s,
      cmd heading: 278.920282 deg,
      new cmd heading: 278.955789 deg.

2025-01-09T00:42:19.904Z,1736383339.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868697 target range: 314.500000 and range: 321.60 m.
2025-01-09T00:42:20.023Z,1736383340.023 [DAT](INFO): DAT read: TxSync time:00:42:19.1282

2025-01-09T00:42:20.290Z,1736383340.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:20.298Z,1736383340.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:20.300Z,1736383340.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:20.304Z,1736383340.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 304.798950 m,
      bearing: 278.721209 deg,
      approach rate: -0.447532 m/s,
      LOS rate: 0.023481 deg/s,
      cmd heading: 278.955799 deg,
      new cmd heading: 278.984976 deg.

2025-01-09T00:42:20.305Z,1736383340.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869206 target range: 314.500000 and range: 321.60 m.
2025-01-09T00:42:20.524Z,1736383340.524 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:20.524Z,1736383340.524 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:20.524Z,1736383340.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:20.698Z,1736383340.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:20.709Z,1736383340.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:20.713Z,1736383340.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 304.618042 m,
      bearing: 278.729716 deg,
      approach rate: -0.444409 m/s,
      LOS rate: 0.020909 deg/s,
      cmd heading: 278.984978 deg,
      new cmd heading: 279.010513 deg.

2025-01-09T00:42:20.715Z,1736383340.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869652 target range: 314.500000 and range: 321.60 m.
2025-01-09T00:42:20.777Z,1736383340.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005449
2025-01-09T00:42:21.028Z,1736383341.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256624
2025-01-09T00:42:21.140Z,1736383341.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:21.149Z,1736383341.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:21.152Z,1736383341.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 304.420502 m,
      bearing: 278.737875 deg,
      approach rate: -0.447599 m/s,
      LOS rate: 0.018501 deg/s,
      cmd heading: 279.010523 deg,
      new cmd heading: 279.035018 deg.

2025-01-09T00:42:21.153Z,1736383341.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870080 target range: 314.500000 and range: 321.60 m.
2025-01-09T00:42:21.281Z,1736383341.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509137
2025-01-09T00:42:21.508Z,1736383341.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:21.518Z,1736383341.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:21.521Z,1736383341.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 304.252289 m,
      bearing: 278.742052 deg,
      approach rate: -0.455773 m/s,
      LOS rate: 0.011322 deg/s,
      cmd heading: 279.035030 deg,
      new cmd heading: 279.047566 deg.

2025-01-09T00:42:21.522Z,1736383341.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870299 target range: 314.500000 and range: 321.60 m.
2025-01-09T00:42:21.532Z,1736383341.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760810
2025-01-09T00:42:21.784Z,1736383341.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012683
2025-01-09T00:42:21.891Z,1736383341.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:21.901Z,1736383341.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:21.908Z,1736383341.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 304.077057 m,
      bearing: 278.745424 deg,
      approach rate: -0.457404 m/s,
      LOS rate: 0.008807 deg/s,
      cmd heading: 279.047570 deg,
      new cmd heading: 279.057691 deg.

2025-01-09T00:42:21.909Z,1736383341.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870475 target range: 314.500000 and range: 321.60 m.
2025-01-09T00:42:22.037Z,1736383342.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264990
2025-01-09T00:42:22.288Z,1736383342.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516780
2025-01-09T00:42:22.305Z,1736383342.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:22.332Z,1736383342.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:22.337Z,1736383342.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:22.340Z,1736383342.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 303.872375 m,
      bearing: 278.744956 deg,
      approach rate: -0.469349 m/s,
      LOS rate: -0.001074 deg/s,
      cmd heading: 279.057678 deg,
      new cmd heading: 279.056274 deg.

2025-01-09T00:42:22.341Z,1736383342.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870451 target range: 314.500000 and range: 321.60 m.
2025-01-09T00:42:22.540Z,1736383342.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768596
2025-01-09T00:42:22.701Z,1736383342.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:22.720Z,1736383342.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:22.725Z,1736383342.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 303.676636 m,
      bearing: 278.743598 deg,
      approach rate: -0.514089 m/s,
      LOS rate: -0.003568 deg/s,
      cmd heading: 279.056285 deg,
      new cmd heading: 279.052209 deg.

2025-01-09T00:42:22.727Z,1736383342.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870380 target range: 314.500000 and range: 321.60 m.
2025-01-09T00:42:22.793Z,1736383342.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021893
2025-01-09T00:42:23.044Z,1736383343.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272697
2025-01-09T00:42:23.168Z,1736383343.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:23.184Z,1736383343.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:23.190Z,1736383343.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 303.445953 m,
      bearing: 278.741040 deg,
      approach rate: -0.494477 m/s,
      LOS rate: -0.005487 deg/s,
      cmd heading: 279.052214 deg,
      new cmd heading: 279.044535 deg.

2025-01-09T00:42:23.191Z,1736383343.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870246 target range: 314.500000 and range: 321.60 m.
2025-01-09T00:42:23.297Z,1736383343.297 [DAT](INFO): DAT read: Rx Time:00:42:21.9737

2025-01-09T00:42:23.298Z,1736383343.298 [DAT](INFO): Rx dataTimestamp_ set to:1736383343.297609
2025-01-09T00:42:23.299Z,1736383343.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527221
2025-01-09T00:42:23.519Z,1736383343.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.3 s old, using for 20.0 s.
2025-01-09T00:42:23.519Z,1736383343.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:23.528Z,1736383343.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:23.531Z,1736383343.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 303.273132 m,
      bearing: 278.739121 deg,
      approach rate: -0.503818 m/s,
      LOS rate: -0.005597 deg/s,
      cmd heading: 279.044537 deg,
      new cmd heading: 279.038777 deg.

2025-01-09T00:42:23.532Z,1736383343.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870145 target range: 314.500000 and range: 321.60 m.
2025-01-09T00:42:23.549Z,1736383343.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777601
2025-01-09T00:42:23.808Z,1736383343.808 [DAT](INFO): DAT read: 00:42:21.9737 LVL= 21344, 26257, 22642, 30067, AGC= 65, IDX=  43,-0.03,-0.801,-2.129,-0.986,-1.471, PHS= 0.758,-0.611, 0.482, RAW= 139.0, -10.1, CAL= 145.5, -20.3, ROT=   4.5,  20.3

2025-01-09T00:42:23.810Z,1736383343.810 [DAT](INFO): got valid direction response:
 00:42:21.9737 LVL= 21344, 26257, 22642, 30067, AGC= 65, IDX=  43,-0.03,-0.801,-2.129,-0.986,-1.471, PHS= 0.758,-0.611, 0.482, RAW= 139.0, -10.1, CAL= 145.5, -20.3, ROT=   4.5,  20.3

2025-01-09T00:42:23.811Z,1736383343.811 [DAT](INFO): DAT read: Bearing   4.5,  20.3 (Local)

2025-01-09T00:42:23.811Z,1736383343.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5,  20.3 (Local)

2025-01-09T00:42:23.814Z,1736383343.814 [DAT](INFO): DAT read: Range 10 to 50 : 330.4 m  (Round-trip  440.6 ms) speed  0.1 m/s

2025-01-09T00:42:23.815Z,1736383343.815 [DAT](INFO): DAT read: user:3682>

2025-01-09T00:42:23.816Z,1736383343.816 [DAT](INFO): DAT read: Tx time:00:42:23.0790

2025-01-09T00:42:23.816Z,1736383343.816 [DAT](INFO): Ping request sent.
2025-01-09T00:42:23.816Z,1736383343.816 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:23.816Z,1736383343.816 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:23.817Z,1736383343.817 [DAT](INFO): direction in FSK: [0.934998,0.073586,-0.346936]
2025-01-09T00:42:23.818Z,1736383343.818 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:23.818Z,1736383343.818 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:23.821Z,1736383343.821 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:23.821Z,1736383343.821 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:23.936Z,1736383343.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:42:23.936Z,1736383343.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:23.976Z,1736383343.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 330.399994 m,
      deltaT: 4.032378 s,
      deltaX: 8.799988 m,
      approachRate: 2.182332 m/s,
      rangeRepo size: 4

2025-01-09T00:42:23.978Z,1736383343.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 330.399994 m,
      bearing: 287.114872 deg,
      lat: 36.903698 deg,
      lon: -122.119036 deg,
      deltaT: 11.862654 s,
      deltaX: 15.899994 m,
      approachRate: 1.340340 m/s,
      posRepo size: 4

2025-01-09T00:42:23.979Z,1736383343.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.40 m.
2025-01-09T00:42:23.000Z,1736383344.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.399994 m,
      nav range: 303.785309 m,
      bearing: 280.245519 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005597 deg/s,
      cmd heading: 279.038773 deg,
      new cmd heading: 279.031329 deg.

2025-01-09T00:42:24.001Z,1736383344.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870016 target range: 330.399994 and range: 330.40 m.
2025-01-09T00:42:24.052Z,1736383344.052 [DAT](INFO): DAT read: TxSync time:00:42:23.0782

2025-01-09T00:42:24.381Z,1736383344.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:24.390Z,1736383344.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:24.404Z,1736383344.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.40 m.
2025-01-09T00:42:24.407Z,1736383344.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.399994 m,
      nav range: 303.517761 m,
      bearing: 280.240007 deg,
      approach rate: -0.617069 m/s,
      LOS rate: -0.012725 deg/s,
      cmd heading: 279.031341 deg,
      new cmd heading: 279.014789 deg.

2025-01-09T00:42:24.413Z,1736383344.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869727 target range: 330.399994 and range: 330.40 m.
2025-01-09T00:42:24.556Z,1736383344.556 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:24.556Z,1736383344.556 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:24.556Z,1736383344.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:24.766Z,1736383344.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:24.778Z,1736383344.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.40 m.
2025-01-09T00:42:24.782Z,1736383344.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.399994 m,
      nav range: 303.286896 m,
      bearing: 280.234958 deg,
      approach rate: -0.617249 m/s,
      LOS rate: -0.013509 deg/s,
      cmd heading: 279.014785 deg,
      new cmd heading: 278.999627 deg.

2025-01-09T00:42:24.784Z,1736383344.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869462 target range: 330.399994 and range: 330.40 m.
2025-01-09T00:42:24.821Z,1736383344.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005080
2025-01-09T00:42:25.072Z,1736383345.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256180
2025-01-09T00:42:25.232Z,1736383345.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:25.241Z,1736383345.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.40 m.
2025-01-09T00:42:25.244Z,1736383345.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.399994 m,
      nav range: 302.985016 m,
      bearing: 280.228792 deg,
      approach rate: -0.652698 m/s,
      LOS rate: -0.013344 deg/s,
      cmd heading: 278.999622 deg,
      new cmd heading: 278.981106 deg.

2025-01-09T00:42:25.245Z,1736383345.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869139 target range: 330.399994 and range: 330.40 m.
2025-01-09T00:42:25.325Z,1736383345.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509326
2025-01-09T00:42:25.576Z,1736383345.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760305
2025-01-09T00:42:25.607Z,1736383345.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:25.617Z,1736383345.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.40 m.
2025-01-09T00:42:25.620Z,1736383345.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.399994 m,
      nav range: 302.741486 m,
      bearing: 280.223506 deg,
      approach rate: -0.648049 m/s,
      LOS rate: -0.014079 deg/s,
      cmd heading: 278.981098 deg,
      new cmd heading: 278.965226 deg.

2025-01-09T00:42:25.621Z,1736383345.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868862 target range: 330.399994 and range: 330.40 m.
2025-01-09T00:42:25.830Z,1736383345.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014149
2025-01-09T00:42:26.013Z,1736383346.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:26.022Z,1736383346.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.40 m.
2025-01-09T00:42:26.025Z,1736383346.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.399994 m,
      nav range: 302.478180 m,
      bearing: 280.217529 deg,
      approach rate: -0.649712 m/s,
      LOS rate: -0.014761 deg/s,
      cmd heading: 278.965225 deg,
      new cmd heading: 278.947279 deg.

2025-01-09T00:42:26.026Z,1736383346.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868548 target range: 330.399994 and range: 330.40 m.
2025-01-09T00:42:26.081Z,1736383346.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265382
2025-01-09T00:42:26.332Z,1736383346.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516360
2025-01-09T00:42:26.448Z,1736383346.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:26.471Z,1736383346.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:26.477Z,1736383346.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.40 m.
2025-01-09T00:42:26.485Z,1736383346.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.399994 m,
      nav range: 302.175049 m,
      bearing: 280.212639 deg,
      approach rate: -0.665985 m/s,
      LOS rate: -0.010753 deg/s,
      cmd heading: 278.947275 deg,
      new cmd heading: 278.932592 deg.

2025-01-09T00:42:26.486Z,1736383346.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868292 target range: 330.399994 and range: 330.40 m.
2025-01-09T00:42:26.585Z,1736383346.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769258
2025-01-09T00:42:26.822Z,1736383346.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:26.830Z,1736383346.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.40 m.
2025-01-09T00:42:26.836Z,1736383346.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020293
2025-01-09T00:42:26.867Z,1736383346.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.399994 m,
      nav range: 301.914307 m,
      bearing: 280.208404 deg,
      approach rate: -0.737986 m/s,
      LOS rate: -0.011998 deg/s,
      cmd heading: 278.932604 deg,
      new cmd heading: 278.919887 deg.

2025-01-09T00:42:26.870Z,1736383346.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868071 target range: 330.399994 and range: 330.40 m.
2025-01-09T00:42:27.088Z,1736383347.088 [DAT](INFO): DAT read: Rx Time:00:42:25.9215

2025-01-09T00:42:27.089Z,1736383347.089 [DAT](INFO): Rx dataTimestamp_ set to:1736383347.088455
2025-01-09T00:42:27.089Z,1736383347.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273281
2025-01-09T00:42:27.312Z,1736383347.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:27.322Z,1736383347.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.40 m.
2025-01-09T00:42:27.340Z,1736383347.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524281
2025-01-09T00:42:27.348Z,1736383347.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.399994 m,
      nav range: 301.566803 m,
      bearing: 280.205611 deg,
      approach rate: -0.706926 m/s,
      LOS rate: -0.005687 deg/s,
      cmd heading: 278.919900 deg,
      new cmd heading: 278.911513 deg.

2025-01-09T00:42:27.349Z,1736383347.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867924 target range: 330.399994 and range: 330.40 m.
2025-01-09T00:42:27.595Z,1736383347.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778208
2025-01-09T00:42:27.705Z,1736383347.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:27.714Z,1736383347.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.40 m.
2025-01-09T00:42:27.716Z,1736383347.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.399994 m,
      nav range: 301.286835 m,
      bearing: 280.203464 deg,
      approach rate: -0.714909 m/s,
      LOS rate: -0.005488 deg/s,
      cmd heading: 278.911512 deg,
      new cmd heading: 278.905065 deg.

2025-01-09T00:42:27.718Z,1736383347.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867812 target range: 330.399994 and range: 330.40 m.
2025-01-09T00:42:27.858Z,1736383347.858 [DAT](INFO): DAT read: 00:42:25.9215 LVL= 25392, 32753, 28098, 32755, AGC= 65, IDX= 421, 0.39, 2.684, 1.068, 2.604, 2.000, PHS= 0.772,-0.884, 0.602, RAW= 144.6,  -6.3, CAL= 150.4, -15.2, ROT= 359.6,  15.2

2025-01-09T00:42:27.862Z,1736383347.862 [DAT](INFO): got valid direction response:
 00:42:25.9215 LVL= 25392, 32753, 28098, 32755, AGC= 65, IDX= 421, 0.39, 2.684, 1.068, 2.604, 2.000, PHS= 0.772,-0.884, 0.602, RAW= 144.6,  -6.3, CAL= 150.4, -15.2, ROT= 359.6,  15.2

2025-01-09T00:42:27.869Z,1736383347.869 [DAT](INFO): DAT read: Bearing 359.6,  15.2 (Local)

2025-01-09T00:42:27.870Z,1736383347.870 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,  15.2 (Local)

2025-01-09T00:42:27.885Z,1736383347.885 [DAT](INFO): DAT read: Range 10 to 50 : 328.8 m  (Round-trip  438.4 ms) speed  0.4 m/s

2025-01-09T00:42:27.886Z,1736383347.886 [DAT](INFO): DAT read: user:3683>

2025-01-09T00:42:27.886Z,1736383347.886 [DAT](INFO): DAT read: Tx time:00:42:27.0290

2025-01-09T00:42:27.887Z,1736383347.887 [DAT](INFO): Ping request sent.
2025-01-09T00:42:27.887Z,1736383347.887 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:27.892Z,1736383347.892 [DAT](INFO): DAT read: TxSync time:00:42:27.0282

2025-01-09T00:42:27.892Z,1736383347.892 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:27.893Z,1736383347.893 [DAT](INFO): direction in FSK: [0.964993,-0.006737,-0.262189]
2025-01-09T00:42:27.894Z,1736383347.894 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:27.894Z,1736383347.894 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:27.901Z,1736383347.901 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:27.901Z,1736383347.901 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:28.153Z,1736383348.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:28.248Z,1736383348.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 328.799988 m,
      deltaT: 4.044242 s,
      deltaX: -1.600006 m,
      approachRate: -0.395626 m/s,
      rangeRepo size: 4

2025-01-09T00:42:28.250Z,1736383348.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 328.799988 m,
      bearing: 281.322652 deg,
      lat: 36.903706 deg,
      lon: -122.119036 deg,
      deltaT: 4.044242 s,
      deltaX: -1.600006 m,
      approachRate: -0.395626 m/s,
      posRepo size: 4

2025-01-09T00:42:28.251Z,1736383348.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-09T00:42:28.262Z,1736383348.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 301.112213 m,
      bearing: 280.351716 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005488 deg/s,
      cmd heading: 278.905065 deg,
      new cmd heading: 278.896410 deg.

2025-01-09T00:42:28.276Z,1736383348.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867661 target range: 328.799988 and range: 328.80 m.
2025-01-09T00:42:28.777Z,1736383348.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:28.798Z,1736383348.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:28.805Z,1736383348.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-09T00:42:28.812Z,1736383348.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 300.674683 m,
      bearing: 280.350181 deg,
      approach rate: -0.773968 m/s,
      LOS rate: -0.002720 deg/s,
      cmd heading: 278.896404 deg,
      new cmd heading: 278.891791 deg.

2025-01-09T00:42:28.813Z,1736383348.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867580 target range: 328.799988 and range: 328.80 m.
2025-01-09T00:42:28.852Z,1736383348.852 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:28.852Z,1736383348.852 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:28.853Z,1736383348.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:29.104Z,1736383349.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217526
2025-01-09T00:42:29.311Z,1736383349.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:29.344Z,1736383349.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-09T00:42:29.348Z,1736383349.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 300.311676 m,
      bearing: 280.351531 deg,
      approach rate: -0.672510 m/s,
      LOS rate: 0.002504 deg/s,
      cmd heading: 278.891787 deg,
      new cmd heading: 278.895842 deg.

2025-01-09T00:42:29.349Z,1736383349.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867651 target range: 328.799988 and range: 328.80 m.
2025-01-09T00:42:29.357Z,1736383349.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469789
2025-01-09T00:42:29.608Z,1736383349.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721748
2025-01-09T00:42:29.800Z,1736383349.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:29.813Z,1736383349.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-09T00:42:29.820Z,1736383349.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 299.990936 m,
      bearing: 280.352715 deg,
      approach rate: -0.684337 m/s,
      LOS rate: 0.002531 deg/s,
      cmd heading: 278.895830 deg,
      new cmd heading: 278.899389 deg.

2025-01-09T00:42:29.821Z,1736383349.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867712 target range: 328.799988 and range: 328.80 m.
2025-01-09T00:42:29.862Z,1736383349.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974870
2025-01-09T00:42:29.992Z,1736383349.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:42:30.113Z,1736383350.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226542
2025-01-09T00:42:30.213Z,1736383350.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:30.268Z,1736383350.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-09T00:42:30.270Z,1736383350.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 299.699615 m,
      bearing: 280.353802 deg,
      approach rate: -0.648033 m/s,
      LOS rate: 0.002420 deg/s,
      cmd heading: 278.899382 deg,
      new cmd heading: 278.902646 deg.

2025-01-09T00:42:30.276Z,1736383350.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867769 target range: 328.799988 and range: 328.80 m.
2025-01-09T00:42:30.365Z,1736383350.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477938
2025-01-09T00:42:30.618Z,1736383350.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731350
2025-01-09T00:42:30.634Z,1736383350.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:30.680Z,1736383350.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-09T00:42:30.689Z,1736383350.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 299.431580 m,
      bearing: 280.356065 deg,
      approach rate: -0.648996 m/s,
      LOS rate: 0.005483 deg/s,
      cmd heading: 278.902633 deg,
      new cmd heading: 278.909427 deg.

2025-01-09T00:42:30.690Z,1736383350.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867888 target range: 328.799988 and range: 328.80 m.
2025-01-09T00:42:30.868Z,1736383350.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981486
2025-01-09T00:42:30.996Z,1736383350.996 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:42:31.028Z,1736383351.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:31.036Z,1736383351.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:31.038Z,1736383351.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-09T00:42:31.040Z,1736383351.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 299.182343 m,
      bearing: 280.358115 deg,
      approach rate: -0.688356 m/s,
      LOS rate: 0.005666 deg/s,
      cmd heading: 278.909436 deg,
      new cmd heading: 278.915590 deg.

2025-01-09T00:42:31.041Z,1736383351.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867995 target range: 328.799988 and range: 328.80 m.
2025-01-09T00:42:31.121Z,1736383351.121 [DAT](INFO): DAT read: Rx Time:00:42:29.8670

2025-01-09T00:42:31.122Z,1736383351.122 [DAT](INFO): Rx dataTimestamp_ set to:1736383351.121508
2025-01-09T00:42:31.123Z,1736383351.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236004
2025-01-09T00:42:31.372Z,1736383351.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485502
2025-01-09T00:42:31.453Z,1736383351.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:42:31.453Z,1736383351.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:31.462Z,1736383351.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-09T00:42:31.466Z,1736383351.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 298.913483 m,
      bearing: 280.360330 deg,
      approach rate: -0.633474 m/s,
      LOS rate: 0.005224 deg/s,
      cmd heading: 278.915583 deg,
      new cmd heading: 278.922234 deg.

2025-01-09T00:42:31.467Z,1736383351.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868111 target range: 328.799988 and range: 328.80 m.
2025-01-09T00:42:31.631Z,1736383351.631 [DAT](INFO): DAT read: 00:42:29.8670 LVL= 26912, 32753, 32754, 32755, AGC= 65, IDX= 391,-0.23, 2.829, 1.199, 2.689, 2.106, PHS= 0.811,-0.860, 0.580, RAW= 142.7,  -6.8, CAL= 148.7, -16.1, ROT=   1.3,  16.1

2025-01-09T00:42:31.633Z,1736383351.633 [DAT](INFO): got valid direction response:
 00:42:29.8670 LVL= 26912, 32753, 32754, 32755, AGC= 65, IDX= 391,-0.23, 2.829, 1.199, 2.689, 2.106, PHS= 0.811,-0.860, 0.580, RAW= 142.7,  -6.8, CAL= 148.7, -16.1, ROT=   1.3,  16.1

2025-01-09T00:42:31.633Z,1736383351.633 [DAT](INFO): DAT read: Bearing   1.3,  16.1 (Local)

2025-01-09T00:42:31.634Z,1736383351.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  16.1 (Local)

2025-01-09T00:42:31.635Z,1736383351.635 [DAT](INFO): DAT read: Range 10 to 50 : 325.3 m  (Round-trip  433.8 ms) speed  0.4 m/s

2025-01-09T00:42:31.636Z,1736383351.636 [DAT](INFO): DAT read: user:3684>

2025-01-09T00:42:31.637Z,1736383351.637 [DAT](INFO): DAT read: Tx time:00:42:30.9806

2025-01-09T00:42:31.637Z,1736383351.637 [DAT](INFO): Ping request sent.
2025-01-09T00:42:31.637Z,1736383351.637 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:31.638Z,1736383351.638 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:31.638Z,1736383351.638 [DAT](INFO): direction in FSK: [0.960532,0.021798,-0.277315]
2025-01-09T00:42:31.639Z,1736383351.639 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:31.647Z,1736383351.647 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:31.656Z,1736383351.656 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:31.657Z,1736383351.657 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:31.842Z,1736383351.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:42:31.842Z,1736383351.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:31.874Z,1736383351.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 325.299988 m,
      deltaT: 3.779195 s,
      deltaX: -3.500000 m,
      approachRate: -0.926123 m/s,
      rangeRepo size: 4

2025-01-09T00:42:31.877Z,1736383351.877 [DAT](INFO): DAT read: TxSync time:00:42:30.9798

2025-01-09T00:42:31.881Z,1736383351.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 325.299988 m,
      bearing: 282.553946 deg,
      lat: 36.903771 deg,
      lon: -122.119049 deg,
      deltaT: 3.779195 s,
      deltaX: -3.500000 m,
      approachRate: -0.926123 m/s,
      posRepo size: 4

2025-01-09T00:42:31.881Z,1736383351.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.30 m.
2025-01-09T00:42:31.900Z,1736383351.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.299988 m,
      nav range: 301.175385 m,
      bearing: 281.693823 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005224 deg/s,
      cmd heading: 278.922222 deg,
      new cmd heading: 278.928674 deg.

2025-01-09T00:42:31.901Z,1736383351.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868224 target range: 325.299988 and range: 325.30 m.
2025-01-09T00:42:32.378Z,1736383352.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:32.404Z,1736383352.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.30 m.
2025-01-09T00:42:32.407Z,1736383352.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.299988 m,
      nav range: 300.880463 m,
      bearing: 281.697356 deg,
      approach rate: -0.556088 m/s,
      LOS rate: 0.006668 deg/s,
      cmd heading: 278.928670 deg,
      new cmd heading: 278.939279 deg.

2025-01-09T00:42:32.412Z,1736383352.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868409 target range: 325.299988 and range: 325.30 m.
2025-01-09T00:42:32.902Z,1736383352.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:32.934Z,1736383352.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.30 m.
2025-01-09T00:42:32.960Z,1736383352.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.299988 m,
      nav range: 300.591675 m,
      bearing: 281.700719 deg,
      approach rate: -0.544969 m/s,
      LOS rate: 0.006353 deg/s,
      cmd heading: 278.939270 deg,
      new cmd heading: 278.949369 deg.

2025-01-09T00:42:32.961Z,1736383352.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868585 target range: 325.299988 and range: 325.30 m.
2025-01-09T00:42:33.446Z,1736383353.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:33.453Z,1736383353.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:33.455Z,1736383353.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.30 m.
2025-01-09T00:42:33.458Z,1736383353.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.299988 m,
      nav range: 300.305908 m,
      bearing: 281.701679 deg,
      approach rate: -0.548474 m/s,
      LOS rate: 0.001843 deg/s,
      cmd heading: 278.949379 deg,
      new cmd heading: 278.952260 deg.

2025-01-09T00:42:33.459Z,1736383353.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868635 target range: 325.299988 and range: 325.30 m.
2025-01-09T00:42:33.645Z,1736383353.645 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:33.645Z,1736383353.645 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:33.645Z,1736383353.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:33.802Z,1736383353.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:33.811Z,1736383353.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.30 m.
2025-01-09T00:42:33.813Z,1736383353.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.299988 m,
      nav range: 300.118408 m,
      bearing: 281.702194 deg,
      approach rate: -0.527244 m/s,
      LOS rate: 0.001450 deg/s,
      cmd heading: 278.952248 deg,
      new cmd heading: 278.953794 deg.

2025-01-09T00:42:33.814Z,1736383353.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868662 target range: 325.299988 and range: 325.30 m.
2025-01-09T00:42:33.896Z,1736383353.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258290
2025-01-09T00:42:34.148Z,1736383354.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511019
2025-01-09T00:42:34.206Z,1736383354.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:34.215Z,1736383354.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.30 m.
2025-01-09T00:42:34.238Z,1736383354.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.299988 m,
      nav range: 299.905884 m,
      bearing: 281.702635 deg,
      approach rate: -0.525733 m/s,
      LOS rate: 0.001091 deg/s,
      cmd heading: 278.953805 deg,
      new cmd heading: 278.955128 deg.

2025-01-09T00:42:34.239Z,1736383354.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868685 target range: 325.299988 and range: 325.30 m.
2025-01-09T00:42:34.402Z,1736383354.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764847
2025-01-09T00:42:34.639Z,1736383354.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:34.649Z,1736383354.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.30 m.
2025-01-09T00:42:34.653Z,1736383354.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015814
2025-01-09T00:42:34.656Z,1736383354.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.299988 m,
      nav range: 299.677826 m,
      bearing: 281.700831 deg,
      approach rate: -0.525449 m/s,
      LOS rate: -0.004159 deg/s,
      cmd heading: 278.955116 deg,
      new cmd heading: 278.949701 deg.

2025-01-09T00:42:34.657Z,1736383354.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868591 target range: 325.299988 and range: 325.30 m.
2025-01-09T00:42:34.905Z,1736383354.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267711
2025-01-09T00:42:35.043Z,1736383355.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:35.069Z,1736383355.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.30 m.
2025-01-09T00:42:35.072Z,1736383355.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.299988 m,
      nav range: 299.464935 m,
      bearing: 281.699145 deg,
      approach rate: -0.507195 m/s,
      LOS rate: -0.004019 deg/s,
      cmd heading: 278.949707 deg,
      new cmd heading: 278.944646 deg.

2025-01-09T00:42:35.073Z,1736383355.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868503 target range: 325.299988 and range: 325.30 m.
2025-01-09T00:42:35.158Z,1736383355.158 [DAT](INFO): DAT read: Rx Time:00:42:33.8160

2025-01-09T00:42:35.158Z,1736383355.158 [DAT](INFO): Rx dataTimestamp_ set to:1736383355.157977
2025-01-09T00:42:35.159Z,1736383355.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522059
2025-01-09T00:42:35.408Z,1736383355.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771052
2025-01-09T00:42:35.452Z,1736383355.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:35.459Z,1736383355.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:35.461Z,1736383355.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 325.30 m.
2025-01-09T00:42:35.465Z,1736383355.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 325.299988 m,
      nav range: 299.232941 m,
      bearing: 281.695313 deg,
      approach rate: -0.590982 m/s,
      LOS rate: -0.009771 deg/s,
      cmd heading: 278.944652 deg,
      new cmd heading: 278.933146 deg.

2025-01-09T00:42:35.466Z,1736383355.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868302 target range: 325.299988 and range: 325.30 m.
2025-01-09T00:42:35.670Z,1736383355.670 [DAT](INFO): DAT read: 00:42:33.8160 LVL= 31136, 32753, 32754, 32755, AGC= 66, IDX= 412,-0.25, 0.232,-1.172, 0.079,-0.389, PHS= 0.708,-0.737, 0.464, RAW= 140.9,  -6.6, CAL= 146.9, -16.1, ROT=   3.1,  16.1

2025-01-09T00:42:35.673Z,1736383355.673 [DAT](INFO): got valid direction response:
 00:42:33.8160 LVL= 31136, 32753, 32754, 32755, AGC= 66, IDX= 412,-0.25, 0.232,-1.172, 0.079,-0.389, PHS= 0.708,-0.737, 0.464, RAW= 140.9,  -6.6, CAL= 146.9, -16.1, ROT=   3.1,  16.1

2025-01-09T00:42:35.674Z,1736383355.674 [DAT](INFO): DAT read: Bearing   3.1,  16.1 (Local)

2025-01-09T00:42:35.675Z,1736383355.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.1,  16.1 (Local)

2025-01-09T00:42:35.677Z,1736383355.677 [DAT](INFO): DAT read: Range 10 to 50 : 323.4 m  (Round-trip  431.2 ms) speed  0.0 m/s

2025-01-09T00:42:35.679Z,1736383355.679 [DAT](INFO): DAT read: user:3685>

2025-01-09T00:42:35.681Z,1736383355.681 [DAT](INFO): DAT read: Tx time:00:42:34.9306

2025-01-09T00:42:35.681Z,1736383355.681 [DAT](INFO): Ping request sent.
2025-01-09T00:42:35.681Z,1736383355.681 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:35.682Z,1736383355.682 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:35.684Z,1736383355.684 [DAT](INFO): direction in FSK: [0.959373,0.051958,-0.277315]
2025-01-09T00:42:35.685Z,1736383355.685 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:35.685Z,1736383355.685 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:35.690Z,1736383355.690 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:35.690Z,1736383355.690 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:35.868Z,1736383355.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:35.908Z,1736383355.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 323.399994 m,
      deltaT: 4.036663 s,
      deltaX: -1.899994 m,
      approachRate: -0.470684 m/s,
      rangeRepo size: 4

2025-01-09T00:42:35.910Z,1736383355.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 323.399994 m,
      bearing: 285.139649 deg,
      lat: 36.903823 deg,
      lon: -122.119088 deg,
      deltaT: 4.036663 s,
      deltaX: -1.899994 m,
      approachRate: -0.470684 m/s,
      posRepo size: 4

2025-01-09T00:42:35.911Z,1736383355.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-01-09T00:42:35.913Z,1736383355.913 [DAT](INFO): DAT read: TxSync time:00:42:34.9298

2025-01-09T00:42:35.917Z,1736383355.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 303.596863 m,
      bearing: 282.608041 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009771 deg/s,
      cmd heading: 278.933150 deg,
      new cmd heading: 278.920201 deg.

2025-01-09T00:42:35.918Z,1736383355.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868076 target range: 323.399994 and range: 323.40 m.
2025-01-09T00:42:36.406Z,1736383356.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:36.434Z,1736383356.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-01-09T00:42:36.441Z,1736383356.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 303.272461 m,
      bearing: 282.601854 deg,
      approach rate: -0.610955 m/s,
      LOS rate: -0.011664 deg/s,
      cmd heading: 278.920200 deg,
      new cmd heading: 278.901620 deg.

2025-01-09T00:42:36.442Z,1736383356.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867752 target range: 323.399994 and range: 323.40 m.
2025-01-09T00:42:36.921Z,1736383356.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:36.930Z,1736383356.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-01-09T00:42:36.933Z,1736383356.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 302.957703 m,
      bearing: 282.596279 deg,
      approach rate: -0.634456 m/s,
      LOS rate: -0.011251 deg/s,
      cmd heading: 278.901622 deg,
      new cmd heading: 278.884878 deg.

2025-01-09T00:42:36.934Z,1736383356.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867459 target range: 323.399994 and range: 323.40 m.
2025-01-09T00:42:37.450Z,1736383357.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:37.459Z,1736383357.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-01-09T00:42:37.463Z,1736383357.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 302.604095 m,
      bearing: 282.590787 deg,
      approach rate: -0.668176 m/s,
      LOS rate: -0.010390 deg/s,
      cmd heading: 278.884875 deg,
      new cmd heading: 278.868380 deg.

2025-01-09T00:42:37.464Z,1736383357.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867171 target range: 323.399994 and range: 323.40 m.
2025-01-09T00:42:37.819Z,1736383357.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:37.826Z,1736383357.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:37.828Z,1736383357.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-01-09T00:42:37.832Z,1736383357.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 302.357697 m,
      bearing: 282.587061 deg,
      approach rate: -0.668070 m/s,
      LOS rate: -0.010109 deg/s,
      cmd heading: 278.868373 deg,
      new cmd heading: 278.857187 deg.

2025-01-09T00:42:37.833Z,1736383357.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866976 target range: 323.399994 and range: 323.40 m.
2025-01-09T00:42:37.949Z,1736383357.949 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:37.949Z,1736383357.949 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:37.950Z,1736383357.950 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:38.200Z,1736383358.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518902
2025-01-09T00:42:38.232Z,1736383358.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:38.240Z,1736383358.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-01-09T00:42:38.243Z,1736383358.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 302.081451 m,
      bearing: 282.583102 deg,
      approach rate: -0.669895 m/s,
      LOS rate: -0.009609 deg/s,
      cmd heading: 278.857199 deg,
      new cmd heading: 278.845311 deg.

2025-01-09T00:42:38.244Z,1736383358.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866769 target range: 323.399994 and range: 323.40 m.
2025-01-09T00:42:38.452Z,1736383358.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770763
2025-01-09T00:42:38.640Z,1736383358.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:38.672Z,1736383358.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-01-09T00:42:38.681Z,1736383358.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 301.788574 m,
      bearing: 282.579664 deg,
      approach rate: -0.686471 m/s,
      LOS rate: -0.008067 deg/s,
      cmd heading: 278.845314 deg,
      new cmd heading: 278.834989 deg.

2025-01-09T00:42:38.682Z,1736383358.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866589 target range: 323.399994 and range: 323.40 m.
2025-01-09T00:42:38.705Z,1736383358.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023060
2025-01-09T00:42:38.957Z,1736383358.957 [DAT](INFO): DAT read: Rx Time:00:42:37.7652

2025-01-09T00:42:38.958Z,1736383358.958 [DAT](INFO): Rx dataTimestamp_ set to:1736383358.957228
2025-01-09T00:42:38.958Z,1736383358.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276952
2025-01-09T00:42:39.037Z,1736383359.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:39.054Z,1736383359.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.40 m.
2025-01-09T00:42:39.057Z,1736383359.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.399994 m,
      nav range: 301.503784 m,
      bearing: 282.576549 deg,
      approach rate: -0.735453 m/s,
      LOS rate: -0.008052 deg/s,
      cmd heading: 278.834987 deg,
      new cmd heading: 278.825633 deg.

2025-01-09T00:42:39.058Z,1736383359.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866426 target range: 323.399994 and range: 323.40 m.
2025-01-09T00:42:39.208Z,1736383359.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526752
2025-01-09T00:42:39.488Z,1736383359.488 [DAT](INFO): DAT read: 00:42:37.7652 LVL= 25504, 32753, 30706, 32755, AGC= 64, IDX= 425,-0.16, 0.233,-1.111, 0.022,-0.505, PHS= 0.826,-0.559, 0.524, RAW= 138.0, -12.5, CAL= 144.1, -22.3, ROT=   5.9,  22.3

2025-01-09T00:42:39.489Z,1736383359.489 [DAT](INFO): got valid direction response:
 00:42:37.7652 LVL= 25504, 32753, 30706, 32755, AGC= 64, IDX= 425,-0.16, 0.233,-1.111, 0.022,-0.505, PHS= 0.826,-0.559, 0.524, RAW= 138.0, -12.5, CAL= 144.1, -22.3, ROT=   5.9,  22.3

2025-01-09T00:42:39.490Z,1736383359.490 [DAT](INFO): DAT read: Bearing   5.9,  22.3 (Local)

2025-01-09T00:42:39.490Z,1736383359.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.9,  22.3 (Local)

2025-01-09T00:42:39.500Z,1736383359.500 [DAT](INFO): DAT read: Range 10 to 50 : 322.8 m  (Round-trip  430.4 ms) speed  0.6 m/s

2025-01-09T00:42:39.501Z,1736383359.501 [DAT](INFO): DAT read: user:3686>

2025-01-09T00:42:39.502Z,1736383359.502 [DAT](INFO): DAT read: Tx time:00:42:38.8791

2025-01-09T00:42:39.502Z,1736383359.502 [DAT](INFO): Ping request sent.
2025-01-09T00:42:39.502Z,1736383359.502 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:39.502Z,1736383359.502 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:39.516Z,1736383359.516 [DAT](INFO): direction in FSK: [0.920309,0.095105,-0.379456]
2025-01-09T00:42:39.516Z,1736383359.516 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:39.516Z,1736383359.516 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:39.527Z,1736383359.527 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:39.528Z,1736383359.528 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:39.558Z,1736383359.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:39.604Z,1736383359.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 322.799988 m,
      deltaT: 3.801055 s,
      deltaX: -0.600006 m,
      approachRate: -0.157853 m/s,
      rangeRepo size: 4

2025-01-09T00:42:39.606Z,1736383359.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 322.799988 m,
      bearing: 286.762065 deg,
      lat: 36.903948 deg,
      lon: -122.119088 deg,
      deltaT: 3.801055 s,
      deltaX: -0.600006 m,
      approachRate: -0.157853 m/s,
      posRepo size: 4

2025-01-09T00:42:39.616Z,1736383359.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.80 m.
2025-01-09T00:42:39.626Z,1736383359.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.799988 m,
      nav range: 304.446198 m,
      bearing: 285.128125 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008052 deg/s,
      cmd heading: 278.825643 deg,
      new cmd heading: 278.812481 deg.

2025-01-09T00:42:39.632Z,1736383359.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866196 target range: 322.799988 and range: 322.80 m.
2025-01-09T00:42:39.714Z,1736383359.714 [DAT](INFO): DAT read: TxSync time:00:42:38.8783

2025-01-09T00:42:39.997Z,1736383359.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:40.009Z,1736383360.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:40.010Z,1736383360.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.80 m.
2025-01-09T00:42:40.013Z,1736383360.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.799988 m,
      nav range: 304.120483 m,
      bearing: 285.129622 deg,
      approach rate: -0.791831 m/s,
      LOS rate: 0.003642 deg/s,
      cmd heading: 278.812475 deg,
      new cmd heading: 278.816969 deg.

2025-01-09T00:42:40.014Z,1736383360.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866274 target range: 322.799988 and range: 322.80 m.
2025-01-09T00:42:40.216Z,1736383360.216 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:40.216Z,1736383360.216 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:40.217Z,1736383360.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:40.441Z,1736383360.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:40.450Z,1736383360.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.80 m.
2025-01-09T00:42:40.453Z,1736383360.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.799988 m,
      nav range: 303.794250 m,
      bearing: 285.134277 deg,
      approach rate: -0.742502 m/s,
      LOS rate: 0.010608 deg/s,
      cmd heading: 278.816955 deg,
      new cmd heading: 278.830937 deg.

2025-01-09T00:42:40.454Z,1736383360.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866518 target range: 322.799988 and range: 322.80 m.
2025-01-09T00:42:40.468Z,1736383360.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966063
2025-01-09T00:42:40.720Z,1736383360.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.218014
2025-01-09T00:42:40.796Z,1736383360.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:40.805Z,1736383360.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.80 m.
2025-01-09T00:42:40.820Z,1736383360.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.799988 m,
      nav range: 303.533356 m,
      bearing: 285.138234 deg,
      approach rate: -0.734003 m/s,
      LOS rate: 0.011141 deg/s,
      cmd heading: 278.830944 deg,
      new cmd heading: 278.842823 deg.

2025-01-09T00:42:40.821Z,1736383360.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866725 target range: 322.799988 and range: 322.80 m.
2025-01-09T00:42:40.973Z,1736383360.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470458
2025-01-09T00:42:41.206Z,1736383361.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:41.216Z,1736383361.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.80 m.
2025-01-09T00:42:41.219Z,1736383361.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.799988 m,
      nav range: 303.239441 m,
      bearing: 285.142744 deg,
      approach rate: -0.716580 m/s,
      LOS rate: 0.011006 deg/s,
      cmd heading: 278.842828 deg,
      new cmd heading: 278.856371 deg.

2025-01-09T00:42:41.221Z,1736383361.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866962 target range: 322.799988 and range: 322.80 m.
2025-01-09T00:42:41.224Z,1736383361.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722237
2025-01-09T00:42:41.476Z,1736383361.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974216
2025-01-09T00:42:41.630Z,1736383361.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:41.640Z,1736383361.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.80 m.
2025-01-09T00:42:41.642Z,1736383361.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.799988 m,
      nav range: 302.934753 m,
      bearing: 285.149174 deg,
      approach rate: -0.718694 m/s,
      LOS rate: 0.015183 deg/s,
      cmd heading: 278.856379 deg,
      new cmd heading: 278.875689 deg.

2025-01-09T00:42:41.644Z,1736383361.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867299 target range: 322.799988 and range: 322.80 m.
2025-01-09T00:42:41.729Z,1736383361.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227092
2025-01-09T00:42:41.980Z,1736383361.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478053
2025-01-09T00:42:42.034Z,1736383362.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:42.042Z,1736383362.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:42.044Z,1736383362.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.80 m.
2025-01-09T00:42:42.047Z,1736383362.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.799988 m,
      nav range: 302.652374 m,
      bearing: 285.155078 deg,
      approach rate: -0.697691 m/s,
      LOS rate: 0.014602 deg/s,
      cmd heading: 278.875695 deg,
      new cmd heading: 278.893424 deg.

2025-01-09T00:42:42.048Z,1736383362.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867609 target range: 322.799988 and range: 322.80 m.
2025-01-09T00:42:42.232Z,1736383362.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730093
2025-01-09T00:42:42.479Z,1736383362.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:42.485Z,1736383362.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982625
2025-01-09T00:42:42.490Z,1736383362.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.80 m.
2025-01-09T00:42:42.492Z,1736383362.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.799988 m,
      nav range: 302.359589 m,
      bearing: 285.162088 deg,
      approach rate: -0.657384 m/s,
      LOS rate: 0.015753 deg/s,
      cmd heading: 278.893426 deg,
      new cmd heading: 278.914475 deg.

2025-01-09T00:42:42.493Z,1736383362.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867976 target range: 322.799988 and range: 322.80 m.
2025-01-09T00:42:42.736Z,1736383362.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234129
2025-01-09T00:42:42.824Z,1736383362.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:42.836Z,1736383362.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.80 m.
2025-01-09T00:42:42.839Z,1736383362.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.799988 m,
      nav range: 302.132080 m,
      bearing: 285.167434 deg,
      approach rate: -0.656403 m/s,
      LOS rate: 0.015435 deg/s,
      cmd heading: 278.914463 deg,
      new cmd heading: 278.930512 deg.

2025-01-09T00:42:42.840Z,1736383362.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868256 target range: 322.799988 and range: 322.80 m.
2025-01-09T00:42:42.988Z,1736383362.988 [DAT](INFO): DAT read: Rx Time:00:42:41.7077

2025-01-09T00:42:42.989Z,1736383362.989 [DAT](INFO): Rx dataTimestamp_ set to:1736383362.988364
2025-01-09T00:42:42.989Z,1736383362.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487028
2025-01-09T00:42:43.232Z,1736383363.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:43.240Z,1736383363.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.738150
2025-01-09T00:42:43.242Z,1736383363.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.80 m.
2025-01-09T00:42:43.245Z,1736383363.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.799988 m,
      nav range: 301.863495 m,
      bearing: 285.173607 deg,
      approach rate: -0.662352 m/s,
      LOS rate: 0.015238 deg/s,
      cmd heading: 278.930500 deg,
      new cmd heading: 278.949038 deg.

2025-01-09T00:42:43.246Z,1736383363.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868579 target range: 322.799988 and range: 322.80 m.
2025-01-09T00:42:43.499Z,1736383363.499 [DAT](INFO): DAT read: 00:42:41.7077 LVL= 27504, 32753, 31730, 32755, AGC= 65, IDX= 374, 0.32,-0.593,-2.034,-0.730,-1.281, PHS= 0.776,-0.706, 0.548, RAW= 141.8,  -9.0, CAL= 148.4, -18.5, ROT=   1.6,  18.5

2025-01-09T00:42:43.501Z,1736383363.501 [DAT](INFO): got valid direction response:
 00:42:41.7077 LVL= 27504, 32753, 31730, 32755, AGC= 65, IDX= 374, 0.32,-0.593,-2.034,-0.730,-1.281, PHS= 0.776,-0.706, 0.548, RAW= 141.8,  -9.0, CAL= 148.4, -18.5, ROT=   1.6,  18.5

2025-01-09T00:42:43.502Z,1736383363.502 [DAT](INFO): DAT read: Bearing   1.6,  18.5 (Local)

2025-01-09T00:42:43.502Z,1736383363.502 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  18.5 (Local)

2025-01-09T00:42:43.504Z,1736383363.504 [DAT](INFO): DAT read: Range 10 to 50 : 318.3 m  (Round-trip  424.5 ms) speed  0.6 m/s

2025-01-09T00:42:43.504Z,1736383363.504 [DAT](INFO): DAT read: user:3687>

2025-01-09T00:42:43.505Z,1736383363.505 [DAT](INFO): DAT read: Tx time:00:42:42.8291

2025-01-09T00:42:43.505Z,1736383363.505 [DAT](INFO): Ping request sent.
2025-01-09T00:42:43.506Z,1736383363.506 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:43.506Z,1736383363.506 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:43.507Z,1736383363.507 [DAT](INFO): direction in FSK: [0.947954,0.026479,-0.317305]
2025-01-09T00:42:43.511Z,1736383363.511 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:43.528Z,1736383363.528 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:43.541Z,1736383363.541 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:43.541Z,1736383363.541 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:43.704Z,1736383363.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:43.730Z,1736383363.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 318.299988 m,
      deltaT: 4.030441 s,
      deltaX: -4.500000 m,
      approachRate: -1.116503 m/s,
      rangeRepo size: 4

2025-01-09T00:42:43.737Z,1736383363.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 318.299988 m,
      bearing: 282.113190 deg,
      lat: 36.903823 deg,
      lon: -122.119101 deg,
      deltaT: 4.030441 s,
      deltaX: -4.500000 m,
      approachRate: -1.116503 m/s,
      posRepo size: 4

2025-01-09T00:42:43.738Z,1736383363.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m.
2025-01-09T00:42:43.745Z,1736383363.745 [DAT](INFO): DAT read: TxSync time:00:42:42.8283

2025-01-09T00:42:43.752Z,1736383363.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.299988 m,
      nav range: 299.408417 m,
      bearing: 282.553589 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015238 deg/s,
      cmd heading: 278.949051 deg,
      new cmd heading: 278.971314 deg.

2025-01-09T00:42:43.753Z,1736383363.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868968 target range: 318.299988 and range: 318.30 m.
2025-01-09T00:42:44.089Z,1736383364.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:44.104Z,1736383364.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:44.107Z,1736383364.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m.
2025-01-09T00:42:44.119Z,1736383364.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.299988 m,
      nav range: 299.171783 m,
      bearing: 282.557877 deg,
      approach rate: -0.626432 m/s,
      LOS rate: 0.011361 deg/s,
      cmd heading: 278.971318 deg,
      new cmd heading: 278.984192 deg.

2025-01-09T00:42:44.120Z,1736383364.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869193 target range: 318.299988 and range: 318.30 m.
2025-01-09T00:42:44.249Z,1736383364.249 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:44.249Z,1736383364.249 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:44.249Z,1736383364.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:44.500Z,1736383364.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994727
2025-01-09T00:42:44.534Z,1736383364.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:44.552Z,1736383364.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m.
2025-01-09T00:42:44.555Z,1736383364.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.299988 m,
      nav range: 298.906433 m,
      bearing: 282.561729 deg,
      approach rate: -0.595529 m/s,
      LOS rate: 0.008653 deg/s,
      cmd heading: 278.984186 deg,
      new cmd heading: 278.995752 deg.

2025-01-09T00:42:44.560Z,1736383364.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869394 target range: 318.299988 and range: 318.30 m.
2025-01-09T00:42:44.752Z,1736383364.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246938
2025-01-09T00:42:44.901Z,1736383364.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:44.910Z,1736383364.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m.
2025-01-09T00:42:44.914Z,1736383364.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.299988 m,
      nav range: 298.686951 m,
      bearing: 282.564920 deg,
      approach rate: -0.613340 m/s,
      LOS rate: 0.008924 deg/s,
      cmd heading: 278.995742 deg,
      new cmd heading: 279.005323 deg.

2025-01-09T00:42:44.916Z,1736383364.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869562 target range: 318.299988 and range: 318.30 m.
2025-01-09T00:42:45.004Z,1736383365.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498868
2025-01-09T00:42:45.258Z,1736383365.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752255
2025-01-09T00:42:45.294Z,1736383365.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:45.322Z,1736383365.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m.
2025-01-09T00:42:45.325Z,1736383365.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.299988 m,
      nav range: 298.452789 m,
      bearing: 282.568096 deg,
      approach rate: -0.567537 m/s,
      LOS rate: 0.007704 deg/s,
      cmd heading: 279.005332 deg,
      new cmd heading: 279.014868 deg.

2025-01-09T00:42:45.326Z,1736383365.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869728 target range: 318.299988 and range: 318.30 m.
2025-01-09T00:42:45.508Z,1736383365.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002698
2025-01-09T00:42:45.716Z,1736383365.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:45.741Z,1736383365.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m.
2025-01-09T00:42:45.748Z,1736383365.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.299988 m,
      nav range: 298.203766 m,
      bearing: 282.571318 deg,
      approach rate: -0.595233 m/s,
      LOS rate: 0.007708 deg/s,
      cmd heading: 279.014867 deg,
      new cmd heading: 279.024541 deg.

2025-01-09T00:42:45.749Z,1736383365.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869897 target range: 318.299988 and range: 318.30 m.
2025-01-09T00:42:45.760Z,1736383365.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254841
2025-01-09T00:42:46.015Z,1736383366.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509001
2025-01-09T00:42:46.101Z,1736383366.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:46.108Z,1736383366.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:46.110Z,1736383366.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m.
2025-01-09T00:42:46.113Z,1736383366.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.299988 m,
      nav range: 297.976501 m,
      bearing: 282.574118 deg,
      approach rate: -0.614718 m/s,
      LOS rate: 0.007577 deg/s,
      cmd heading: 279.024538 deg,
      new cmd heading: 279.032942 deg.

2025-01-09T00:42:46.114Z,1736383366.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870044 target range: 318.299988 and range: 318.30 m.
2025-01-09T00:42:46.265Z,1736383366.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759047
2025-01-09T00:42:46.516Z,1736383366.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010844
2025-01-09T00:42:46.535Z,1736383366.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:46.543Z,1736383366.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m.
2025-01-09T00:42:46.563Z,1736383366.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.299988 m,
      nav range: 297.715820 m,
      bearing: 282.574655 deg,
      approach rate: -0.602535 m/s,
      LOS rate: 0.001242 deg/s,
      cmd heading: 279.032953 deg,
      new cmd heading: 279.034565 deg.

2025-01-09T00:42:46.564Z,1736383366.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870072 target range: 318.299988 and range: 318.30 m.
2025-01-09T00:42:46.768Z,1736383366.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262695
2025-01-09T00:42:46.895Z,1736383366.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:46.905Z,1736383366.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m.
2025-01-09T00:42:46.907Z,1736383366.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.299988 m,
      nav range: 297.499176 m,
      bearing: 282.575009 deg,
      approach rate: -0.599294 m/s,
      LOS rate: 0.000981 deg/s,
      cmd heading: 279.034565 deg,
      new cmd heading: 279.035629 deg.

2025-01-09T00:42:46.908Z,1736383366.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870090 target range: 318.299988 and range: 318.30 m.
2025-01-09T00:42:47.020Z,1736383367.020 [DAT](INFO): DAT read: Rx Time:00:42:45.6405

2025-01-09T00:42:47.021Z,1736383367.021 [DAT](INFO): Rx dataTimestamp_ set to:1736383367.020561
2025-01-09T00:42:47.021Z,1736383367.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515843
2025-01-09T00:42:47.272Z,1736383367.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766873
2025-01-09T00:42:47.364Z,1736383367.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:47.381Z,1736383367.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.30 m.
2025-01-09T00:42:47.389Z,1736383367.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.299988 m,
      nav range: 297.217224 m,
      bearing: 282.575409 deg,
      approach rate: -0.591826 m/s,
      LOS rate: 0.000841 deg/s,
      cmd heading: 279.035631 deg,
      new cmd heading: 279.036832 deg.

2025-01-09T00:42:47.390Z,1736383367.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870111 target range: 318.299988 and range: 318.30 m.
2025-01-09T00:42:47.550Z,1736383367.550 [DAT](INFO): DAT read: 00:42:45.6405 LVL= 28624, 32753, 30578, 32755, AGC= 66, IDX= 262,-0.06, 2.753, 0.956, 2.292, 2.017, PHS= 0.824,-1.014, 0.272, RAW= 133.0,  -1.0, CAL= 138.5, -10.2, ROT=  11.5,  10.2

2025-01-09T00:42:47.551Z,1736383367.551 [DAT](INFO): got valid direction response:
 00:42:45.6405 LVL= 28624, 32753, 30578, 32755, AGC= 66, IDX= 262,-0.06, 2.753, 0.956, 2.292, 2.017, PHS= 0.824,-1.014, 0.272, RAW= 133.0,  -1.0, CAL= 138.5, -10.2, ROT=  11.5,  10.2

2025-01-09T00:42:47.556Z,1736383367.556 [DAT](INFO): DAT read: Bearing  11.5,  10.2 (Local)

2025-01-09T00:42:47.557Z,1736383367.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5,  10.2 (Local)

2025-01-09T00:42:47.558Z,1736383367.558 [DAT](INFO): DAT read: Range 10 to 50 : 305.4 m  (Round-trip  407.2 ms) speed  0.0 m/s

2025-01-09T00:42:47.559Z,1736383367.559 [DAT](INFO): DAT read: user:3688>

2025-01-09T00:42:47.568Z,1736383367.568 [DAT](INFO): DAT read: Tx time:00:42:46.7291

2025-01-09T00:42:47.569Z,1736383367.569 [DAT](INFO): Ping request sent.
2025-01-09T00:42:47.569Z,1736383367.569 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:47.569Z,1736383367.569 [DAT](INFO): DAT read: TxSync time:00:42:46.7284

2025-01-09T00:42:47.570Z,1736383367.570 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:47.571Z,1736383367.571 [DAT](INFO): direction in FSK: [0.964438,0.196217,-0.177085]
2025-01-09T00:42:47.576Z,1736383367.576 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:47.576Z,1736383367.576 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:47.579Z,1736383367.579 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:47.587Z,1736383367.587 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:47.784Z,1736383367.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:47.810Z,1736383367.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.399994 m,
      deltaT: 4.033801 s,
      deltaX: -12.899994 m,
      approachRate: -3.197975 m/s,
      rangeRepo size: 4

2025-01-09T00:42:47.824Z,1736383367.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 305.399994 m,
      bearing: 291.689038 deg,
      lat: 36.903948 deg,
      lon: -122.119088 deg,
      deltaT: 4.033801 s,
      deltaX: -12.899994 m,
      approachRate: -3.197975 m/s,
      posRepo size: 4

2025-01-09T00:42:47.825Z,1736383367.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m.
2025-01-09T00:42:47.832Z,1736383367.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.399994 m,
      nav range: 299.129486 m,
      bearing: 285.222247 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000841 deg/s,
      cmd heading: 279.036833 deg,
      new cmd heading: 279.037912 deg.

2025-01-09T00:42:47.833Z,1736383367.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870131 target range: 305.399994 and range: 305.40 m.
2025-01-09T00:42:48.189Z,1736383368.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:48.204Z,1736383368.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:48.207Z,1736383368.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m.
2025-01-09T00:42:48.218Z,1736383368.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.399994 m,
      nav range: 298.877380 m,
      bearing: 285.222330 deg,
      approach rate: -0.634910 m/s,
      LOS rate: 0.000208 deg/s,
      cmd heading: 279.037926 deg,
      new cmd heading: 279.038174 deg.

2025-01-09T00:42:48.224Z,1736383368.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870135 target range: 305.399994 and range: 305.40 m.
2025-01-09T00:42:48.281Z,1736383368.281 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:48.281Z,1736383368.281 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:48.282Z,1736383368.282 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:48.535Z,1736383368.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966029
2025-01-09T00:42:48.604Z,1736383368.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:48.613Z,1736383368.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m.
2025-01-09T00:42:48.617Z,1736383368.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.399994 m,
      nav range: 298.611450 m,
      bearing: 285.222427 deg,
      approach rate: -0.654770 m/s,
      LOS rate: 0.000241 deg/s,
      cmd heading: 279.038171 deg,
      new cmd heading: 279.038466 deg.

2025-01-09T00:42:48.618Z,1736383368.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870140 target range: 305.399994 and range: 305.40 m.
2025-01-09T00:42:48.784Z,1736383368.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215583
2025-01-09T00:42:48.972Z,1736383368.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:48.998Z,1736383368.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m.
2025-01-09T00:42:49.005Z,1736383369.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.399994 m,
      nav range: 298.354156 m,
      bearing: 285.222556 deg,
      approach rate: -0.667856 m/s,
      LOS rate: 0.000335 deg/s,
      cmd heading: 279.038472 deg,
      new cmd heading: 279.038859 deg.

2025-01-09T00:42:49.006Z,1736383369.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870147 target range: 305.399994 and range: 305.40 m.
2025-01-09T00:42:49.040Z,1736383369.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471473
2025-01-09T00:42:49.292Z,1736383369.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723527
2025-01-09T00:42:49.374Z,1736383369.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:49.385Z,1736383369.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m.
2025-01-09T00:42:49.388Z,1736383369.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.399994 m,
      nav range: 298.085541 m,
      bearing: 285.222677 deg,
      approach rate: -0.693786 m/s,
      LOS rate: 0.000313 deg/s,
      cmd heading: 279.038854 deg,
      new cmd heading: 279.039218 deg.

2025-01-09T00:42:49.389Z,1736383369.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870153 target range: 305.399994 and range: 305.40 m.
2025-01-09T00:42:49.548Z,1736383369.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978603
2025-01-09T00:42:49.797Z,1736383369.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228037
2025-01-09T00:42:49.840Z,1736383369.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:49.849Z,1736383369.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m.
2025-01-09T00:42:49.856Z,1736383369.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.399994 m,
      nav range: 297.768677 m,
      bearing: 285.222942 deg,
      approach rate: -0.682357 m/s,
      LOS rate: 0.000572 deg/s,
      cmd heading: 279.039210 deg,
      new cmd heading: 279.040006 deg.

2025-01-09T00:42:49.857Z,1736383369.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870167 target range: 305.399994 and range: 305.40 m.
2025-01-09T00:42:50.049Z,1736383370.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480512
2025-01-09T00:42:50.300Z,1736383370.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731636
2025-01-09T00:42:50.302Z,1736383370.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:50.311Z,1736383370.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:50.314Z,1736383370.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m.
2025-01-09T00:42:50.317Z,1736383370.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.399994 m,
      nav range: 297.419037 m,
      bearing: 285.223505 deg,
      approach rate: -0.752479 m/s,
      LOS rate: 0.001213 deg/s,
      cmd heading: 279.040002 deg,
      new cmd heading: 279.041692 deg.

2025-01-09T00:42:50.318Z,1736383370.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870196 target range: 305.399994 and range: 305.40 m.
2025-01-09T00:42:50.556Z,1736383370.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986708
2025-01-09T00:42:50.731Z,1736383370.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:50.740Z,1736383370.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m.
2025-01-09T00:42:50.742Z,1736383370.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.399994 m,
      nav range: 297.097443 m,
      bearing: 285.224541 deg,
      approach rate: -0.755441 m/s,
      LOS rate: 0.002436 deg/s,
      cmd heading: 279.041696 deg,
      new cmd heading: 279.044807 deg.

2025-01-09T00:42:50.744Z,1736383370.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870251 target range: 305.399994 and range: 305.40 m.
2025-01-09T00:42:50.805Z,1736383370.805 [DAT](INFO): DAT read: Rx Time:00:42:49.5527

2025-01-09T00:42:50.805Z,1736383370.805 [DAT](INFO): Rx dataTimestamp_ set to:1736383370.804781
2025-01-09T00:42:50.806Z,1736383370.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236838
2025-01-09T00:42:51.056Z,1736383371.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487423
2025-01-09T00:42:51.103Z,1736383371.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:51.128Z,1736383371.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.40 m.
2025-01-09T00:42:51.130Z,1736383371.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.399994 m,
      nav range: 296.817963 m,
      bearing: 285.225600 deg,
      approach rate: -0.720716 m/s,
      LOS rate: 0.002733 deg/s,
      cmd heading: 279.044810 deg,
      new cmd heading: 279.047990 deg.

2025-01-09T00:42:51.131Z,1736383371.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870306 target range: 305.399994 and range: 305.40 m.
2025-01-09T00:42:51.315Z,1736383371.315 [DAT](INFO): DAT read: 00:42:49.5527 LVL= 12944, 18529, 12834, 13043, AGC= 63, IDX=  51, 0.01, 0.534,-0.814, 0.378,-0.267, PHS= 0.890,-0.500, 0.643, RAW= 140.4, -15.9, CAL= 146.4, -24.4, ROT=   3.6,  24.4

2025-01-09T00:42:51.316Z,1736383371.316 [DAT](INFO): got valid direction response:
 00:42:49.5527 LVL= 12944, 18529, 12834, 13043, AGC= 63, IDX=  51, 0.01, 0.534,-0.814, 0.378,-0.267, PHS= 0.890,-0.500, 0.643, RAW= 140.4, -15.9, CAL= 146.4, -24.4, ROT=   3.6,  24.4

2025-01-09T00:42:51.317Z,1736383371.317 [DAT](INFO): DAT read: Bearing   3.6,  24.4 (Local)

2025-01-09T00:42:51.318Z,1736383371.318 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.6,  24.4 (Local)

2025-01-09T00:42:51.322Z,1736383371.322 [DAT](INFO): DAT read: Range 10 to 50 : 314.5 m  (Round-trip  419.4 ms) speed  0.7 m/s

2025-01-09T00:42:51.326Z,1736383371.326 [DAT](INFO): DAT read: user:3689>

2025-01-09T00:42:51.328Z,1736383371.328 [DAT](INFO): DAT read: Tx time:00:42:50.6791

2025-01-09T00:42:51.328Z,1736383371.328 [DAT](INFO): Ping request sent.
2025-01-09T00:42:51.328Z,1736383371.328 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:51.328Z,1736383371.328 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:51.330Z,1736383371.330 [DAT](INFO): direction in FSK: [0.908887,0.057182,-0.413104]
2025-01-09T00:42:51.330Z,1736383371.330 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:51.330Z,1736383371.330 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:51.334Z,1736383371.334 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:51.334Z,1736383371.334 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:51.528Z,1736383371.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:51.564Z,1736383371.564 [DAT](INFO): DAT read: TxSync time:00:42:50.6784

2025-01-09T00:42:51.607Z,1736383371.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 314.500000 m,
      deltaT: 3.781929 s,
      deltaX: 9.100006 m,
      approachRate: 2.406181 m/s,
      rangeRepo size: 4

2025-01-09T00:42:51.610Z,1736383371.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 314.500000 m,
      bearing: 284.826317 deg,
      lat: 36.903948 deg,
      lon: -122.119088 deg,
      deltaT: 3.781929 s,
      deltaX: 9.100006 m,
      approachRate: 2.406181 m/s,
      posRepo size: 4

2025-01-09T00:42:51.610Z,1736383371.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:51.617Z,1736383371.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 296.499207 m,
      bearing: 285.226810 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002733 deg/s,
      cmd heading: 279.047980 deg,
      new cmd heading: 279.051877 deg.

2025-01-09T00:42:51.618Z,1736383371.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870374 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:51.954Z,1736383371.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:51.964Z,1736383371.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:51.967Z,1736383371.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 296.177185 m,
      bearing: 285.229841 deg,
      approach rate: -0.892390 m/s,
      LOS rate: 0.008409 deg/s,
      cmd heading: 279.051886 deg,
      new cmd heading: 279.060989 deg.

2025-01-09T00:42:51.968Z,1736383371.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870533 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:52.312Z,1736383372.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:52.340Z,1736383372.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:52.342Z,1736383372.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:52.345Z,1736383372.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 295.907684 m,
      bearing: 285.232661 deg,
      approach rate: -0.711609 m/s,
      LOS rate: 0.007452 deg/s,
      cmd heading: 279.060984 deg,
      new cmd heading: 279.069451 deg.

2025-01-09T00:42:52.347Z,1736383372.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870681 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:52.570Z,1736383372.570 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:52.570Z,1736383372.570 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:52.571Z,1736383372.571 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:52.755Z,1736383372.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:52.764Z,1736383372.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:52.767Z,1736383372.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 295.578705 m,
      bearing: 285.237803 deg,
      approach rate: -0.779465 m/s,
      LOS rate: 0.012197 deg/s,
      cmd heading: 279.069454 deg,
      new cmd heading: 279.084898 deg.

2025-01-09T00:42:52.768Z,1736383372.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870950 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:52.821Z,1736383372.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493469
2025-01-09T00:42:53.072Z,1736383373.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744184
2025-01-09T00:42:53.118Z,1736383373.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:53.194Z,1736383373.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:53.203Z,1736383373.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 295.308502 m,
      bearing: 285.242084 deg,
      approach rate: -0.628558 m/s,
      LOS rate: 0.009968 deg/s,
      cmd heading: 279.084890 deg,
      new cmd heading: 279.097744 deg.

2025-01-09T00:42:53.208Z,1736383373.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871175 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:53.324Z,1736383373.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996281
2025-01-09T00:42:53.532Z,1736383373.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:53.545Z,1736383373.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:53.550Z,1736383373.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 295.001587 m,
      bearing: 285.246907 deg,
      approach rate: -0.875740 m/s,
      LOS rate: 0.013776 deg/s,
      cmd heading: 279.097758 deg,
      new cmd heading: 279.112242 deg.

2025-01-09T00:42:53.551Z,1736383373.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871428 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:53.580Z,1736383373.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250625
2025-01-09T00:42:53.832Z,1736383373.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503535
2025-01-09T00:42:53.966Z,1736383373.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:53.975Z,1736383373.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:53.977Z,1736383373.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 294.697388 m,
      bearing: 285.252969 deg,
      approach rate: -0.707488 m/s,
      LOS rate: 0.014112 deg/s,
      cmd heading: 279.112238 deg,
      new cmd heading: 279.130442 deg.

2025-01-09T00:42:53.978Z,1736383373.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871745 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:54.081Z,1736383374.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752778
2025-01-09T00:42:54.332Z,1736383374.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004338
2025-01-09T00:42:54.341Z,1736383374.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:54.348Z,1736383374.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:54.350Z,1736383374.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:54.353Z,1736383374.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 294.434845 m,
      bearing: 285.258178 deg,
      approach rate: -0.698780 m/s,
      LOS rate: 0.013878 deg/s,
      cmd heading: 279.130434 deg,
      new cmd heading: 279.146076 deg.

2025-01-09T00:42:54.354Z,1736383374.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872018 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:54.587Z,1736383374.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258226
2025-01-09T00:42:54.774Z,1736383374.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:54.804Z,1736383374.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:54.806Z,1736383374.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 294.151184 m,
      bearing: 285.265120 deg,
      approach rate: -0.631726 m/s,
      LOS rate: 0.015475 deg/s,
      cmd heading: 279.146088 deg,
      new cmd heading: 279.166934 deg.

2025-01-09T00:42:54.812Z,1736383374.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872382 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:54.837Z,1736383374.837 [DAT](INFO): DAT read: Rx Time:00:42:53.4993

2025-01-09T00:42:54.837Z,1736383374.837 [DAT](INFO): Rx dataTimestamp_ set to:1736383374.836712
2025-01-09T00:42:54.838Z,1736383374.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509547
2025-01-09T00:42:55.088Z,1736383375.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760416
2025-01-09T00:42:55.141Z,1736383375.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:55.153Z,1736383375.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.50 m.
2025-01-09T00:42:55.204Z,1736383375.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.500000 m,
      nav range: 293.910675 m,
      bearing: 285.270893 deg,
      approach rate: -0.679732 m/s,
      LOS rate: 0.016328 deg/s,
      cmd heading: 279.166934 deg,
      new cmd heading: 279.184266 deg.

2025-01-09T00:42:55.213Z,1736383375.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872684 target range: 314.500000 and range: 314.50 m.
2025-01-09T00:42:55.347Z,1736383375.347 [DAT](INFO): DAT read: 00:42:53.4993 LVL= 19392, 26401, 19938, 26931, AGC= 59, IDX= 399, 0.32,-0.818,-2.118,-0.865,-1.687, PHS= 0.957,-0.385, 0.819, RAW= 144.6, -21.0, CAL= 149.9, -28.2, ROT=   0.1,  28.2

2025-01-09T00:42:55.348Z,1736383375.348 [DAT](INFO): got valid direction response:
 00:42:53.4993 LVL= 19392, 26401, 19938, 26931, AGC= 59, IDX= 399, 0.32,-0.818,-2.118,-0.865,-1.687, PHS= 0.957,-0.385, 0.819, RAW= 144.6, -21.0, CAL= 149.9, -28.2, ROT=   0.1,  28.2

2025-01-09T00:42:55.352Z,1736383375.352 [DAT](INFO): DAT read: Bearing   0.1,  28.2 (Local)

2025-01-09T00:42:55.354Z,1736383375.354 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.1,  28.2 (Local)

2025-01-09T00:42:55.356Z,1736383375.356 [DAT](INFO): DAT read: Range 10 to 50 : 312.0 m  (Round-trip  416.0 ms) speed  0.6 m/s

2025-01-09T00:42:55.357Z,1736383375.357 [DAT](INFO): DAT read: user:3690>

2025-01-09T00:42:55.358Z,1736383375.358 [DAT](INFO): DAT read: Tx time:00:42:54.5791

2025-01-09T00:42:55.358Z,1736383375.358 [DAT](INFO): Ping request sent.
2025-01-09T00:42:55.358Z,1736383375.358 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:55.359Z,1736383375.359 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:42:55.364Z,1736383375.364 [DAT](INFO): direction in FSK: [0.881302,0.001538,-0.472551]
2025-01-09T00:42:55.364Z,1736383375.364 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:55.365Z,1736383375.365 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:55.388Z,1736383375.388 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:55.388Z,1736383375.388 [DAT](INFO): publishing direction and range info
2025-01-09T00:42:55.557Z,1736383375.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:55.597Z,1736383375.597 [DAT](INFO): DAT read: TxSync time:00:42:54.5784

2025-01-09T00:42:55.677Z,1736383375.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 312.000000 m,
      deltaT: 4.032503 s,
      deltaX: -2.500000 m,
      approachRate: -0.619962 m/s,
      rangeRepo size: 4

2025-01-09T00:42:55.685Z,1736383375.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 312.000000 m,
      bearing: 281.723029 deg,
      lat: 36.903938 deg,
      lon: -122.119122 deg,
      deltaT: 4.032503 s,
      deltaX: -2.500000 m,
      approachRate: -0.619962 m/s,
      posRepo size: 4

2025-01-09T00:42:55.686Z,1736383375.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:42:55.694Z,1736383375.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 296.317749 m,
      bearing: 284.916354 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016328 deg/s,
      cmd heading: 279.184256 deg,
      new cmd heading: 279.209650 deg.

2025-01-09T00:42:55.695Z,1736383375.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873128 target range: 312.000000 and range: 312.00 m.
2025-01-09T00:42:56.005Z,1736383376.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:56.018Z,1736383376.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:42:56.024Z,1736383376.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 296.048920 m,
      bearing: 284.923669 deg,
      approach rate: -0.776945 m/s,
      LOS rate: 0.021161 deg/s,
      cmd heading: 279.209664 deg,
      new cmd heading: 279.231629 deg.

2025-01-09T00:42:56.025Z,1736383376.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873511 target range: 312.000000 and range: 312.00 m.
2025-01-09T00:42:56.389Z,1736383376.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:56.396Z,1736383376.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:56.399Z,1736383376.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:42:56.402Z,1736383376.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 295.818451 m,
      bearing: 284.929897 deg,
      approach rate: -0.604500 m/s,
      LOS rate: 0.016348 deg/s,
      cmd heading: 279.231630 deg,
      new cmd heading: 279.250328 deg.

2025-01-09T00:42:56.403Z,1736383376.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873837 target range: 312.000000 and range: 312.00 m.
2025-01-09T00:42:56.604Z,1736383376.604 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:42:56.604Z,1736383376.604 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:42:56.605Z,1736383376.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:42:56.797Z,1736383376.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:56.805Z,1736383376.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:42:56.824Z,1736383376.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 295.585571 m,
      bearing: 284.935973 deg,
      approach rate: -0.573101 m/s,
      LOS rate: 0.014964 deg/s,
      cmd heading: 279.250317 deg,
      new cmd heading: 279.268559 deg.

2025-01-09T00:42:56.825Z,1736383376.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874156 target range: 312.000000 and range: 312.00 m.
2025-01-09T00:42:56.855Z,1736383376.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497197
2025-01-09T00:42:57.104Z,1736383377.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746015
2025-01-09T00:42:57.193Z,1736383377.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:57.201Z,1736383377.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:42:57.204Z,1736383377.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 295.358307 m,
      bearing: 284.941911 deg,
      approach rate: -0.574209 m/s,
      LOS rate: 0.015015 deg/s,
      cmd heading: 279.268567 deg,
      new cmd heading: 279.286396 deg.

2025-01-09T00:42:57.205Z,1736383377.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874467 target range: 312.000000 and range: 312.00 m.
2025-01-09T00:42:57.357Z,1736383377.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998868
2025-01-09T00:42:57.575Z,1736383377.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:57.584Z,1736383377.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:42:57.587Z,1736383377.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 295.139221 m,
      bearing: 284.947230 deg,
      approach rate: -0.571767 m/s,
      LOS rate: 0.013891 deg/s,
      cmd heading: 279.286408 deg,
      new cmd heading: 279.302376 deg.

2025-01-09T00:42:57.609Z,1736383377.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250538
2025-01-09T00:42:57.610Z,1736383377.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874746 target range: 312.000000 and range: 312.00 m.
2025-01-09T00:42:57.860Z,1736383377.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502022
2025-01-09T00:42:58.025Z,1736383378.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:58.035Z,1736383378.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:42:58.038Z,1736383378.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 294.887146 m,
      bearing: 284.951464 deg,
      approach rate: -0.559317 m/s,
      LOS rate: 0.009403 deg/s,
      cmd heading: 279.302363 deg,
      new cmd heading: 279.315077 deg.

2025-01-09T00:42:58.039Z,1736383378.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874968 target range: 312.000000 and range: 312.00 m.
2025-01-09T00:42:58.114Z,1736383378.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754914
2025-01-09T00:42:58.364Z,1736383378.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006016
2025-01-09T00:42:58.392Z,1736383378.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:58.423Z,1736383378.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:42:58.425Z,1736383378.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:42:58.432Z,1736383378.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 294.681732 m,
      bearing: 284.954727 deg,
      approach rate: -0.526083 m/s,
      LOS rate: 0.008362 deg/s,
      cmd heading: 279.315067 deg,
      new cmd heading: 279.324863 deg.

2025-01-09T00:42:58.433Z,1736383378.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875139 target range: 312.000000 and range: 312.00 m.
2025-01-09T00:42:58.619Z,1736383378.619 [DAT](INFO): DAT read: Rx Time:00:42:57.3955

2025-01-09T00:42:58.622Z,1736383378.622 [DAT](INFO): Rx dataTimestamp_ set to:1736383378.620692
2025-01-09T00:42:58.623Z,1736383378.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264676
2025-01-09T00:42:58.837Z,1736383378.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:58.846Z,1736383378.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:42:58.850Z,1736383378.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 294.428833 m,
      bearing: 284.956707 deg,
      approach rate: -0.601352 m/s,
      LOS rate: 0.004712 deg/s,
      cmd heading: 279.324875 deg,
      new cmd heading: 279.330821 deg.

2025-01-09T00:42:58.851Z,1736383378.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875243 target range: 312.000000 and range: 312.00 m.
2025-01-09T00:42:58.870Z,1736383378.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512032
2025-01-09T00:42:59.121Z,1736383379.121 [DAT](INFO): DAT read: Range 10 to 50 : 309.0 m  (Round-trip  412.1 ms) speed  0.4 m/s

2025-01-09T00:42:59.122Z,1736383379.122 [DAT](INFO): DAT read: user:3691>

2025-01-09T00:42:59.123Z,1736383379.123 [DAT](INFO): DAT read: Tx time:00:42:58.4792

2025-01-09T00:42:59.123Z,1736383379.123 [DAT](INFO): Ping request sent.
2025-01-09T00:42:59.123Z,1736383379.123 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:42:59.124Z,1736383379.124 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T00:42:59.124Z,1736383379.124 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:59.124Z,1736383379.124 [DAT](INFO): publishing transmit ping time
2025-01-09T00:42:59.233Z,1736383379.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:59.254Z,1736383379.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 309.000000 m,
      deltaT: 3.779511 s,
      deltaX: -3.000000 m,
      approachRate: -0.793754 m/s,
      rangeRepo size: 4

2025-01-09T00:42:59.254Z,1736383379.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:42:59.261Z,1736383379.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 294.204193 m,
      bearing: 284.958143 deg,
      approach rate: -0.551678 m/s,
      LOS rate: 0.003530 deg/s,
      cmd heading: 279.330831 deg,
      new cmd heading: 279.335143 deg.

2025-01-09T00:42:59.262Z,1736383379.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875318 target range: 312.000000 and range: 309.00 m.
2025-01-09T00:42:59.373Z,1736383379.373 [DAT](INFO): DAT read: TxSync time:00:42:58.4785

2025-01-09T00:42:59.595Z,1736383379.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:42:59.634Z,1736383379.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:42:59.637Z,1736383379.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 293.998230 m,
      bearing: 284.959362 deg,
      approach rate: -0.541144 m/s,
      LOS rate: 0.003203 deg/s,
      cmd heading: 279.335148 deg,
      new cmd heading: 279.338806 deg.

2025-01-09T00:42:59.638Z,1736383379.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875382 target range: 312.000000 and range: 309.00 m.
2025-01-09T00:43:00.097Z,1736383380.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:00.114Z,1736383380.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:00.137Z,1736383380.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 293.699707 m,
      bearing: 284.960002 deg,
      approach rate: -0.620792 m/s,
      LOS rate: 0.001333 deg/s,
      cmd heading: 279.338809 deg,
      new cmd heading: 279.340733 deg.

2025-01-09T00:43:00.138Z,1736383380.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875415 target range: 312.000000 and range: 309.00 m.
2025-01-09T00:43:00.458Z,1736383380.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:00.466Z,1736383380.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:00.468Z,1736383380.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:00.471Z,1736383380.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 293.484039 m,
      bearing: 284.960517 deg,
      approach rate: -0.609861 m/s,
      LOS rate: 0.001456 deg/s,
      cmd heading: 279.340722 deg,
      new cmd heading: 279.342266 deg.

2025-01-09T00:43:00.472Z,1736383380.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875443 target range: 312.000000 and range: 309.00 m.
2025-01-09T00:43:00.634Z,1736383380.634 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:00.634Z,1736383380.634 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:00.634Z,1736383380.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:00.884Z,1736383380.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761111
2025-01-09T00:43:00.906Z,1736383380.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:00.928Z,1736383380.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:00.935Z,1736383380.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 293.198761 m,
      bearing: 284.959909 deg,
      approach rate: -0.626510 m/s,
      LOS rate: -0.001336 deg/s,
      cmd heading: 279.342279 deg,
      new cmd heading: 279.340454 deg.

2025-01-09T00:43:00.936Z,1736383380.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875411 target range: 312.000000 and range: 309.00 m.
2025-01-09T00:43:01.116Z,1736383381.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:43:01.136Z,1736383381.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013064
2025-01-09T00:43:01.269Z,1736383381.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:01.282Z,1736383381.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:01.285Z,1736383381.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 292.966766 m,
      bearing: 284.959391 deg,
      approach rate: -0.646455 m/s,
      LOS rate: -0.001444 deg/s,
      cmd heading: 279.340448 deg,
      new cmd heading: 279.338893 deg.

2025-01-09T00:43:01.286Z,1736383381.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875383 target range: 312.000000 and range: 309.00 m.
2025-01-09T00:43:01.390Z,1736383381.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265875
2025-01-09T00:43:01.640Z,1736383381.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516993
2025-01-09T00:43:01.750Z,1736383381.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:01.767Z,1736383381.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:01.770Z,1736383381.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 292.659790 m,
      bearing: 284.958769 deg,
      approach rate: -0.633455 m/s,
      LOS rate: -0.001285 deg/s,
      cmd heading: 279.338891 deg,
      new cmd heading: 279.337023 deg.

2025-01-09T00:43:01.784Z,1736383381.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875351 target range: 312.000000 and range: 309.00 m.
2025-01-09T00:43:01.893Z,1736383381.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769408
2025-01-09T00:43:02.120Z,1736383382.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:43:02.137Z,1736383382.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:02.145Z,1736383382.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021437
2025-01-09T00:43:02.172Z,1736383382.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:02.182Z,1736383382.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 292.397919 m,
      bearing: 284.958767 deg,
      approach rate: -0.646714 m/s,
      LOS rate: -0.000005 deg/s,
      cmd heading: 279.337033 deg,
      new cmd heading: 279.337027 deg.

2025-01-09T00:43:02.188Z,1736383382.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875351 target range: 312.000000 and range: 309.00 m.
2025-01-09T00:43:02.397Z,1736383382.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273418
2025-01-09T00:43:02.500Z,1736383382.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:02.506Z,1736383382.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:02.512Z,1736383382.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:02.532Z,1736383382.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 292.152039 m,
      bearing: 284.959019 deg,
      approach rate: -0.723085 m/s,
      LOS rate: 0.000742 deg/s,
      cmd heading: 279.337033 deg,
      new cmd heading: 279.337790 deg.

2025-01-09T00:43:02.533Z,1736383382.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875364 target range: 312.000000 and range: 309.00 m.
2025-01-09T00:43:02.648Z,1736383382.648 [DAT](INFO): DAT read: Rx Time:00:43:01.2930

2025-01-09T00:43:02.649Z,1736383382.649 [DAT](INFO): Rx dataTimestamp_ set to:1736383382.648457
2025-01-09T00:43:02.649Z,1736383382.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525997
2025-01-09T00:43:02.900Z,1736383382.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777007
2025-01-09T00:43:02.946Z,1736383382.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:02.992Z,1736383382.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:02.995Z,1736383382.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 291.833374 m,
      bearing: 284.959993 deg,
      approach rate: -0.670164 m/s,
      LOS rate: 0.002050 deg/s,
      cmd heading: 279.337798 deg,
      new cmd heading: 279.340722 deg.

2025-01-09T00:43:03.004Z,1736383383.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875415 target range: 312.000000 and range: 309.00 m.
2025-01-09T00:43:03.154Z,1736383383.154 [DAT](INFO): DAT read: Range 10 to 50 : 307.2 m  (Round-trip  409.6 ms) speed  0.8 m/s

2025-01-09T00:43:03.155Z,1736383383.155 [DAT](INFO): DAT read: user:3692>

2025-01-09T00:43:03.156Z,1736383383.156 [DAT](INFO): DAT read: Tx time:00:43:02.3792

2025-01-09T00:43:03.156Z,1736383383.156 [DAT](INFO): Ping request sent.
2025-01-09T00:43:03.156Z,1736383383.156 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:03.156Z,1736383383.156 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T00:43:03.156Z,1736383383.156 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:03.157Z,1736383383.157 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:03.332Z,1736383383.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:03.341Z,1736383383.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 307.200012 m,
      deltaT: 4.032710 s,
      deltaX: -1.799988 m,
      approachRate: -0.446347 m/s,
      rangeRepo size: 4

2025-01-09T00:43:03.341Z,1736383383.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:03.344Z,1736383383.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 291.557434 m,
      bearing: 284.961343 deg,
      approach rate: -0.782651 m/s,
      LOS rate: 0.003834 deg/s,
      cmd heading: 279.340722 deg,
      new cmd heading: 279.344777 deg.

2025-01-09T00:43:03.345Z,1736383383.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875486 target range: 312.000000 and range: 307.20 m.
2025-01-09T00:43:03.405Z,1736383383.405 [DAT](INFO): DAT read: TxSync time:00:43:02.3785

2025-01-09T00:43:03.778Z,1736383383.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:03.787Z,1736383383.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:03.790Z,1736383383.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 291.238831 m,
      bearing: 284.963397 deg,
      approach rate: -0.712951 m/s,
      LOS rate: 0.004600 deg/s,
      cmd heading: 279.344765 deg,
      new cmd heading: 279.350932 deg.

2025-01-09T00:43:03.791Z,1736383383.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875594 target range: 312.000000 and range: 307.20 m.
2025-01-09T00:43:04.145Z,1736383384.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:04.154Z,1736383384.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:04.157Z,1736383384.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 290.964905 m,
      bearing: 284.965882 deg,
      approach rate: -0.745457 m/s,
      LOS rate: 0.006770 deg/s,
      cmd heading: 279.350939 deg,
      new cmd heading: 279.358403 deg.

2025-01-09T00:43:04.158Z,1736383384.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875724 target range: 312.000000 and range: 307.20 m.
2025-01-09T00:43:04.520Z,1736383384.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:04.531Z,1736383384.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:04.533Z,1736383384.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:04.536Z,1736383384.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 290.684967 m,
      bearing: 284.968742 deg,
      approach rate: -0.738591 m/s,
      LOS rate: 0.007552 deg/s,
      cmd heading: 279.358398 deg,
      new cmd heading: 279.366985 deg.

2025-01-09T00:43:04.537Z,1736383384.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875874 target range: 312.000000 and range: 307.20 m.
2025-01-09T00:43:04.671Z,1736383384.671 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:04.671Z,1736383384.671 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:04.672Z,1736383384.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:04.924Z,1736383384.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768112
2025-01-09T00:43:04.947Z,1736383384.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:04.981Z,1736383384.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:04.988Z,1736383384.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 290.366882 m,
      bearing: 284.973626 deg,
      approach rate: -0.710850 m/s,
      LOS rate: 0.010927 deg/s,
      cmd heading: 279.366977 deg,
      new cmd heading: 279.381645 deg.

2025-01-09T00:43:04.989Z,1736383384.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876130 target range: 312.000000 and range: 307.20 m.
2025-01-09T00:43:05.176Z,1736383385.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020178
2025-01-09T00:43:05.332Z,1736383385.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:05.340Z,1736383385.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:05.343Z,1736383385.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 290.078064 m,
      bearing: 284.978132 deg,
      approach rate: -0.803244 m/s,
      LOS rate: 0.012544 deg/s,
      cmd heading: 279.381648 deg,
      new cmd heading: 279.395180 deg.

2025-01-09T00:43:05.344Z,1736383385.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876366 target range: 312.000000 and range: 307.20 m.
2025-01-09T00:43:05.429Z,1736383385.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272466
2025-01-09T00:43:05.681Z,1736383385.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524881
2025-01-09T00:43:05.748Z,1736383385.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:05.810Z,1736383385.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:05.817Z,1736383385.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 289.768280 m,
      bearing: 284.982982 deg,
      approach rate: -0.659938 m/s,
      LOS rate: 0.010343 deg/s,
      cmd heading: 279.395172 deg,
      new cmd heading: 279.409738 deg.

2025-01-09T00:43:05.818Z,1736383385.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876620 target range: 312.000000 and range: 307.20 m.
2025-01-09T00:43:05.932Z,1736383385.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776421
2025-01-09T00:43:06.185Z,1736383386.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028602
2025-01-09T00:43:06.264Z,1736383386.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:06.273Z,1736383386.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:06.276Z,1736383386.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 289.378784 m,
      bearing: 284.989100 deg,
      approach rate: -0.841431 m/s,
      LOS rate: 0.013235 deg/s,
      cmd heading: 279.409734 deg,
      new cmd heading: 279.428113 deg.

2025-01-09T00:43:06.277Z,1736383386.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876941 target range: 312.000000 and range: 307.20 m.
2025-01-09T00:43:06.442Z,1736383386.442 [DAT](INFO): DAT read: Rx Time:00:43:05.1899

2025-01-09T00:43:06.443Z,1736383386.443 [DAT](INFO): Rx dataTimestamp_ set to:1736383386.442360
2025-01-09T00:43:06.444Z,1736383386.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287426
2025-01-09T00:43:06.694Z,1736383386.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537298
2025-01-09T00:43:06.707Z,1736383386.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:06.731Z,1736383386.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:06.733Z,1736383386.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-09T00:43:06.749Z,1736383386.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 289.044312 m,
      bearing: 284.994301 deg,
      approach rate: -0.726193 m/s,
      LOS rate: 0.011305 deg/s,
      cmd heading: 279.428121 deg,
      new cmd heading: 279.443742 deg.

2025-01-09T00:43:06.756Z,1736383386.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.877213 target range: 312.000000 and range: 307.20 m.
2025-01-09T00:43:06.952Z,1736383386.952 [DAT](INFO): DAT read: 00:43:05.1899 LVL= 23824, 31057, 28898, 32755, AGC= 64, IDX= 250, 0.17, 1.182,-0.797, 0.728, 0.338, PHS= 0.932,-1.087, 0.387, RAW= 134.9,  -2.6, CAL= 140.3, -12.3, ROT=   9.7,  12.3

2025-01-09T00:43:06.953Z,1736383386.953 [DAT](INFO): got valid direction response:
 00:43:05.1899 LVL= 23824, 31057, 28898, 32755, AGC= 64, IDX= 250, 0.17, 1.182,-0.797, 0.728, 0.338, PHS= 0.932,-1.087, 0.387, RAW= 134.9,  -2.6, CAL= 140.3, -12.3, ROT=   9.7,  12.3

2025-01-09T00:43:06.954Z,1736383386.954 [DAT](INFO): DAT read: Bearing   9.7,  12.3 (Local)

2025-01-09T00:43:06.954Z,1736383386.954 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.7,  12.3 (Local)

2025-01-09T00:43:06.956Z,1736383386.956 [DAT](INFO): DAT read: Range 10 to 50 : 304.8 m  (Round-trip  406.5 ms) speed  0.4 m/s

2025-01-09T00:43:06.957Z,1736383386.957 [DAT](INFO): DAT read: user:3693>

2025-01-09T00:43:06.957Z,1736383386.957 [DAT](INFO): DAT read: Tx time:00:43:06.2792

2025-01-09T00:43:06.958Z,1736383386.958 [DAT](INFO): Ping request sent.
2025-01-09T00:43:06.958Z,1736383386.958 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:06.958Z,1736383386.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:43:06.960Z,1736383386.960 [DAT](INFO): direction in FSK: [0.963077,0.164622,-0.213030]
2025-01-09T00:43:06.960Z,1736383386.960 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:06.960Z,1736383386.960 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:06.964Z,1736383386.964 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:06.964Z,1736383386.964 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:07.157Z,1736383387.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:07.185Z,1736383387.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 304.799988 m,
      deltaT: 3.791458 s,
      deltaX: -2.400024 m,
      approachRate: -0.633008 m/s,
      rangeRepo size: 4

2025-01-09T00:43:07.198Z,1736383387.198 [DAT](INFO): DAT read: TxSync time:00:43:06.2785

2025-01-09T00:43:07.203Z,1736383387.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.799988 m,
      bearing: 288.736813 deg,
      lat: 36.903938 deg,
      lon: -122.119132 deg,
      deltaT: 11.603679 s,
      deltaX: -7.200012 m,
      approachRate: -0.620494 m/s,
      posRepo size: 4

2025-01-09T00:43:07.204Z,1736383387.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m.
2025-01-09T00:43:07.207Z,1736383387.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.799988 m,
      nav range: 289.543060 m,
      bearing: 284.957284 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011305 deg/s,
      cmd heading: 279.443748 deg,
      new cmd heading: 279.459053 deg.

2025-01-09T00:43:07.212Z,1736383387.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.877481 target range: 304.799988 and range: 304.80 m.
2025-01-09T00:43:07.502Z,1736383387.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:07.512Z,1736383387.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m.
2025-01-09T00:43:07.515Z,1736383387.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.799988 m,
      nav range: 289.286285 m,
      bearing: 284.962698 deg,
      approach rate: -0.783904 m/s,
      LOS rate: 0.016544 deg/s,
      cmd heading: 279.459048 deg,
      new cmd heading: 279.475305 deg.

2025-01-09T00:43:07.516Z,1736383387.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.877764 target range: 304.799988 and range: 304.80 m.
2025-01-09T00:43:07.927Z,1736383387.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:07.938Z,1736383387.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m.
2025-01-09T00:43:07.961Z,1736383387.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.799988 m,
      nav range: 288.986237 m,
      bearing: 284.969153 deg,
      approach rate: -0.704104 m/s,
      LOS rate: 0.015163 deg/s,
      cmd heading: 279.475304 deg,
      new cmd heading: 279.494689 deg.

2025-01-09T00:43:07.962Z,1736383387.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.878103 target range: 304.799988 and range: 304.80 m.
2025-01-09T00:43:08.316Z,1736383388.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:08.325Z,1736383388.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m.
2025-01-09T00:43:08.328Z,1736383388.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.799988 m,
      nav range: 288.711151 m,
      bearing: 284.975100 deg,
      approach rate: -0.711229 m/s,
      LOS rate: 0.015391 deg/s,
      cmd heading: 279.494701 deg,
      new cmd heading: 279.512560 deg.

2025-01-09T00:43:08.329Z,1736383388.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.878415 target range: 304.799988 and range: 304.80 m.
2025-01-09T00:43:08.714Z,1736383388.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:08.723Z,1736383388.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m.
2025-01-09T00:43:08.726Z,1736383388.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.799988 m,
      nav range: 288.430359 m,
      bearing: 284.981076 deg,
      approach rate: -0.705219 m/s,
      LOS rate: 0.015023 deg/s,
      cmd heading: 279.512569 deg,
      new cmd heading: 279.530514 deg.

2025-01-09T00:43:08.727Z,1736383388.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.878728 target range: 304.799988 and range: 304.80 m.
2025-01-09T00:43:09.156Z,1736383389.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:09.162Z,1736383389.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:09.185Z,1736383389.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m.
2025-01-09T00:43:09.192Z,1736383389.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.799988 m,
      nav range: 288.129120 m,
      bearing: 284.987725 deg,
      approach rate: -0.652369 m/s,
      LOS rate: 0.014415 deg/s,
      cmd heading: 279.530519 deg,
      new cmd heading: 279.550487 deg.

2025-01-09T00:43:09.193Z,1736383389.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.879076 target range: 304.799988 and range: 304.80 m.
2025-01-09T00:43:09.212Z,1736383389.212 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:09.213Z,1736383389.213 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:09.213Z,1736383389.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:09.464Z,1736383389.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506379
2025-01-09T00:43:09.518Z,1736383389.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:09.526Z,1736383389.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m.
2025-01-09T00:43:09.529Z,1736383389.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.799988 m,
      nav range: 287.881866 m,
      bearing: 284.992936 deg,
      approach rate: -0.724622 m/s,
      LOS rate: 0.015284 deg/s,
      cmd heading: 279.550490 deg,
      new cmd heading: 279.566136 deg.

2025-01-09T00:43:09.530Z,1736383389.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.879350 target range: 304.799988 and range: 304.80 m.
2025-01-09T00:43:09.716Z,1736383389.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758501
2025-01-09T00:43:09.961Z,1736383389.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:09.968Z,1736383389.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010615
2025-01-09T00:43:09.985Z,1736383389.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m.
2025-01-09T00:43:10.000Z,1736383390.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.799988 m,
      nav range: 287.584106 m,
      bearing: 284.998761 deg,
      approach rate: -0.648988 m/s,
      LOS rate: 0.012709 deg/s,
      cmd heading: 279.566145 deg,
      new cmd heading: 279.583638 deg.

2025-01-09T00:43:10.001Z,1736383390.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.879655 target range: 304.799988 and range: 304.80 m.
2025-01-09T00:43:10.220Z,1736383390.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262416
2025-01-09T00:43:10.341Z,1736383390.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:10.353Z,1736383390.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m.
2025-01-09T00:43:10.357Z,1736383390.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.799988 m,
      nav range: 287.329681 m,
      bearing: 285.003747 deg,
      approach rate: -0.695314 m/s,
      LOS rate: 0.013640 deg/s,
      cmd heading: 279.583630 deg,
      new cmd heading: 279.598603 deg.

2025-01-09T00:43:10.358Z,1736383390.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.879916 target range: 304.799988 and range: 304.80 m.
2025-01-09T00:43:10.472Z,1736383390.472 [DAT](INFO): DAT read: Rx Time:00:43:09.0872

2025-01-09T00:43:10.473Z,1736383390.473 [DAT](INFO): Rx dataTimestamp_ set to:1736383390.472550
2025-01-09T00:43:10.473Z,1736383390.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515567
2025-01-09T00:43:10.724Z,1736383390.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766582
2025-01-09T00:43:10.731Z,1736383390.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:10.739Z,1736383390.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.80 m.
2025-01-09T00:43:10.742Z,1736383390.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.799988 m,
      nav range: 287.068298 m,
      bearing: 285.008727 deg,
      approach rate: -0.673473 m/s,
      LOS rate: 0.012842 deg/s,
      cmd heading: 279.598602 deg,
      new cmd heading: 279.613554 deg.

2025-01-09T00:43:10.743Z,1736383390.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.880177 target range: 304.799988 and range: 304.80 m.
2025-01-09T00:43:10.986Z,1736383390.986 [DAT](INFO): DAT read: 00:43:09.0872 LVL= 29104, 32753, 32226, 32755, AGC= 63, IDX= 419, 0.06, 0.426,-0.910, 0.353,-0.555, PHS= 1.069,-0.308, 0.906, RAW= 143.8, -24.3, CAL= 148.5, -30.9, ROT=   1.5,  30.9

2025-01-09T00:43:10.988Z,1736383390.988 [DAT](INFO): got valid direction response:
 00:43:09.0872 LVL= 29104, 32753, 32226, 32755, AGC= 63, IDX= 419, 0.06, 0.426,-0.910, 0.353,-0.555, PHS= 1.069,-0.308, 0.906, RAW= 143.8, -24.3, CAL= 148.5, -30.9, ROT=   1.5,  30.9

2025-01-09T00:43:10.989Z,1736383390.989 [DAT](INFO): DAT read: Bearing   1.5,  30.9 (Local)

2025-01-09T00:43:10.989Z,1736383390.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,  30.9 (Local)

2025-01-09T00:43:10.991Z,1736383390.991 [DAT](INFO): DAT read: Range 10 to 50 : 302.8 m  (Round-trip  403.8 ms) speed  0.3 m/s

2025-01-09T00:43:10.992Z,1736383390.992 [DAT](INFO): DAT read: user:3694>

2025-01-09T00:43:10.993Z,1736383390.993 [DAT](INFO): DAT read: Tx time:00:43:10.1792

2025-01-09T00:43:10.993Z,1736383390.993 [DAT](INFO): Ping request sent.
2025-01-09T00:43:10.993Z,1736383390.993 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:10.994Z,1736383390.994 [DAT](INFO): DAT read: TxSync time:00:43:10.1785

2025-01-09T00:43:10.994Z,1736383390.994 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:43:11.003Z,1736383391.003 [DAT](INFO): direction in FSK: [0.857771,0.022462,-0.513541]
2025-01-09T00:43:11.004Z,1736383391.004 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:11.004Z,1736383391.004 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:11.007Z,1736383391.007 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:11.008Z,1736383391.008 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:11.231Z,1736383391.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:11.261Z,1736383391.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 302.799988 m,
      deltaT: 4.031766 s,
      deltaX: -2.000000 m,
      approachRate: -0.496061 m/s,
      rangeRepo size: 4

2025-01-09T00:43:11.268Z,1736383391.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 302.799988 m,
      bearing: 284.236023 deg,
      lat: 36.903938 deg,
      lon: -122.119122 deg,
      deltaT: 4.031766 s,
      deltaX: -2.000000 m,
      approachRate: -0.496061 m/s,
      posRepo size: 4

2025-01-09T00:43:11.269Z,1736383391.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.80 m.
2025-01-09T00:43:11.276Z,1736383391.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.799988 m,
      nav range: 285.908264 m,
      bearing: 285.059059 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012842 deg/s,
      cmd heading: 279.613547 deg,
      new cmd heading: 279.633649 deg.

2025-01-09T00:43:11.277Z,1736383391.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.880528 target range: 302.799988 and range: 302.80 m.
2025-01-09T00:43:11.569Z,1736383391.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:11.599Z,1736383391.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:11.601Z,1736383391.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.80 m.
2025-01-09T00:43:11.608Z,1736383391.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.799988 m,
      nav range: 285.687653 m,
      bearing: 285.062828 deg,
      approach rate: -0.647694 m/s,
      LOS rate: 0.011072 deg/s,
      cmd heading: 279.633655 deg,
      new cmd heading: 279.644968 deg.

2025-01-09T00:43:11.609Z,1736383391.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.880725 target range: 302.799988 and range: 302.80 m.
2025-01-09T00:43:11.732Z,1736383391.732 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:11.732Z,1736383391.732 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:11.732Z,1736383391.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:11.984Z,1736383391.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991359
2025-01-09T00:43:12.010Z,1736383392.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:12.044Z,1736383392.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.80 m.
2025-01-09T00:43:12.052Z,1736383392.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.799988 m,
      nav range: 285.404175 m,
      bearing: 285.066851 deg,
      approach rate: -0.647205 m/s,
      LOS rate: 0.009196 deg/s,
      cmd heading: 279.644965 deg,
      new cmd heading: 279.657049 deg.

2025-01-09T00:43:12.053Z,1736383392.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.880936 target range: 302.799988 and range: 302.80 m.
2025-01-09T00:43:12.236Z,1736383392.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243265
2025-01-09T00:43:12.375Z,1736383392.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:12.384Z,1736383392.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.80 m.
2025-01-09T00:43:12.386Z,1736383392.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.799988 m,
      nav range: 285.169708 m,
      bearing: 285.070025 deg,
      approach rate: -0.680710 m/s,
      LOS rate: 0.009220 deg/s,
      cmd heading: 279.657041 deg,
      new cmd heading: 279.666569 deg.

2025-01-09T00:43:12.388Z,1736383392.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881103 target range: 302.799988 and range: 302.80 m.
2025-01-09T00:43:12.488Z,1736383392.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495415
2025-01-09T00:43:12.740Z,1736383392.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747400
2025-01-09T00:43:12.780Z,1736383392.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:12.816Z,1736383392.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.80 m.
2025-01-09T00:43:12.818Z,1736383392.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.799988 m,
      nav range: 284.910065 m,
      bearing: 285.073434 deg,
      approach rate: -0.608339 m/s,
      LOS rate: 0.007996 deg/s,
      cmd heading: 279.666576 deg,
      new cmd heading: 279.676814 deg.

2025-01-09T00:43:12.828Z,1736383392.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881281 target range: 302.799988 and range: 302.80 m.
2025-01-09T00:43:12.993Z,1736383392.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999748
2025-01-09T00:43:13.237Z,1736383393.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:13.244Z,1736383393.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251468
2025-01-09T00:43:13.248Z,1736383393.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.80 m.
2025-01-09T00:43:13.251Z,1736383393.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.799988 m,
      nav range: 284.616455 m,
      bearing: 285.076801 deg,
      approach rate: -0.671364 m/s,
      LOS rate: 0.007707 deg/s,
      cmd heading: 279.676821 deg,
      new cmd heading: 279.686933 deg.

2025-01-09T00:43:13.252Z,1736383393.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881458 target range: 302.799988 and range: 302.80 m.
2025-01-09T00:43:13.496Z,1736383393.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503209
2025-01-09T00:43:13.583Z,1736383393.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:13.591Z,1736383393.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.80 m.
2025-01-09T00:43:13.594Z,1736383393.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.799988 m,
      nav range: 284.394440 m,
      bearing: 285.079325 deg,
      approach rate: -0.647119 m/s,
      LOS rate: 0.007361 deg/s,
      cmd heading: 279.686930 deg,
      new cmd heading: 279.694507 deg.

2025-01-09T00:43:13.595Z,1736383393.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881590 target range: 302.799988 and range: 302.80 m.
2025-01-09T00:43:13.748Z,1736383393.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755491
2025-01-09T00:43:14.000Z,1736383394.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007336
2025-01-09T00:43:14.005Z,1736383394.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:14.033Z,1736383394.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:14.035Z,1736383394.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.80 m.
2025-01-09T00:43:14.042Z,1736383394.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.799988 m,
      nav range: 284.127869 m,
      bearing: 285.082243 deg,
      approach rate: -0.600946 m/s,
      LOS rate: 0.006584 deg/s,
      cmd heading: 279.694498 deg,
      new cmd heading: 279.703260 deg.

2025-01-09T00:43:14.043Z,1736383394.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881743 target range: 302.799988 and range: 302.80 m.
2025-01-09T00:43:14.252Z,1736383394.252 [DAT](INFO): DAT read: Rx Time:00:43:12.9840

2025-01-09T00:43:14.253Z,1736383394.253 [DAT](INFO): Rx dataTimestamp_ set to:1736383394.252453
2025-01-09T00:43:14.253Z,1736383394.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260296
2025-01-09T00:43:14.398Z,1736383394.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:14.407Z,1736383394.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.80 m.
2025-01-09T00:43:14.410Z,1736383394.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.799988 m,
      nav range: 283.880005 m,
      bearing: 285.084969 deg,
      approach rate: -0.666404 m/s,
      LOS rate: 0.007337 deg/s,
      cmd heading: 279.703268 deg,
      new cmd heading: 279.711455 deg.

2025-01-09T00:43:14.411Z,1736383394.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881886 target range: 302.799988 and range: 302.80 m.
2025-01-09T00:43:14.505Z,1736383394.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511897
2025-01-09T00:43:14.762Z,1736383394.762 [DAT](INFO): DAT read: 00:43:12.9840 LVL= 21936, 29265, 22674, 28147, AGC= 62, IDX= 402,-0.02,-2.059, 3.109,-2.015, 3.099, PHS= 1.213, 0.057, 1.166, RAW= 147.9, -37.2, CAL= 150.6, -40.9, ROT= 359.4,  40.9

2025-01-09T00:43:14.764Z,1736383394.764 [DAT](INFO): got valid direction response:
 00:43:12.9840 LVL= 21936, 29265, 22674, 28147, AGC= 62, IDX= 402,-0.02,-2.059, 3.109,-2.015, 3.099, PHS= 1.213, 0.057, 1.166, RAW= 147.9, -37.2, CAL= 150.6, -40.9, ROT= 359.4,  40.9

2025-01-09T00:43:14.765Z,1736383394.765 [DAT](INFO): DAT read: Bearing 359.4,  40.9 (Local)

2025-01-09T00:43:14.765Z,1736383394.765 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,  40.9 (Local)

2025-01-09T00:43:14.767Z,1736383394.767 [DAT](INFO): DAT read: Range 10 to 50 : 300.4 m  (Round-trip  400.6 ms) speed  0.5 m/s

2025-01-09T00:43:14.772Z,1736383394.772 [DAT](INFO): DAT read: user:3695>

2025-01-09T00:43:14.773Z,1736383394.773 [DAT](INFO): DAT read: Tx time:00:43:14.0792

2025-01-09T00:43:14.773Z,1736383394.773 [DAT](INFO): Ping request sent.
2025-01-09T00:43:14.773Z,1736383394.773 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:14.773Z,1736383394.773 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:43:14.774Z,1736383394.774 [DAT](INFO): direction in FSK: [0.755812,-0.007915,-0.654741]
2025-01-09T00:43:14.774Z,1736383394.774 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:14.775Z,1736383394.775 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:14.778Z,1736383394.778 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:14.778Z,1736383394.778 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:14.886Z,1736383394.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:14.953Z,1736383394.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.399994 m,
      deltaT: 3.779992 s,
      deltaX: -2.399994 m,
      approachRate: -0.634920 m/s,
      rangeRepo size: 4

2025-01-09T00:43:14.955Z,1736383394.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 300.399994 m,
      bearing: 284.665418 deg,
      lat: 36.903895 deg,
      lon: -122.119122 deg,
      deltaT: 3.779992 s,
      deltaX: -2.399994 m,
      approachRate: -0.634920 m/s,
      posRepo size: 4

2025-01-09T00:43:14.960Z,1736383394.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:14.963Z,1736383394.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 282.384613 m,
      bearing: 284.163079 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007337 deg/s,
      cmd heading: 279.711464 deg,
      new cmd heading: 279.723473 deg.

2025-01-09T00:43:14.968Z,1736383394.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.882096 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:15.009Z,1736383395.009 [DAT](INFO): DAT read: TxSync time:00:43:14.0785

2025-01-09T00:43:15.256Z,1736383395.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:15.266Z,1736383395.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:15.269Z,1736383395.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 282.148895 m,
      bearing: 284.165297 deg,
      approach rate: -0.750135 m/s,
      LOS rate: 0.007066 deg/s,
      cmd heading: 279.723485 deg,
      new cmd heading: 279.730146 deg.

2025-01-09T00:43:15.270Z,1736383395.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.882212 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:15.628Z,1736383395.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:15.641Z,1736383395.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:15.644Z,1736383395.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 281.916260 m,
      bearing: 284.167601 deg,
      approach rate: -0.621040 m/s,
      LOS rate: 0.006156 deg/s,
      cmd heading: 279.730152 deg,
      new cmd heading: 279.737069 deg.

2025-01-09T00:43:15.645Z,1736383395.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.882333 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:16.067Z,1736383396.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:16.074Z,1736383396.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:16.076Z,1736383396.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:16.079Z,1736383396.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 281.645477 m,
      bearing: 284.170687 deg,
      approach rate: -0.622270 m/s,
      LOS rate: 0.007099 deg/s,
      cmd heading: 279.737064 deg,
      new cmd heading: 279.746331 deg.

2025-01-09T00:43:16.080Z,1736383396.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.882494 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:16.268Z,1736383396.268 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:16.268Z,1736383396.268 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:16.268Z,1736383396.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:16.432Z,1736383396.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:16.442Z,1736383396.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:16.445Z,1736383396.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 281.420227 m,
      bearing: 284.173254 deg,
      approach rate: -0.615938 m/s,
      LOS rate: 0.007025 deg/s,
      cmd heading: 279.746325 deg,
      new cmd heading: 279.754032 deg.

2025-01-09T00:43:16.467Z,1736383396.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.882629 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:16.521Z,1736383396.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748420
2025-01-09T00:43:16.772Z,1736383396.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999314
2025-01-09T00:43:16.852Z,1736383396.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:16.861Z,1736383396.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:16.865Z,1736383396.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 281.160736 m,
      bearing: 284.176126 deg,
      approach rate: -0.619156 m/s,
      LOS rate: 0.006859 deg/s,
      cmd heading: 279.754030 deg,
      new cmd heading: 279.762654 deg.

2025-01-09T00:43:16.866Z,1736383396.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.882780 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:17.024Z,1736383397.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251332
2025-01-09T00:43:17.276Z,1736383397.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503403
2025-01-09T00:43:17.282Z,1736383397.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:17.291Z,1736383397.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:17.293Z,1736383397.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 280.896637 m,
      bearing: 284.179043 deg,
      approach rate: -0.614754 m/s,
      LOS rate: 0.006797 deg/s,
      cmd heading: 279.762663 deg,
      new cmd heading: 279.771423 deg.

2025-01-09T00:43:17.294Z,1736383397.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.882933 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:17.528Z,1736383397.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755524
2025-01-09T00:43:17.652Z,1736383397.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:17.666Z,1736383397.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:17.672Z,1736383397.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 280.669189 m,
      bearing: 284.181539 deg,
      approach rate: -0.607208 m/s,
      LOS rate: 0.006668 deg/s,
      cmd heading: 279.771433 deg,
      new cmd heading: 279.778927 deg.

2025-01-09T00:43:17.674Z,1736383397.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.883063 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:17.781Z,1736383397.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008348
2025-01-09T00:43:18.035Z,1736383398.035 [DAT](INFO): DAT read: Rx Time:00:43:16.8812

2025-01-09T00:43:18.036Z,1736383398.036 [DAT](INFO): Rx dataTimestamp_ set to:1736383398.035607
2025-01-09T00:43:18.036Z,1736383398.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263482
2025-01-09T00:43:18.076Z,1736383398.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:18.116Z,1736383398.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:18.118Z,1736383398.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:18.125Z,1736383398.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 280.401917 m,
      bearing: 284.184583 deg,
      approach rate: -0.590651 m/s,
      LOS rate: 0.006734 deg/s,
      cmd heading: 279.778919 deg,
      new cmd heading: 279.788061 deg.

2025-01-09T00:43:18.126Z,1736383398.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.883223 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:18.284Z,1736383398.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511438
2025-01-09T00:43:18.454Z,1736383398.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:18.462Z,1736383398.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:18.466Z,1736383398.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 280.164368 m,
      bearing: 284.187323 deg,
      approach rate: -0.690212 m/s,
      LOS rate: 0.007966 deg/s,
      cmd heading: 279.788072 deg,
      new cmd heading: 279.796296 deg.

2025-01-09T00:43:18.467Z,1736383398.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.883367 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:18.538Z,1736383398.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764591
2025-01-09T00:43:18.794Z,1736383398.794 [DAT](INFO): DAT read: 00:43:16.8812 LVL= 22176, 27105, 26194, 32755, AGC= 59, IDX= 238, 0.35,-0.199,-1.997,-0.551,-1.021, PHS= 0.910,-0.929, 0.467, RAW= 136.7,  -5.4, CAL= 142.3, -15.6, ROT=   7.7,  15.6

2025-01-09T00:43:18.795Z,1736383398.795 [DAT](INFO): got valid direction response:
 00:43:16.8812 LVL= 22176, 27105, 26194, 32755, AGC= 59, IDX= 238, 0.35,-0.199,-1.997,-0.551,-1.021, PHS= 0.910,-0.929, 0.467, RAW= 136.7,  -5.4, CAL= 142.3, -15.6, ROT=   7.7,  15.6

2025-01-09T00:43:18.797Z,1736383398.797 [DAT](INFO): DAT read: Bearing   7.7,  15.6 (Local)

2025-01-09T00:43:18.797Z,1736383398.797 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.7,  15.6 (Local)

2025-01-09T00:43:18.798Z,1736383398.798 [DAT](INFO): DAT read: Ran7 ms) speed  0.4 m/s

2025-01-09T00:43:18.798Z,1736383398.798 [DAT](INFO): unknown deviceResponse_: Ran7 ms) speed  0.4 m/s

2025-01-09T00:43:18.799Z,1736383398.799 [DAT](INFO): DAT read: user:3696>

2025-01-09T00:43:18.800Z,1736383398.800 [DAT](INFO): DAT read: Tx time:00:43:17.9793

2025-01-09T00:43:18.800Z,1736383398.800 [DAT](INFO): Ping request sent.
2025-01-09T00:43:18.800Z,1736383398.800 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:18.801Z,1736383398.801 [DAT](INFO): DAT read: TxSync time:00:43:17.9786

2025-01-09T00:43:18.801Z,1736383398.801 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T00:43:18.802Z,1736383398.802 [DAT](INFO): direction in FSK: [0.954478,0.129050,-0.268920]
2025-01-09T00:43:18.803Z,1736383398.803 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:18.805Z,1736383398.805 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:18.992Z,1736383398.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:19.027Z,1736383399.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:19.031Z,1736383399.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 279.825134 m,
      bearing: 284.191243 deg,
      approach rate: -0.604363 m/s,
      LOS rate: 0.006993 deg/s,
      cmd heading: 279.796295 deg,
      new cmd heading: 279.808070 deg.

2025-01-09T00:43:19.044Z,1736383399.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.883572 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:19.366Z,1736383399.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:19.391Z,1736383399.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:19.399Z,1736383399.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 279.578094 m,
      bearing: 284.194797 deg,
      approach rate: -0.671641 m/s,
      LOS rate: 0.009670 deg/s,
      cmd heading: 279.808070 deg,
      new cmd heading: 279.818741 deg.

2025-01-09T00:43:19.404Z,1736383399.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.883759 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:19.742Z,1736383399.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:19.750Z,1736383399.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:19.753Z,1736383399.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 279.330109 m,
      bearing: 284.198480 deg,
      approach rate: -0.689790 m/s,
      LOS rate: 0.010253 deg/s,
      cmd heading: 279.818753 deg,
      new cmd heading: 279.829811 deg.

2025-01-09T00:43:19.754Z,1736383399.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.883952 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:20.188Z,1736383400.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:20.197Z,1736383400.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:20.204Z,1736383400.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:20.208Z,1736383400.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 279.022491 m,
      bearing: 284.203269 deg,
      approach rate: -0.681087 m/s,
      LOS rate: 0.010616 deg/s,
      cmd heading: 279.829818 deg,
      new cmd heading: 279.844202 deg.

2025-01-09T00:43:20.211Z,1736383400.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.884202 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:20.301Z,1736383400.301 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:20.301Z,1736383400.301 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:20.301Z,1736383400.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:43:20.552Z,1736383400.552 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:20.552Z,1736383400.552 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:20.552Z,1736383400.552 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:43:20.576Z,1736383400.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:20.589Z,1736383400.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:20.597Z,1736383400.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 278.753601 m,
      bearing: 284.207433 deg,
      approach rate: -0.694561 m/s,
      LOS rate: 0.010765 deg/s,
      cmd heading: 279.844188 deg,
      new cmd heading: 279.856692 deg.

2025-01-09T00:43:20.598Z,1736383400.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.884421 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:20.804Z,1736383400.804 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:20.804Z,1736383400.804 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:20.804Z,1736383400.804 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:43:20.997Z,1736383400.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:21.034Z,1736383401.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:21.041Z,1736383401.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 278.463470 m,
      bearing: 284.211885 deg,
      approach rate: -0.652652 m/s,
      LOS rate: 0.010024 deg/s,
      cmd heading: 279.856701 deg,
      new cmd heading: 279.870070 deg.

2025-01-09T00:43:21.042Z,1736383401.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.884654 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:21.056Z,1736383401.056 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:21.056Z,1736383401.056 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:21.056Z,1736383401.056 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:43:21.308Z,1736383401.308 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:21.308Z,1736383401.308 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:21.308Z,1736383401.308 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:43:21.425Z,1736383401.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:21.434Z,1736383401.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:21.439Z,1736383401.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 278.142365 m,
      bearing: 284.216760 deg,
      approach rate: -0.801593 m/s,
      LOS rate: 0.012184 deg/s,
      cmd heading: 279.870061 deg,
      new cmd heading: 279.884703 deg.

2025-01-09T00:43:21.440Z,1736383401.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.884910 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:21.560Z,1736383401.560 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:21.560Z,1736383401.560 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:21.560Z,1736383401.560 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:43:21.768Z,1736383401.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:21.776Z,1736383401.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:21.779Z,1736383401.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 277.885956 m,
      bearing: 284.220702 deg,
      approach rate: -0.749619 m/s,
      LOS rate: 0.011538 deg/s,
      cmd heading: 279.884705 deg,
      new cmd heading: 279.896544 deg.

2025-01-09T00:43:21.780Z,1736383401.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.885116 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:21.814Z,1736383401.814 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:21.814Z,1736383401.814 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:21.814Z,1736383401.814 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:43:22.065Z,1736383402.065 [DAT](INFO): DAT read: Rx Time:00:43:20.7782

2025-01-09T00:43:22.065Z,1736383402.065 [DAT](INFO): Rx dataTimestamp_ set to:1736383402.064872
2025-01-09T00:43:22.065Z,1736383402.065 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:22.066Z,1736383402.066 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:22.066Z,1736383402.066 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:43:22.218Z,1736383402.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:22.225Z,1736383402.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:22.227Z,1736383402.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.40 m.
2025-01-09T00:43:22.231Z,1736383402.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.399994 m,
      nav range: 277.532715 m,
      bearing: 284.226445 deg,
      approach rate: -0.783903 m/s,
      LOS rate: 0.012759 deg/s,
      cmd heading: 279.896535 deg,
      new cmd heading: 279.913784 deg.

2025-01-09T00:43:22.233Z,1736383402.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.885417 target range: 300.399994 and range: 300.40 m.
2025-01-09T00:43:22.316Z,1736383402.316 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:22.316Z,1736383402.316 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:22.316Z,1736383402.316 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:43:22.574Z,1736383402.574 [DAT](INFO): DAT read: 00:43:20.7782 LVL= 24624, 32753, 27922, 32755, AGC= 60, IDX= 229,-0.27, 1.080,-0.806, 0.765, 0.301, PHS= 0.867,-1.060, 0.461, RAW= 138.5,  -3.1, CAL= 143.7, -12.6, ROT=   6.3,  12.6

2025-01-09T00:43:22.575Z,1736383402.575 [DAT](INFO): got valid direction response:
 00:43:20.7782 LVL= 24624, 32753, 27922, 32755, AGC= 60, IDX= 229,-0.27, 1.080,-0.806, 0.765, 0.301, PHS= 0.867,-1.060, 0.461, RAW= 138.5,  -3.1, CAL= 143.7, -12.6, ROT=   6.3,  12.6

2025-01-09T00:43:22.576Z,1736383402.576 [DAT](INFO): DAT read: Bearing   6.3,  12.6 (Local)

2025-01-09T00:43:22.577Z,1736383402.577 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  12.6 (Local)

2025-01-09T00:43:22.578Z,1736383402.578 [DAT](INFO): DAT read: Range 10 to 50 : 296.0 m  (Round-trip  394.7 ms) speed  0.4 m/s

2025-01-09T00:43:22.579Z,1736383402.579 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-09T00:43:22.580Z,1736383402.580 [DAT](INFO): direction in FSK: [0.970023,0.107092,-0.218143]
2025-01-09T00:43:22.581Z,1736383402.581 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:22.593Z,1736383402.593 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:22.593Z,1736383402.593 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:22.593Z,1736383402.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:22.624Z,1736383402.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:22.704Z,1736383402.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 296.000000 m,
      deltaT: 7.812453 s,
      deltaX: -4.399994 m,
      approachRate: -0.563203 m/s,
      rangeRepo size: 4

2025-01-09T00:43:22.712Z,1736383402.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 296.000000 m,
      bearing: 286.166229 deg,
      lat: 36.903895 deg,
      lon: -122.119122 deg,
      deltaT: 7.812453 s,
      deltaX: -4.399994 m,
      approachRate: -0.563203 m/s,
      posRepo size: 4

2025-01-09T00:43:22.713Z,1736383402.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.00 m.
2025-01-09T00:43:22.721Z,1736383402.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.000000 m,
      nav range: 277.214203 m,
      bearing: 284.231721 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012759 deg/s,
      cmd heading: 279.913774 deg,
      new cmd heading: 279.931766 deg.

2025-01-09T00:43:22.722Z,1736383402.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.885731 target range: 296.000000 and range: 296.00 m.
2025-01-09T00:43:22.821Z,1736383402.821 [DAT](INFO): DAT read: user:3697>

2025-01-09T00:43:22.822Z,1736383402.822 [DAT](INFO): DAT read: Tx time:00:43:22.0293

2025-01-09T00:43:22.822Z,1736383402.822 [DAT](INFO): Ping request sent.
2025-01-09T00:43:22.822Z,1736383402.822 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:22.822Z,1736383402.822 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:22.823Z,1736383402.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-01-09T00:43:23.072Z,1736383403.072 [DAT](INFO): DAT read: TxSync time:00:43:22.0286

2025-01-09T00:43:23.073Z,1736383403.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251109
2025-01-09T00:43:23.091Z,1736383403.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:23.132Z,1736383403.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.00 m.
2025-01-09T00:43:23.134Z,1736383403.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.000000 m,
      nav range: 276.842041 m,
      bearing: 284.240062 deg,
      approach rate: -0.865064 m/s,
      LOS rate: 0.019415 deg/s,
      cmd heading: 279.931779 deg,
      new cmd heading: 279.956837 deg.

2025-01-09T00:43:23.140Z,1736383403.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.886168 target range: 296.000000 and range: 296.00 m.
2025-01-09T00:43:23.324Z,1736383403.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502146
2025-01-09T00:43:23.438Z,1736383403.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:23.470Z,1736383403.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.00 m.
2025-01-09T00:43:23.473Z,1736383403.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.000000 m,
      nav range: 276.565338 m,
      bearing: 284.246348 deg,
      approach rate: -0.813598 m/s,
      LOS rate: 0.018500 deg/s,
      cmd heading: 279.956832 deg,
      new cmd heading: 279.975708 deg.

2025-01-09T00:43:23.474Z,1736383403.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.886498 target range: 296.000000 and range: 296.00 m.
2025-01-09T00:43:23.576Z,1736383403.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754307
2025-01-09T00:43:23.829Z,1736383403.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006949
2025-01-09T00:43:23.849Z,1736383403.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:23.857Z,1736383403.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.00 m.
2025-01-09T00:43:23.888Z,1736383403.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.000000 m,
      nav range: 276.237946 m,
      bearing: 284.253999 deg,
      approach rate: -0.840604 m/s,
      LOS rate: 0.019668 deg/s,
      cmd heading: 279.975711 deg,
      new cmd heading: 279.998691 deg.

2025-01-09T00:43:23.889Z,1736383403.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.886899 target range: 296.000000 and range: 296.00 m.
2025-01-09T00:43:24.081Z,1736383404.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259260
2025-01-09T00:43:24.265Z,1736383404.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:24.272Z,1736383404.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:24.274Z,1736383404.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.00 m.
2025-01-09T00:43:24.301Z,1736383404.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.000000 m,
      nav range: 275.910950 m,
      bearing: 284.261905 deg,
      approach rate: -0.783576 m/s,
      LOS rate: 0.018967 deg/s,
      cmd heading: 279.998687 deg,
      new cmd heading: 280.022433 deg.

2025-01-09T00:43:24.302Z,1736383404.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.887313 target range: 296.000000 and range: 296.00 m.
2025-01-09T00:43:24.333Z,1736383404.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510641
2025-01-09T00:43:24.584Z,1736383404.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762199
2025-01-09T00:43:24.658Z,1736383404.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:24.673Z,1736383404.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.00 m.
2025-01-09T00:43:24.697Z,1736383404.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.000000 m,
      nav range: 275.601471 m,
      bearing: 284.269398 deg,
      approach rate: -0.776315 m/s,
      LOS rate: 0.018817 deg/s,
      cmd heading: 280.022429 deg,
      new cmd heading: 280.044934 deg.

2025-01-09T00:43:24.698Z,1736383404.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.887706 target range: 296.000000 and range: 296.00 m.
2025-01-09T00:43:24.836Z,1736383404.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014147
2025-01-09T00:43:25.091Z,1736383405.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268604
2025-01-09T00:43:25.137Z,1736383405.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:25.145Z,1736383405.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.00 m.
2025-01-09T00:43:25.150Z,1736383405.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.000000 m,
      nav range: 275.239166 m,
      bearing: 284.280167 deg,
      approach rate: -0.766518 m/s,
      LOS rate: 0.022813 deg/s,
      cmd heading: 280.044941 deg,
      new cmd heading: 280.077290 deg.

2025-01-09T00:43:25.151Z,1736383405.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888271 target range: 296.000000 and range: 296.00 m.
2025-01-09T00:43:25.345Z,1736383405.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522823
2025-01-09T00:43:25.470Z,1736383405.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:25.478Z,1736383405.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.00 m.
2025-01-09T00:43:25.482Z,1736383405.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.000000 m,
      nav range: 274.987244 m,
      bearing: 284.287690 deg,
      approach rate: -0.757502 m/s,
      LOS rate: 0.022642 deg/s,
      cmd heading: 280.077289 deg,
      new cmd heading: 280.099879 deg.

2025-01-09T00:43:25.483Z,1736383405.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888665 target range: 296.000000 and range: 296.00 m.
2025-01-09T00:43:25.597Z,1736383405.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774731
2025-01-09T00:43:25.849Z,1736383405.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026637
2025-01-09T00:43:25.888Z,1736383405.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:25.900Z,1736383405.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.00 m.
2025-01-09T00:43:25.903Z,1736383405.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.000000 m,
      nav range: 274.670105 m,
      bearing: 284.297197 deg,
      approach rate: -0.752394 m/s,
      LOS rate: 0.022580 deg/s,
      cmd heading: 280.099883 deg,
      new cmd heading: 280.128437 deg.

2025-01-09T00:43:25.905Z,1736383405.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.889163 target range: 296.000000 and range: 296.00 m.
2025-01-09T00:43:26.103Z,1736383406.103 [DAT](INFO): DAT read: Rx Time:00:43:24.8247

2025-01-09T00:43:26.104Z,1736383406.104 [DAT](INFO): Rx dataTimestamp_ set to:1736383406.103528
2025-01-09T00:43:26.106Z,1736383406.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283724
2025-01-09T00:43:26.301Z,1736383406.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:26.309Z,1736383406.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:26.311Z,1736383406.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.00 m.
2025-01-09T00:43:26.315Z,1736383406.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.000000 m,
      nav range: 274.378174 m,
      bearing: 284.306227 deg,
      approach rate: -0.710075 m/s,
      LOS rate: 0.021989 deg/s,
      cmd heading: 280.128434 deg,
      new cmd heading: 280.155554 deg.

2025-01-09T00:43:26.337Z,1736383406.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.889637 target range: 296.000000 and range: 296.00 m.
2025-01-09T00:43:26.353Z,1736383406.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530706
2025-01-09T00:43:26.610Z,1736383406.610 [DAT](INFO): DAT read: 00:43:24.8247 LVL= 29392, 32753, 32754, 32755, AGC= 63, IDX= 226, 0.38,-1.518, 3.073,-1.871,-2.284, PHS= 0.854,-0.880, 0.409, RAW= 135.7,  -5.0, CAL= 141.3, -15.2, ROT=   8.7,  15.2

2025-01-09T00:43:26.611Z,1736383406.611 [DAT](INFO): got valid direction response:
 00:43:24.8247 LVL= 29392, 32753, 32754, 32755, AGC= 63, IDX= 226, 0.38,-1.518, 3.073,-1.871,-2.284, PHS= 0.854,-0.880, 0.409, RAW= 135.7,  -5.0, CAL= 141.3, -15.2, ROT=   8.7,  15.2

2025-01-09T00:43:26.616Z,1736383406.616 [DAT](INFO): DAT read: Bearing   8.7,  15.2 (Local)

2025-01-09T00:43:26.616Z,1736383406.616 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.7,  15.2 (Local)

2025-01-09T00:43:26.617Z,1736383406.617 [DAT](INFO): DAT read: Range 10 to 50 : 293.4 m  (Round-trip  391.2 ms) speed 

2025-01-09T00:43:26.618Z,1736383406.618 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:43:26.619Z,1736383406.619 [DAT](INFO): direction in FSK: [0.953913,0.145969,-0.262189]
2025-01-09T00:43:26.620Z,1736383406.620 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:26.632Z,1736383406.632 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:26.632Z,1736383406.632 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:26.632Z,1736383406.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:26.733Z,1736383406.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:26.782Z,1736383406.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 293.399994 m,
      deltaT: 4.035639 s,
      deltaX: -2.600006 m,
      approachRate: -0.644261 m/s,
      rangeRepo size: 4

2025-01-09T00:43:26.789Z,1736383406.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 293.399994 m,
      bearing: 288.451481 deg,
      lat: 36.904024 deg,
      lon: -122.119229 deg,
      deltaT: 4.035639 s,
      deltaX: -2.600006 m,
      approachRate: -0.644261 m/s,
      posRepo size: 4

2025-01-09T00:43:26.790Z,1736383406.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.40 m.
2025-01-09T00:43:26.796Z,1736383406.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.399994 m,
      nav range: 287.043915 m,
      bearing: 286.606081 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021989 deg/s,
      cmd heading: 280.155563 deg,
      new cmd heading: 280.186530 deg.

2025-01-09T00:43:26.797Z,1736383406.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.890177 target range: 293.399994 and range: 293.40 m.
2025-01-09T00:43:26.857Z,1736383406.857 [DAT](INFO): DAT read: user:3698>

2025-01-09T00:43:26.858Z,1736383406.858 [DAT](INFO): DAT read: Tx time:00:43:26.0793

2025-01-09T00:43:26.859Z,1736383406.859 [DAT](INFO): Ping request sent.
2025-01-09T00:43:26.859Z,1736383406.859 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:26.859Z,1736383406.859 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:26.860Z,1736383406.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001179
2025-01-09T00:43:27.112Z,1736383407.112 [DAT](INFO): DAT read: TxSync time:00:43:26.0786

2025-01-09T00:43:27.113Z,1736383407.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253717
2025-01-09T00:43:27.161Z,1736383407.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:27.176Z,1736383407.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.40 m.
2025-01-09T00:43:27.178Z,1736383407.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.399994 m,
      nav range: 286.752808 m,
      bearing: 286.616404 deg,
      approach rate: -0.735682 m/s,
      LOS rate: 0.026114 deg/s,
      cmd heading: 280.186517 deg,
      new cmd heading: 280.217517 deg.

2025-01-09T00:43:27.180Z,1736383407.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.890718 target range: 293.399994 and range: 293.40 m.
2025-01-09T00:43:27.365Z,1736383407.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505852
2025-01-09T00:43:27.478Z,1736383407.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:27.488Z,1736383407.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.40 m.
2025-01-09T00:43:27.490Z,1736383407.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.399994 m,
      nav range: 286.538177 m,
      bearing: 286.624139 deg,
      approach rate: -0.687818 m/s,
      LOS rate: 0.024807 deg/s,
      cmd heading: 280.217527 deg,
      new cmd heading: 280.240750 deg.

2025-01-09T00:43:27.528Z,1736383407.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.891124 target range: 293.399994 and range: 293.40 m.
2025-01-09T00:43:27.616Z,1736383407.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757501
2025-01-09T00:43:27.868Z,1736383407.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009531
2025-01-09T00:43:27.896Z,1736383407.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:27.909Z,1736383407.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.40 m.
2025-01-09T00:43:27.921Z,1736383407.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.399994 m,
      nav range: 286.254547 m,
      bearing: 286.634318 deg,
      approach rate: -0.673212 m/s,
      LOS rate: 0.024183 deg/s,
      cmd heading: 280.240749 deg,
      new cmd heading: 280.271314 deg.

2025-01-09T00:43:27.922Z,1736383407.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.891657 target range: 293.399994 and range: 293.40 m.
2025-01-09T00:43:28.123Z,1736383408.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263906
2025-01-09T00:43:28.330Z,1736383408.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:28.338Z,1736383408.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:28.340Z,1736383408.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.40 m.
2025-01-09T00:43:28.343Z,1736383408.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.399994 m,
      nav range: 285.975128 m,
      bearing: 286.643579 deg,
      approach rate: -0.648513 m/s,
      LOS rate: 0.021516 deg/s,
      cmd heading: 280.271321 deg,
      new cmd heading: 280.299132 deg.

2025-01-09T00:43:28.360Z,1736383408.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.892143 target range: 293.399994 and range: 293.40 m.
2025-01-09T00:43:28.372Z,1736383408.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513477
2025-01-09T00:43:28.625Z,1736383408.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765877
2025-01-09T00:43:28.701Z,1736383408.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:28.709Z,1736383408.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.40 m.
2025-01-09T00:43:28.729Z,1736383408.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.399994 m,
      nav range: 285.735535 m,
      bearing: 286.651175 deg,
      approach rate: -0.649277 m/s,
      LOS rate: 0.020601 deg/s,
      cmd heading: 280.299134 deg,
      new cmd heading: 280.321940 deg.

2025-01-09T00:43:28.730Z,1736383408.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.892541 target range: 293.399994 and range: 293.40 m.
2025-01-09T00:43:28.878Z,1736383408.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018907
2025-01-09T00:43:29.139Z,1736383409.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279844
2025-01-09T00:43:29.185Z,1736383409.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:29.193Z,1736383409.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.40 m.
2025-01-09T00:43:29.197Z,1736383409.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.399994 m,
      nav range: 285.434631 m,
      bearing: 286.658992 deg,
      approach rate: -0.621281 m/s,
      LOS rate: 0.016157 deg/s,
      cmd heading: 280.321946 deg,
      new cmd heading: 280.345422 deg.

2025-01-09T00:43:29.198Z,1736383409.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.892951 target range: 293.399994 and range: 293.40 m.
2025-01-09T00:43:29.384Z,1736383409.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525468
2025-01-09T00:43:29.512Z,1736383409.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:29.521Z,1736383409.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.40 m.
2025-01-09T00:43:29.524Z,1736383409.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.399994 m,
      nav range: 285.231232 m,
      bearing: 286.664285 deg,
      approach rate: -0.620181 m/s,
      LOS rate: 0.016152 deg/s,
      cmd heading: 280.345415 deg,
      new cmd heading: 280.361307 deg.

2025-01-09T00:43:29.525Z,1736383409.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893228 target range: 293.399994 and range: 293.40 m.
2025-01-09T00:43:29.636Z,1736383409.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777507
2025-01-09T00:43:29.888Z,1736383409.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029495
2025-01-09T00:43:29.917Z,1736383409.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:29.931Z,1736383409.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.40 m.
2025-01-09T00:43:29.943Z,1736383409.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.399994 m,
      nav range: 284.979126 m,
      bearing: 286.670508 deg,
      approach rate: -0.616898 m/s,
      LOS rate: 0.015240 deg/s,
      cmd heading: 280.361316 deg,
      new cmd heading: 280.379999 deg.

2025-01-09T00:43:29.944Z,1736383409.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893554 target range: 293.399994 and range: 293.40 m.
2025-01-09T00:43:30.144Z,1736383410.144 [DAT](INFO): DAT read: Rx Time:00:43:28.8717

2025-01-09T00:43:30.146Z,1736383410.146 [DAT](INFO): Rx dataTimestamp_ set to:1736383410.144730
2025-01-09T00:43:30.148Z,1736383410.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288533
2025-01-09T00:43:30.346Z,1736383410.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:30.373Z,1736383410.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:30.380Z,1736383410.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.40 m.
2025-01-09T00:43:30.388Z,1736383410.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.399994 m,
      nav range: 284.731964 m,
      bearing: 286.676004 deg,
      approach rate: -0.555411 m/s,
      LOS rate: 0.012362 deg/s,
      cmd heading: 280.380003 deg,
      new cmd heading: 280.396506 deg.

2025-01-09T00:43:30.389Z,1736383410.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893842 target range: 293.399994 and range: 293.40 m.
2025-01-09T00:43:30.392Z,1736383410.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533551
2025-01-09T00:43:30.650Z,1736383410.650 [DAT](INFO): DAT read: 00:43:28.8717 LVL= 22000, 29825, 27714, 32755, AGC= 61, IDX= 224,-0.02, 1.595,-0.295, 1.253, 0.765, PHS= 0.917,-1.013, 0.484, RAW= 137.7,  -4.5, CAL= 143.2, -14.3, ROT=   6.8,  14.3

2025-01-09T00:43:30.660Z,1736383410.660 [DAT](INFO): got valid direction response:
 00:43:28.8717 LVL= 22000, 29825, 27714, 32755, AGC= 61, IDX= 224,-0.02, 1.595,-0.295, 1.253, 0.765, PHS= 0.917,-1.013, 0.484, RAW= 137.7,  -4.5, CAL= 143.2, -14.3, ROT=   6.8,  14.3

2025-01-09T00:43:30.661Z,1736383410.661 [DAT](INFO): DAT read: Bearing   6.8,  14.3 (Local)

2025-01-09T00:43:30.662Z,1736383410.662 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.8,  14.3 (Local)

2025-01-09T00:43:30.669Z,1736383410.669 [DAT](INFO): DAT read: Range 10 to 50 : 291.0 m  (Round-trip  388.1 ms) speed  0.4 m/s

2025-01-09T00:43:30.670Z,1736383410.670 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:43:30.675Z,1736383410.675 [DAT](INFO): direction in FSK: [0.962199,0.114735,-0.246999]
2025-01-09T00:43:30.676Z,1736383410.676 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:30.700Z,1736383410.700 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:30.701Z,1736383410.701 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:30.701Z,1736383410.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:30.760Z,1736383410.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:30.790Z,1736383410.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 291.000000 m,
      deltaT: 4.039967 s,
      deltaX: -2.399994 m,
      approachRate: -0.594063 m/s,
      rangeRepo size: 4

2025-01-09T00:43:30.801Z,1736383410.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 291.000000 m,
      bearing: 287.785086 deg,
      lat: 36.904024 deg,
      lon: -122.119264 deg,
      deltaT: 4.039967 s,
      deltaX: -2.399994 m,
      approachRate: -0.594063 m/s,
      posRepo size: 4

2025-01-09T00:43:30.802Z,1736383410.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m.
2025-01-09T00:43:30.809Z,1736383410.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.000000 m,
      nav range: 287.401917 m,
      bearing: 286.506470 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012362 deg/s,
      cmd heading: 280.396505 deg,
      new cmd heading: 280.411884 deg.

2025-01-09T00:43:30.810Z,1736383410.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.894111 target range: 291.000000 and range: 291.00 m.
2025-01-09T00:43:30.896Z,1736383410.896 [DAT](INFO): DAT read: user:3699>

2025-01-09T00:43:30.897Z,1736383410.897 [DAT](INFO): DAT read: Tx time:00:43:30.1794

2025-01-09T00:43:30.897Z,1736383410.897 [DAT](INFO): Ping request sent.
2025-01-09T00:43:30.898Z,1736383410.898 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:30.898Z,1736383410.898 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:30.898Z,1736383410.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-01-09T00:43:31.154Z,1736383411.154 [DAT](INFO): DAT read: TxSync time:00:43:30.1787

2025-01-09T00:43:31.156Z,1736383411.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258447
2025-01-09T00:43:31.189Z,1736383411.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:31.206Z,1736383411.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m.
2025-01-09T00:43:31.214Z,1736383411.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.000000 m,
      nav range: 287.140778 m,
      bearing: 286.511848 deg,
      approach rate: -0.626513 m/s,
      LOS rate: 0.012915 deg/s,
      cmd heading: 280.411886 deg,
      new cmd heading: 280.428036 deg.

2025-01-09T00:43:31.220Z,1736383411.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.894392 target range: 291.000000 and range: 291.00 m.
2025-01-09T00:43:31.400Z,1736383411.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502608
2025-01-09T00:43:31.541Z,1736383411.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:31.608Z,1736383411.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m.
2025-01-09T00:43:31.611Z,1736383411.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.000000 m,
      nav range: 286.921204 m,
      bearing: 286.515638 deg,
      approach rate: -0.546566 m/s,
      LOS rate: 0.009442 deg/s,
      cmd heading: 280.428033 deg,
      new cmd heading: 280.439412 deg.

2025-01-09T00:43:31.621Z,1736383411.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.894591 target range: 291.000000 and range: 291.00 m.
2025-01-09T00:43:31.653Z,1736383411.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755112
2025-01-09T00:43:31.905Z,1736383411.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007922
2025-01-09T00:43:31.973Z,1736383411.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:32.001Z,1736383412.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m.
2025-01-09T00:43:32.011Z,1736383412.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.000000 m,
      nav range: 286.652893 m,
      bearing: 286.520281 deg,
      approach rate: -0.683226 m/s,
      LOS rate: 0.011834 deg/s,
      cmd heading: 280.439398 deg,
      new cmd heading: 280.453340 deg.

2025-01-09T00:43:32.012Z,1736383412.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.894834 target range: 291.000000 and range: 291.00 m.
2025-01-09T00:43:32.159Z,1736383412.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261163
2025-01-09T00:43:32.244Z,1736383412.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:43:32.387Z,1736383412.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:32.394Z,1736383412.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:32.408Z,1736383412.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510867
2025-01-09T00:43:32.416Z,1736383412.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m.
2025-01-09T00:43:32.423Z,1736383412.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.000000 m,
      nav range: 286.389374 m,
      bearing: 286.524893 deg,
      approach rate: -0.634341 m/s,
      LOS rate: 0.011113 deg/s,
      cmd heading: 280.453332 deg,
      new cmd heading: 280.467181 deg.

2025-01-09T00:43:32.424Z,1736383412.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895076 target range: 291.000000 and range: 291.00 m.
2025-01-09T00:43:32.662Z,1736383412.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764895
2025-01-09T00:43:32.787Z,1736383412.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:32.800Z,1736383412.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m.
2025-01-09T00:43:32.811Z,1736383412.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.000000 m,
      nav range: 286.137299 m,
      bearing: 286.529170 deg,
      approach rate: -0.658131 m/s,
      LOS rate: 0.011176 deg/s,
      cmd heading: 280.467184 deg,
      new cmd heading: 280.480025 deg.

2025-01-09T00:43:32.812Z,1736383412.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895300 target range: 291.000000 and range: 291.00 m.
2025-01-09T00:43:32.913Z,1736383412.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015280
2025-01-09T00:43:33.167Z,1736383413.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269021
2025-01-09T00:43:33.250Z,1736383413.250 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:43:33.284Z,1736383413.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:33.292Z,1736383413.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m.
2025-01-09T00:43:33.295Z,1736383413.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.000000 m,
      nav range: 285.808563 m,
      bearing: 286.535312 deg,
      approach rate: -0.666742 m/s,
      LOS rate: 0.012471 deg/s,
      cmd heading: 280.480024 deg,
      new cmd heading: 280.498471 deg.

2025-01-09T00:43:33.297Z,1736383413.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895622 target range: 291.000000 and range: 291.00 m.
2025-01-09T00:43:33.417Z,1736383413.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519235
2025-01-09T00:43:33.602Z,1736383413.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:33.610Z,1736383413.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m.
2025-01-09T00:43:33.614Z,1736383413.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.000000 m,
      nav range: 285.599945 m,
      bearing: 286.539157 deg,
      approach rate: -0.656906 m/s,
      LOS rate: 0.012118 deg/s,
      cmd heading: 280.498466 deg,
      new cmd heading: 280.510011 deg.

2025-01-09T00:43:33.615Z,1736383413.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895823 target range: 291.000000 and range: 291.00 m.
2025-01-09T00:43:33.669Z,1736383413.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771622
2025-01-09T00:43:33.920Z,1736383413.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022797
2025-01-09T00:43:34.010Z,1736383414.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:34.019Z,1736383414.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m.
2025-01-09T00:43:34.022Z,1736383414.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.000000 m,
      nav range: 285.331635 m,
      bearing: 286.544085 deg,
      approach rate: -0.655830 m/s,
      LOS rate: 0.012057 deg/s,
      cmd heading: 280.510023 deg,
      new cmd heading: 280.524820 deg.

2025-01-09T00:43:34.023Z,1736383414.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.896082 target range: 291.000000 and range: 291.00 m.
2025-01-09T00:43:34.175Z,1736383414.175 [DAT](INFO): DAT read: Rx Time:00:43:32.9684

2025-01-09T00:43:34.177Z,1736383414.177 [DAT](INFO): Rx dataTimestamp_ set to:1736383414.176064
2025-01-09T00:43:34.179Z,1736383414.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280809
2025-01-09T00:43:34.424Z,1736383414.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526764
2025-01-09T00:43:34.437Z,1736383414.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:34.444Z,1736383414.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:34.446Z,1736383414.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.00 m.
2025-01-09T00:43:34.450Z,1736383414.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.000000 m,
      nav range: 285.037354 m,
      bearing: 286.550499 deg,
      approach rate: -0.689339 m/s,
      LOS rate: 0.015038 deg/s,
      cmd heading: 280.524830 deg,
      new cmd heading: 280.544090 deg.

2025-01-09T00:43:34.451Z,1736383414.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.896418 target range: 291.000000 and range: 291.00 m.
2025-01-09T00:43:34.691Z,1736383414.691 [DAT](INFO): DAT read: 00:43:32.9684 LVL= 25840, 32433, 30562, 32755, AGC= 61, IDX= 400,-0.30, 1.962, 0.965, 2.086, 1.035, PHS= 1.016,-0.023, 1.048, RAW= 151.5, -34.3, CAL= 153.8, -39.4, ROT= 356.2,  39.4

2025-01-09T00:43:34.692Z,1736383414.692 [DAT](INFO): got valid direction response:
 00:43:32.9684 LVL= 25840, 32433, 30562, 32755, AGC= 61, IDX= 400,-0.30, 1.962, 0.965, 2.086, 1.035, PHS= 1.016,-0.023, 1.048, RAW= 151.5, -34.3, CAL= 153.8, -39.4, ROT= 356.2,  39.4

2025-01-09T00:43:34.693Z,1736383414.693 [DAT](INFO): DAT read: Bearing 356.2,  39.4 (Local)

2025-01-09T00:43:34.694Z,1736383414.694 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  39.4 (Local)

2025-01-09T00:43:34.702Z,1736383414.702 [DAT](INFO): DAT read: Range 10 to 50 : 288.6 m  (Round-trip  384.8 ms) speed  0.7 m/s

2025-01-09T00:43:34.703Z,1736383414.703 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:43:34.704Z,1736383414.704 [DAT](INFO): direction in FSK: [0.771035,-0.051212,-0.634731]
2025-01-09T00:43:34.704Z,1736383414.704 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:34.708Z,1736383414.708 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:34.708Z,1736383414.708 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:34.708Z,1736383414.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:34.854Z,1736383414.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:34.901Z,1736383414.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 288.600006 m,
      deltaT: 4.034685 s,
      deltaX: -2.399994 m,
      approachRate: -0.594840 m/s,
      rangeRepo size: 4

2025-01-09T00:43:34.909Z,1736383414.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 288.600006 m,
      bearing: 282.449275 deg,
      lat: 36.904024 deg,
      lon: -122.119264 deg,
      deltaT: 4.034685 s,
      deltaX: -2.399994 m,
      approachRate: -0.594840 m/s,
      posRepo size: 4

2025-01-09T00:43:34.910Z,1736383414.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m.
2025-01-09T00:43:34.923Z,1736383414.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.600006 m,
      nav range: 284.750549 m,
      bearing: 286.556761 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015038 deg/s,
      cmd heading: 280.544092 deg,
      new cmd heading: 280.564147 deg.

2025-01-09T00:43:34.924Z,1736383414.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.896768 target range: 288.600006 and range: 288.60 m.
2025-01-09T00:43:34.928Z,1736383414.928 [DAT](INFO): DAT read: user:3700>

2025-01-09T00:43:34.929Z,1736383414.929 [DAT](INFO): DAT read: Tx time:00:43:34.1810

2025-01-09T00:43:34.930Z,1736383414.930 [DAT](INFO): Ping request sent.
2025-01-09T00:43:34.930Z,1736383414.930 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:34.930Z,1736383414.930 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:34.930Z,1736383414.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-01-09T00:43:35.184Z,1736383415.184 [DAT](INFO): DAT read: TxSync time:00:43:34.1802

2025-01-09T00:43:35.187Z,1736383415.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256520
2025-01-09T00:43:35.338Z,1736383415.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:35.347Z,1736383415.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m.
2025-01-09T00:43:35.350Z,1736383415.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.600006 m,
      nav range: 284.399292 m,
      bearing: 286.565643 deg,
      approach rate: -0.771155 m/s,
      LOS rate: 0.019523 deg/s,
      cmd heading: 280.564145 deg,
      new cmd heading: 280.590823 deg.

2025-01-09T00:43:35.351Z,1736383415.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.897233 target range: 288.600006 and range: 288.60 m.
2025-01-09T00:43:35.432Z,1736383415.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502723
2025-01-09T00:43:35.680Z,1736383415.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:35.685Z,1736383415.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755228
2025-01-09T00:43:35.693Z,1736383415.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m.
2025-01-09T00:43:35.696Z,1736383415.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.600006 m,
      nav range: 284.152069 m,
      bearing: 286.572147 deg,
      approach rate: -0.712433 m/s,
      LOS rate: 0.018758 deg/s,
      cmd heading: 280.590810 deg,
      new cmd heading: 280.610338 deg.

2025-01-09T00:43:35.698Z,1736383415.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.897574 target range: 288.600006 and range: 288.60 m.
2025-01-09T00:43:35.937Z,1736383415.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006953
2025-01-09T00:43:36.070Z,1736383416.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:36.095Z,1736383416.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m.
2025-01-09T00:43:36.102Z,1736383416.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.600006 m,
      nav range: 283.868500 m,
      bearing: 286.579826 deg,
      approach rate: -0.705993 m/s,
      LOS rate: 0.019137 deg/s,
      cmd heading: 280.610344 deg,
      new cmd heading: 280.633405 deg.

2025-01-09T00:43:36.103Z,1736383416.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.897977 target range: 288.600006 and range: 288.60 m.
2025-01-09T00:43:36.192Z,1736383416.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261617
2025-01-09T00:43:36.440Z,1736383416.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510558
2025-01-09T00:43:36.502Z,1736383416.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:36.509Z,1736383416.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:36.511Z,1736383416.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m.
2025-01-09T00:43:36.515Z,1736383416.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.600006 m,
      nav range: 283.542328 m,
      bearing: 286.589260 deg,
      approach rate: -0.783720 m/s,
      LOS rate: 0.022696 deg/s,
      cmd heading: 280.633403 deg,
      new cmd heading: 280.661740 deg.

2025-01-09T00:43:36.536Z,1736383416.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898471 target range: 288.600006 and range: 288.60 m.
2025-01-09T00:43:36.692Z,1736383416.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762586
2025-01-09T00:43:36.896Z,1736383416.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:36.904Z,1736383416.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m.
2025-01-09T00:43:36.907Z,1736383416.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.600006 m,
      nav range: 283.244385 m,
      bearing: 286.597853 deg,
      approach rate: -0.757458 m/s,
      LOS rate: 0.021868 deg/s,
      cmd heading: 280.661735 deg,
      new cmd heading: 280.687539 deg.

2025-01-09T00:43:36.908Z,1736383416.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898922 target range: 288.600006 and range: 288.60 m.
2025-01-09T00:43:36.945Z,1736383416.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015074
2025-01-09T00:43:37.200Z,1736383417.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269971
2025-01-09T00:43:37.311Z,1736383417.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:37.349Z,1736383417.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m.
2025-01-09T00:43:37.356Z,1736383417.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.600006 m,
      nav range: 282.923126 m,
      bearing: 286.609478 deg,
      approach rate: -0.723127 m/s,
      LOS rate: 0.026196 deg/s,
      cmd heading: 280.687553 deg,
      new cmd heading: 280.722467 deg.

2025-01-09T00:43:37.357Z,1736383417.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.899531 target range: 288.600006 and range: 288.60 m.
2025-01-09T00:43:37.448Z,1736383417.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518653
2025-01-09T00:43:37.697Z,1736383417.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:37.700Z,1736383417.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770699
2025-01-09T00:43:37.707Z,1736383417.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m.
2025-01-09T00:43:37.710Z,1736383417.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.600006 m,
      nav range: 282.624420 m,
      bearing: 286.620300 deg,
      approach rate: -0.834086 m/s,
      LOS rate: 0.030251 deg/s,
      cmd heading: 280.722469 deg,
      new cmd heading: 280.754969 deg.

2025-01-09T00:43:37.711Z,1736383417.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.900099 target range: 288.600006 and range: 288.60 m.
2025-01-09T00:43:37.954Z,1736383417.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023984
2025-01-09T00:43:38.095Z,1736383418.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:38.104Z,1736383418.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m.
2025-01-09T00:43:38.107Z,1736383418.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.600006 m,
      nav range: 282.315338 m,
      bearing: 286.631551 deg,
      approach rate: -0.777166 m/s,
      LOS rate: 0.028322 deg/s,
      cmd heading: 280.754980 deg,
      new cmd heading: 280.788772 deg.

2025-01-09T00:43:38.109Z,1736383418.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.900689 target range: 288.600006 and range: 288.60 m.
2025-01-09T00:43:38.206Z,1736383418.206 [DAT](INFO): DAT read: Rx Time:00:43:36.9661

2025-01-09T00:43:38.207Z,1736383418.207 [DAT](INFO): Rx dataTimestamp_ set to:1736383418.206371
2025-01-09T00:43:38.207Z,1736383418.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277759
2025-01-09T00:43:38.457Z,1736383418.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526857
2025-01-09T00:43:38.528Z,1736383418.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:38.536Z,1736383418.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:38.538Z,1736383418.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.60 m.
2025-01-09T00:43:38.541Z,1736383418.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.600006 m,
      nav range: 281.976288 m,
      bearing: 286.645941 deg,
      approach rate: -0.782592 m/s,
      LOS rate: 0.033254 deg/s,
      cmd heading: 280.788776 deg,
      new cmd heading: 280.831998 deg.

2025-01-09T00:43:38.542Z,1736383418.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.901443 target range: 288.600006 and range: 288.60 m.
2025-01-09T00:43:38.715Z,1736383418.715 [DAT](INFO): DAT read: 00:43:36.9661 LVL= 22960, 28737, 27842, 32755, AGC= 63, IDX= 223, 0.45,-2.429, 1.884,-2.779, 3.009, PHS= 0.933,-1.078, 0.492, RAW= 138.0,  -3.8, CAL= 143.4, -13.5, ROT=   6.6,  13.5

2025-01-09T00:43:38.716Z,1736383418.716 [DAT](INFO): got valid direction response:
 00:43:36.9661 LVL= 22960, 28737, 27842, 32755, AGC= 63, IDX= 223, 0.45,-2.429, 1.884,-2.779, 3.009, PHS= 0.933,-1.078, 0.492, RAW= 138.0,  -3.8, CAL= 143.4, -13.5, ROT=   6.6,  13.5

2025-01-09T00:43:38.717Z,1736383418.717 [DAT](INFO): DAT read: Bearing   6.6,  13.5 (Local)

2025-01-09T00:43:38.717Z,1736383418.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.6,  13.5 (Local)

2025-01-09T00:43:38.719Z,1736383418.719 [DAT](INFO): DAT read: Range 10 to 50 : 285.6 m  (Round-trip  380.9 ms) speed  0.3 m/s

2025-01-09T00:43:38.720Z,1736383418.720 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:43:38.721Z,1736383418.721 [DAT](INFO): direction in FSK: [0.965926,0.111761,-0.233445]
2025-01-09T00:43:38.721Z,1736383418.721 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:38.724Z,1736383418.724 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:38.725Z,1736383418.725 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:38.725Z,1736383418.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:38.911Z,1736383418.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:38.941Z,1736383418.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 285.600006 m,
      deltaT: 4.029839 s,
      deltaX: -3.000000 m,
      approachRate: -0.744447 m/s,
      rangeRepo size: 4

2025-01-09T00:43:38.943Z,1736383418.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 285.600006 m,
      bearing: 287.483890 deg,
      lat: 36.904069 deg,
      lon: -122.119280 deg,
      deltaT: 4.029839 s,
      deltaX: -3.000000 m,
      approachRate: -0.744447 m/s,
      posRepo size: 4

2025-01-09T00:43:38.948Z,1736383418.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.60 m.
2025-01-09T00:43:38.950Z,1736383418.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.600006 m,
      nav range: 284.511078 m,
      bearing: 287.551833 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033254 deg/s,
      cmd heading: 280.831998 deg,
      new cmd heading: 280.872152 deg.

2025-01-09T00:43:38.956Z,1736383418.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.902144 target range: 285.600006 and range: 285.60 m.
2025-01-09T00:43:38.960Z,1736383418.960 [DAT](INFO): DAT read: user:3701>

2025-01-09T00:43:38.961Z,1736383418.961 [DAT](INFO): DAT read: Tx time:00:43:38.1794

2025-01-09T00:43:38.961Z,1736383418.961 [DAT](INFO): Ping request sent.
2025-01-09T00:43:38.961Z,1736383418.961 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:38.962Z,1736383418.962 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:38.962Z,1736383418.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-01-09T00:43:39.214Z,1736383419.214 [DAT](INFO): DAT read: TxSync time:00:43:38.1787

2025-01-09T00:43:39.228Z,1736383419.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253648
2025-01-09T00:43:39.350Z,1736383419.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:39.358Z,1736383419.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.60 m.
2025-01-09T00:43:39.388Z,1736383419.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.600006 m,
      nav range: 284.167755 m,
      bearing: 287.567606 deg,
      approach rate: -0.820999 m/s,
      LOS rate: 0.037764 deg/s,
      cmd heading: 280.872159 deg,
      new cmd heading: 280.919535 deg.

2025-01-09T00:43:39.390Z,1736383419.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.902971 target range: 285.600006 and range: 285.60 m.
2025-01-09T00:43:39.465Z,1736383419.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503100
2025-01-09T00:43:39.716Z,1736383419.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754808
2025-01-09T00:43:39.817Z,1736383419.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:39.829Z,1736383419.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.60 m.
2025-01-09T00:43:39.852Z,1736383419.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.600006 m,
      nav range: 283.802551 m,
      bearing: 287.584526 deg,
      approach rate: -0.776120 m/s,
      LOS rate: 0.036005 deg/s,
      cmd heading: 280.919533 deg,
      new cmd heading: 280.970360 deg.

2025-01-09T00:43:39.856Z,1736383419.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.903858 target range: 285.600006 and range: 285.60 m.
2025-01-09T00:43:39.969Z,1736383419.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007085
2025-01-09T00:43:40.225Z,1736383420.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263569
2025-01-09T00:43:40.297Z,1736383420.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:40.329Z,1736383420.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.60 m.
2025-01-09T00:43:40.337Z,1736383420.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.600006 m,
      nav range: 283.439636 m,
      bearing: 287.601480 deg,
      approach rate: -0.725324 m/s,
      LOS rate: 0.033927 deg/s,
      cmd heading: 280.970350 deg,
      new cmd heading: 281.021276 deg.

2025-01-09T00:43:40.338Z,1736383420.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.904747 target range: 285.600006 and range: 285.60 m.
2025-01-09T00:43:40.477Z,1736383420.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515200
2025-01-09T00:43:40.706Z,1736383420.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:40.728Z,1736383420.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766860
2025-01-09T00:43:40.734Z,1736383420.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:40.737Z,1736383420.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.60 m.
2025-01-09T00:43:40.739Z,1736383420.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.600006 m,
      nav range: 283.110504 m,
      bearing: 287.617132 deg,
      approach rate: -0.807861 m/s,
      LOS rate: 0.038463 deg/s,
      cmd heading: 281.021276 deg,
      new cmd heading: 281.068287 deg.

2025-01-09T00:43:40.740Z,1736383420.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.905567 target range: 285.600006 and range: 285.60 m.
2025-01-09T00:43:40.980Z,1736383420.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018774
2025-01-09T00:43:41.138Z,1736383421.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:41.152Z,1736383421.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.60 m.
2025-01-09T00:43:41.155Z,1736383421.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.600006 m,
      nav range: 282.774689 m,
      bearing: 287.632967 deg,
      approach rate: -0.807923 m/s,
      LOS rate: 0.038142 deg/s,
      cmd heading: 281.068295 deg,
      new cmd heading: 281.115857 deg.

2025-01-09T00:43:41.156Z,1736383421.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.906397 target range: 285.600006 and range: 285.60 m.
2025-01-09T00:43:41.234Z,1736383421.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272234
2025-01-09T00:43:41.484Z,1736383421.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522818
2025-01-09T00:43:41.576Z,1736383421.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:41.586Z,1736383421.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.60 m.
2025-01-09T00:43:41.589Z,1736383421.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.600006 m,
      nav range: 282.440277 m,
      bearing: 287.647137 deg,
      approach rate: -0.771084 m/s,
      LOS rate: 0.032712 deg/s,
      cmd heading: 281.115860 deg,
      new cmd heading: 281.158421 deg.

2025-01-09T00:43:41.590Z,1736383421.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.907140 target range: 285.600006 and range: 285.60 m.
2025-01-09T00:43:41.736Z,1736383421.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774986
2025-01-09T00:43:41.943Z,1736383421.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:41.955Z,1736383421.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.60 m.
2025-01-09T00:43:41.978Z,1736383421.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.600006 m,
      nav range: 282.158997 m,
      bearing: 287.658986 deg,
      approach rate: -0.762495 m/s,
      LOS rate: 0.032152 deg/s,
      cmd heading: 281.158426 deg,
      new cmd heading: 281.194008 deg.

2025-01-09T00:43:41.979Z,1736383421.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.907761 target range: 285.600006 and range: 285.60 m.
2025-01-09T00:43:41.988Z,1736383421.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026878
2025-01-09T00:43:42.241Z,1736383422.241 [DAT](INFO): DAT read: Rx Time:00:43:40.9629

2025-01-09T00:43:42.241Z,1736383422.241 [DAT](INFO): Rx dataTimestamp_ set to:1736383422.240745
2025-01-09T00:43:42.242Z,1736383422.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280097
2025-01-09T00:43:42.392Z,1736383422.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:42.402Z,1736383422.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.60 m.
2025-01-09T00:43:42.405Z,1736383422.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.600006 m,
      nav range: 281.825806 m,
      bearing: 287.671467 deg,
      approach rate: -0.745861 m/s,
      LOS rate: 0.027972 deg/s,
      cmd heading: 281.193998 deg,
      new cmd heading: 281.231484 deg.

2025-01-09T00:43:42.406Z,1736383422.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.908415 target range: 285.600006 and range: 285.60 m.
2025-01-09T00:43:42.495Z,1736383422.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533054
2025-01-09T00:43:42.758Z,1736383422.758 [DAT](INFO): DAT read: 00:43:40.9629 LVL= 21856, 31137, 24226, 32755, AGC= 56, IDX= 425, 0.17, 0.323,-0.771, 0.415,-0.690, PHS= 1.100,-0.034, 1.102, RAW= 150.1, -34.0, CAL= 152.5, -38.9, ROT= 357.5,  38.9

2025-01-09T00:43:42.764Z,1736383422.764 [DAT](INFO): got valid direction response:
 00:43:40.9629 LVL= 21856, 31137, 24226, 32755, AGC= 56, IDX= 425, 0.17, 0.323,-0.771, 0.415,-0.690, PHS= 1.100,-0.034, 1.102, RAW= 150.1, -34.0, CAL= 152.5, -38.9, ROT= 357.5,  38.9

2025-01-09T00:43:42.766Z,1736383422.766 [DAT](INFO): DAT read: Bearing 357.5,  38.9 (Local)

2025-01-09T00:43:42.767Z,1736383422.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,  38.9 (Local)

2025-01-09T00:43:42.769Z,1736383422.769 [DAT](INFO): DAT read: Range 10 to 50 : 284.4 m  (Round-trip  379.3 ms) speed  0.8 m/s

2025-01-09T00:43:42.770Z,1736383422.770 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:43:42.776Z,1736383422.776 [DAT](INFO): direction in FSK: [0.777502,-0.033947,-0.627963]
2025-01-09T00:43:42.776Z,1736383422.776 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:42.779Z,1736383422.779 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:42.783Z,1736383422.783 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:42.784Z,1736383422.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:42.808Z,1736383422.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:42.857Z,1736383422.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 284.399994 m,
      deltaT: 4.040365 s,
      deltaX: -1.200012 m,
      approachRate: -0.297006 m/s,
      rangeRepo size: 4

2025-01-09T00:43:42.860Z,1736383422.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 284.399994 m,
      bearing: 283.941926 deg,
      lat: 36.904069 deg,
      lon: -122.119264 deg,
      deltaT: 4.040365 s,
      deltaX: -1.200012 m,
      approachRate: -0.297006 m/s,
      posRepo size: 4

2025-01-09T00:43:42.860Z,1736383422.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.40 m.
2025-01-09T00:43:42.873Z,1736383422.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.399994 m,
      nav range: 280.170929 m,
      bearing: 287.770656 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.027972 deg/s,
      cmd heading: 281.231482 deg,
      new cmd heading: 281.269677 deg.

2025-01-09T00:43:42.874Z,1736383422.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909082 target range: 284.399994 and range: 284.40 m.
2025-01-09T00:43:43.001Z,1736383423.001 [DAT](INFO): DAT read: user:3702>

2025-01-09T00:43:43.001Z,1736383423.001 [DAT](INFO): DAT read: Tx time:00:43:42.2294

2025-01-09T00:43:43.002Z,1736383423.002 [DAT](INFO): Ping request sent.
2025-01-09T00:43:43.002Z,1736383423.002 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:43.002Z,1736383423.002 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:43.002Z,1736383423.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-01-09T00:43:43.159Z,1736383423.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:43.174Z,1736383423.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:43.185Z,1736383423.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.40 m.
2025-01-09T00:43:43.213Z,1736383423.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.399994 m,
      nav range: 279.909760 m,
      bearing: 287.780327 deg,
      approach rate: -0.805922 m/s,
      LOS rate: 0.029872 deg/s,
      cmd heading: 281.269676 deg,
      new cmd heading: 281.298717 deg.

2025-01-09T00:43:43.214Z,1736383423.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909589 target range: 284.399994 and range: 284.40 m.
2025-01-09T00:43:43.253Z,1736383423.253 [DAT](INFO): DAT read: TxSync time:00:43:42.2288

2025-01-09T00:43:43.253Z,1736383423.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251586
2025-01-09T00:43:43.504Z,1736383423.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502467
2025-01-09T00:43:43.628Z,1736383423.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:43.637Z,1736383423.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.40 m.
2025-01-09T00:43:43.661Z,1736383423.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.399994 m,
      nav range: 279.571686 m,
      bearing: 287.792293 deg,
      approach rate: -0.740351 m/s,
      LOS rate: 0.026234 deg/s,
      cmd heading: 281.298718 deg,
      new cmd heading: 281.334657 deg.

2025-01-09T00:43:43.663Z,1736383423.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.910216 target range: 284.399994 and range: 284.40 m.
2025-01-09T00:43:43.758Z,1736383423.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755465
2025-01-09T00:43:44.008Z,1736383424.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006639
2025-01-09T00:43:44.013Z,1736383424.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:44.021Z,1736383424.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.40 m.
2025-01-09T00:43:44.024Z,1736383424.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.399994 m,
      nav range: 279.294312 m,
      bearing: 287.801988 deg,
      approach rate: -0.723446 m/s,
      LOS rate: 0.025314 deg/s,
      cmd heading: 281.334645 deg,
      new cmd heading: 281.363762 deg.

2025-01-09T00:43:44.025Z,1736383424.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.910724 target range: 284.399994 and range: 284.40 m.
2025-01-09T00:43:44.261Z,1736383424.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259227
2025-01-09T00:43:44.447Z,1736383424.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:44.476Z,1736383424.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.40 m.
2025-01-09T00:43:44.478Z,1736383424.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.399994 m,
      nav range: 278.997437 m,
      bearing: 287.810586 deg,
      approach rate: -0.683125 m/s,
      LOS rate: 0.019804 deg/s,
      cmd heading: 281.363769 deg,
      new cmd heading: 281.389588 deg.

2025-01-09T00:43:44.496Z,1736383424.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.911175 target range: 284.399994 and range: 284.40 m.
2025-01-09T00:43:44.512Z,1736383424.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510639
2025-01-09T00:43:44.765Z,1736383424.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762865
2025-01-09T00:43:44.816Z,1736383424.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:44.840Z,1736383424.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.40 m.
2025-01-09T00:43:44.843Z,1736383424.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.399994 m,
      nav range: 278.743683 m,
      bearing: 287.817747 deg,
      approach rate: -0.659390 m/s,
      LOS rate: 0.018626 deg/s,
      cmd heading: 281.389587 deg,
      new cmd heading: 281.411090 deg.

2025-01-09T00:43:44.848Z,1736383424.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.911550 target range: 284.399994 and range: 284.40 m.
2025-01-09T00:43:45.018Z,1736383425.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015608
2025-01-09T00:43:45.229Z,1736383425.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:45.237Z,1736383425.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:45.239Z,1736383425.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.40 m.
2025-01-09T00:43:45.247Z,1736383425.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.399994 m,
      nav range: 278.466339 m,
      bearing: 287.825415 deg,
      approach rate: -0.696034 m/s,
      LOS rate: 0.019263 deg/s,
      cmd heading: 281.411088 deg,
      new cmd heading: 281.434116 deg.

2025-01-09T00:43:45.248Z,1736383425.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.911952 target range: 284.399994 and range: 284.40 m.
2025-01-09T00:43:45.268Z,1736383425.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266553
2025-01-09T00:43:45.520Z,1736383425.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518734
2025-01-09T00:43:45.645Z,1736383425.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:45.656Z,1736383425.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.40 m.
2025-01-09T00:43:45.660Z,1736383425.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.399994 m,
      nav range: 278.186249 m,
      bearing: 287.832317 deg,
      approach rate: -0.672853 m/s,
      LOS rate: 0.016597 deg/s,
      cmd heading: 281.434120 deg,
      new cmd heading: 281.454846 deg.

2025-01-09T00:43:45.662Z,1736383425.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.912314 target range: 284.399994 and range: 284.40 m.
2025-01-09T00:43:45.773Z,1736383425.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771034
2025-01-09T00:43:46.025Z,1736383426.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022821
2025-01-09T00:43:46.031Z,1736383426.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:46.063Z,1736383426.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.40 m.
2025-01-09T00:43:46.066Z,1736383426.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.399994 m,
      nav range: 277.931458 m,
      bearing: 287.838467 deg,
      approach rate: -0.630409 m/s,
      LOS rate: 0.015231 deg/s,
      cmd heading: 281.454856 deg,
      new cmd heading: 281.473324 deg.

2025-01-09T00:43:46.067Z,1736383426.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.912636 target range: 284.399994 and range: 284.40 m.
2025-01-09T00:43:46.277Z,1736383426.277 [DAT](INFO): DAT read: Rx Time:00:43:44.9899

2025-01-09T00:43:46.278Z,1736383426.278 [DAT](INFO): Rx dataTimestamp_ set to:1736383426.277589
2025-01-09T00:43:46.278Z,1736383426.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276686
2025-01-09T00:43:46.466Z,1736383426.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:46.476Z,1736383426.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.40 m.
2025-01-09T00:43:46.480Z,1736383426.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.399994 m,
      nav range: 277.654053 m,
      bearing: 287.844507 deg,
      approach rate: -0.664761 m/s,
      LOS rate: 0.014489 deg/s,
      cmd heading: 281.473325 deg,
      new cmd heading: 281.491464 deg.

2025-01-09T00:43:46.481Z,1736383426.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.912953 target range: 284.399994 and range: 284.40 m.
2025-01-09T00:43:46.531Z,1736383426.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528618
2025-01-09T00:43:46.786Z,1736383426.786 [DAT](INFO): DAT read: 00:43:44.9899 LVL= 19120, 29489, 20754, 22195, AGC= 62, IDX= 204,-0.09,-0.256,-1.471,-0.309,-1.144, PHS= 0.976,-0.280, 0.832, RAW= 144.0, -24.4, CAL= 148.7, -30.9, ROT=   1.3,  30.9

2025-01-09T00:43:46.788Z,1736383426.788 [DAT](INFO): got valid direction response:
 00:43:44.9899 LVL= 19120, 29489, 20754, 22195, AGC= 62, IDX= 204,-0.09,-0.256,-1.471,-0.309,-1.144, PHS= 0.976,-0.280, 0.832, RAW= 144.0, -24.4, CAL= 148.7, -30.9, ROT=   1.3,  30.9

2025-01-09T00:43:46.789Z,1736383426.789 [DAT](INFO): DAT read: Bearing   1.3,  30.9 (Local)

2025-01-09T00:43:46.789Z,1736383426.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  30.9 (Local)

2025-01-09T00:43:46.790Z,1736383426.790 [DAT](INFO): DAT read: Range 10 to 50 : 267.1 m  (Round-trip  356.2 ms) speed  0.7 m/s

2025-01-09T00:43:46.791Z,1736383426.791 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:43:46.792Z,1736383426.792 [DAT](INFO): direction in FSK: [0.857844,0.019467,-0.513541]
2025-01-09T00:43:46.792Z,1736383426.792 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:46.796Z,1736383426.796 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:46.796Z,1736383426.796 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:46.796Z,1736383426.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:46.882Z,1736383426.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:46.932Z,1736383426.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 267.100006 m,
      deltaT: 4.031828 s,
      deltaX: -17.299988 m,
      approachRate: -4.290854 m/s,
      rangeRepo size: 4

2025-01-09T00:43:46.934Z,1736383426.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 267.100006 m,
      bearing: 287.599382 deg,
      lat: 36.903968 deg,
      lon: -122.118994 deg,
      deltaT: 4.031828 s,
      deltaX: -17.299988 m,
      approachRate: -4.290854 m/s,
      posRepo size: 4

2025-01-09T00:43:46.934Z,1736383426.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.10 m.
2025-01-09T00:43:46.941Z,1736383426.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.100006 m,
      nav range: 251.152145 m,
      bearing: 287.091260 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014489 deg/s,
      cmd heading: 281.491466 deg,
      new cmd heading: 281.510857 deg.

2025-01-09T00:43:46.942Z,1736383426.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.913291 target range: 267.100006 and range: 267.10 m.
2025-01-09T00:43:47.037Z,1736383427.037 [DAT](INFO): DAT read: user:3703>

2025-01-09T00:43:47.038Z,1736383427.038 [DAT](INFO): DAT read: Tx time:00:43:46.2295

2025-01-09T00:43:47.038Z,1736383427.038 [DAT](INFO): Ping request sent.
2025-01-09T00:43:47.038Z,1736383427.038 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:47.039Z,1736383427.039 [DAT](INFO): DAT read: TxSync time:00:43:46.2288

2025-01-09T00:43:47.042Z,1736383427.042 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:47.043Z,1736383427.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004275
2025-01-09T00:43:47.245Z,1736383427.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:47.265Z,1736383427.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:47.268Z,1736383427.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.10 m.
2025-01-09T00:43:47.273Z,1736383427.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.100006 m,
      nav range: 250.920380 m,
      bearing: 287.095899 deg,
      approach rate: -0.672327 m/s,
      LOS rate: 0.013469 deg/s,
      cmd heading: 281.510864 deg,
      new cmd heading: 281.524793 deg.

2025-01-09T00:43:47.276Z,1736383427.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.913535 target range: 267.100006 and range: 267.10 m.
2025-01-09T00:43:47.288Z,1736383427.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249909
2025-01-09T00:43:47.541Z,1736383427.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502651
2025-01-09T00:43:47.674Z,1736383427.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:47.706Z,1736383427.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.10 m.
2025-01-09T00:43:47.714Z,1736383427.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.100006 m,
      nav range: 250.646378 m,
      bearing: 287.102314 deg,
      approach rate: -0.623967 m/s,
      LOS rate: 0.014625 deg/s,
      cmd heading: 281.524797 deg,
      new cmd heading: 281.544064 deg.

2025-01-09T00:43:47.743Z,1736383427.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.913871 target range: 267.100006 and range: 267.10 m.
2025-01-09T00:43:47.793Z,1736383427.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754394
2025-01-09T00:43:48.044Z,1736383428.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005816
2025-01-09T00:43:48.062Z,1736383428.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:48.070Z,1736383428.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.10 m.
2025-01-09T00:43:48.073Z,1736383428.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.100006 m,
      nav range: 250.397980 m,
      bearing: 287.108052 deg,
      approach rate: -0.682721 m/s,
      LOS rate: 0.015787 deg/s,
      cmd heading: 281.544059 deg,
      new cmd heading: 281.561291 deg.

2025-01-09T00:43:48.074Z,1736383428.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.914172 target range: 267.100006 and range: 267.10 m.
2025-01-09T00:43:48.297Z,1736383428.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258845
2025-01-09T00:43:48.505Z,1736383428.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:48.514Z,1736383428.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.10 m.
2025-01-09T00:43:48.517Z,1736383428.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.100006 m,
      nav range: 250.107498 m,
      bearing: 287.116339 deg,
      approach rate: -0.653921 m/s,
      LOS rate: 0.018676 deg/s,
      cmd heading: 281.561298 deg,
      new cmd heading: 281.586187 deg.

2025-01-09T00:43:48.518Z,1736383428.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.914606 target range: 267.100006 and range: 267.10 m.
2025-01-09T00:43:48.548Z,1736383428.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510105
2025-01-09T00:43:48.800Z,1736383428.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761858
2025-01-09T00:43:48.876Z,1736383428.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:48.885Z,1736383428.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.10 m.
2025-01-09T00:43:48.888Z,1736383428.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.100006 m,
      nav range: 249.864548 m,
      bearing: 287.123118 deg,
      approach rate: -0.656142 m/s,
      LOS rate: 0.018325 deg/s,
      cmd heading: 281.586187 deg,
      new cmd heading: 281.606543 deg.

2025-01-09T00:43:48.889Z,1736383428.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.914961 target range: 267.100006 and range: 267.10 m.
2025-01-09T00:43:49.053Z,1736383429.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014894
2025-01-09T00:43:49.304Z,1736383429.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265847
2025-01-09T00:43:49.332Z,1736383429.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:49.354Z,1736383429.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:49.361Z,1736383429.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.10 m.
2025-01-09T00:43:49.369Z,1736383429.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.100006 m,
      nav range: 249.568161 m,
      bearing: 287.131220 deg,
      approach rate: -0.622732 m/s,
      LOS rate: 0.017044 deg/s,
      cmd heading: 281.606541 deg,
      new cmd heading: 281.630878 deg.

2025-01-09T00:43:49.378Z,1736383429.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.915386 target range: 267.100006 and range: 267.10 m.
2025-01-09T00:43:49.557Z,1736383429.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518335
2025-01-09T00:43:49.774Z,1736383429.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:49.783Z,1736383429.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.10 m.
2025-01-09T00:43:49.786Z,1736383429.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.100006 m,
      nav range: 249.253372 m,
      bearing: 287.141873 deg,
      approach rate: -0.745427 m/s,
      LOS rate: 0.025258 deg/s,
      cmd heading: 281.630884 deg,
      new cmd heading: 281.662883 deg.

2025-01-09T00:43:49.788Z,1736383429.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.915945 target range: 267.100006 and range: 267.10 m.
2025-01-09T00:43:49.809Z,1736383429.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770760
2025-01-09T00:43:50.060Z,1736383430.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021910
2025-01-09T00:43:50.137Z,1736383430.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:50.166Z,1736383430.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.10 m.
2025-01-09T00:43:50.174Z,1736383430.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.100006 m,
      nav range: 248.997086 m,
      bearing: 287.150485 deg,
      approach rate: -0.670542 m/s,
      LOS rate: 0.022556 deg/s,
      cmd heading: 281.662877 deg,
      new cmd heading: 281.688739 deg.

2025-01-09T00:43:50.175Z,1736383430.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.916396 target range: 267.100006 and range: 267.10 m.
2025-01-09T00:43:50.312Z,1736383430.312 [DAT](INFO): DAT read: Rx Time:00:43:48.9855

2025-01-09T00:43:50.313Z,1736383430.313 [DAT](INFO): Rx dataTimestamp_ set to:1736383430.312483
2025-01-09T00:43:50.314Z,1736383430.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275754
2025-01-09T00:43:50.539Z,1736383430.539 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010816445569,35.0, +11.9,   0.0,1496.6RA,  0.00, 177.84, 148.91, 156.56, 168.48
2025-01-09T00:43:50.548Z,1736383430.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:43:50.548Z,1736383430.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:50.559Z,1736383430.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.10 m.
2025-01-09T00:43:50.565Z,1736383430.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526238
2025-01-09T00:43:50.582Z,1736383430.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.100006 m,
      nav range: 248.708908 m,
      bearing: 287.160254 deg,
      approach rate: -0.732400 m/s,
      LOS rate: 0.024857 deg/s,
      cmd heading: 281.688749 deg,
      new cmd heading: 281.718091 deg.

2025-01-09T00:43:50.588Z,1736383430.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.916908 target range: 267.100006 and range: 267.10 m.
2025-01-09T00:43:50.824Z,1736383430.824 [DAT](INFO): DAT read: 00:43:48.9855 LVL= 20720, 27985, 23490, 29379, AGC= 63, IDX= 398, 0.43, 0.636,-0.985, 0.288,-0.092, PHS= 0.816,-0.846, 0.377, RAW= 135.2,  -4.7, CAL= 140.8, -15.0, ROT=   9.2,  15.0

2025-01-09T00:43:50.825Z,1736383430.825 [DAT](INFO): got valid direction response:
 00:43:48.9855 LVL= 20720, 27985, 23490, 29379, AGC= 63, IDX= 398, 0.43, 0.636,-0.985, 0.288,-0.092, PHS= 0.816,-0.846, 0.377, RAW= 135.2,  -4.7, CAL= 140.8, -15.0, ROT=   9.2,  15.0

2025-01-09T00:43:50.826Z,1736383430.826 [DAT](INFO): DAT read: Bearing   9.2,  15.0 (Local)

2025-01-09T00:43:50.827Z,1736383430.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2,  15.0 (Local)

2025-01-09T00:43:50.830Z,1736383430.830 [DAT](INFO): DAT read: Range 10 to 50 : 263.8 m  (Round-trip  351.8 ms) speed  0.4 m/s

2025-01-09T00:43:50.831Z,1736383430.831 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:43:50.832Z,1736383430.832 [DAT](INFO): direction in FSK: [0.953500,0.154433,-0.258819]
2025-01-09T00:43:50.833Z,1736383430.833 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:50.841Z,1736383430.841 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:50.841Z,1736383430.841 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:50.842Z,1736383430.842 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:51.026Z,1736383431.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T00:43:51.026Z,1736383431.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:51.042Z,1736383431.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 263.799988 m,
      deltaT: 4.036971 s,
      deltaX: -3.300018 m,
      approachRate: -0.817449 m/s,
      rangeRepo size: 4

2025-01-09T00:43:51.065Z,1736383431.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 263.799988 m,
      bearing: 293.109384 deg,
      lat: 36.903968 deg,
      lon: -122.118994 deg,
      deltaT: 4.036971 s,
      deltaX: -3.300018 m,
      approachRate: -0.817449 m/s,
      posRepo size: 4

2025-01-09T00:43:51.065Z,1736383431.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.80 m.
2025-01-09T00:43:51.068Z,1736383431.068 [DAT](INFO): DAT read: user:3704>

2025-01-09T00:43:51.069Z,1736383431.069 [DAT](INFO): DAT read: Tx time:00:43:50.2795

2025-01-09T00:43:51.069Z,1736383431.069 [DAT](INFO): Ping request sent.
2025-01-09T00:43:51.069Z,1736383431.069 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:51.070Z,1736383431.070 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:51.070Z,1736383431.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-01-09T00:43:51.072Z,1736383431.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.799988 m,
      nav range: 248.370911 m,
      bearing: 287.171981 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024857 deg/s,
      cmd heading: 281.718092 deg,
      new cmd heading: 281.754092 deg.

2025-01-09T00:43:51.073Z,1736383431.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.917537 target range: 263.799988 and range: 263.80 m.
2025-01-09T00:43:51.320Z,1736383431.320 [DAT](INFO): DAT read: TxSync time:00:43:50.2788

2025-01-09T00:43:51.321Z,1736383431.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251601
2025-01-09T00:43:51.505Z,1736383431.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:51.516Z,1736383431.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:51.517Z,1736383431.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.80 m.
2025-01-09T00:43:51.520Z,1736383431.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.799988 m,
      nav range: 247.981995 m,
      bearing: 287.190320 deg,
      approach rate: -0.816884 m/s,
      LOS rate: 0.038580 deg/s,
      cmd heading: 281.754101 deg,
      new cmd heading: 281.809204 deg.

2025-01-09T00:43:51.521Z,1736383431.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.918499 target range: 263.799988 and range: 263.80 m.
2025-01-09T00:43:51.572Z,1736383431.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502923
2025-01-09T00:43:51.824Z,1736383431.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754736
2025-01-09T00:43:51.937Z,1736383431.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:51.945Z,1736383431.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.80 m.
2025-01-09T00:43:51.949Z,1736383431.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.799988 m,
      nav range: 247.632095 m,
      bearing: 287.207315 deg,
      approach rate: -0.818332 m/s,
      LOS rate: 0.039803 deg/s,
      cmd heading: 281.809207 deg,
      new cmd heading: 281.860263 deg.

2025-01-09T00:43:51.950Z,1736383431.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.919390 target range: 263.799988 and range: 263.80 m.
2025-01-09T00:43:52.076Z,1736383432.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006898
2025-01-09T00:43:52.328Z,1736383432.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258881
2025-01-09T00:43:52.340Z,1736383432.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:52.350Z,1736383432.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.80 m.
2025-01-09T00:43:52.353Z,1736383432.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.799988 m,
      nav range: 247.305176 m,
      bearing: 287.223420 deg,
      approach rate: -0.807881 m/s,
      LOS rate: 0.039850 deg/s,
      cmd heading: 281.860269 deg,
      new cmd heading: 281.908646 deg.

2025-01-09T00:43:52.354Z,1736383432.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.920234 target range: 263.799988 and range: 263.80 m.
2025-01-09T00:43:52.581Z,1736383432.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511530
2025-01-09T00:43:52.808Z,1736383432.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:52.818Z,1736383432.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.80 m.
2025-01-09T00:43:52.832Z,1736383432.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762860
2025-01-09T00:43:52.837Z,1736383432.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.799988 m,
      nav range: 246.904770 m,
      bearing: 287.243308 deg,
      approach rate: -0.855943 m/s,
      LOS rate: 0.042584 deg/s,
      cmd heading: 281.908654 deg,
      new cmd heading: 281.968416 deg.

2025-01-09T00:43:52.838Z,1736383432.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.921277 target range: 263.799988 and range: 263.80 m.
2025-01-09T00:43:53.084Z,1736383433.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014831
2025-01-09T00:43:53.267Z,1736383433.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:53.284Z,1736383433.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.80 m.
2025-01-09T00:43:53.286Z,1736383433.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.799988 m,
      nav range: 246.512909 m,
      bearing: 287.263127 deg,
      approach rate: -0.841116 m/s,
      LOS rate: 0.042609 deg/s,
      cmd heading: 281.968405 deg,
      new cmd heading: 282.027957 deg.

2025-01-09T00:43:53.304Z,1736383433.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.922317 target range: 263.799988 and range: 263.80 m.
2025-01-09T00:43:53.336Z,1736383433.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266857
2025-01-09T00:43:53.588Z,1736383433.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518726
2025-01-09T00:43:53.700Z,1736383433.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:53.727Z,1736383433.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:53.733Z,1736383433.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.80 m.
2025-01-09T00:43:53.744Z,1736383433.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.799988 m,
      nav range: 246.128738 m,
      bearing: 287.283793 deg,
      approach rate: -0.854430 m/s,
      LOS rate: 0.046035 deg/s,
      cmd heading: 282.027964 deg,
      new cmd heading: 282.090059 deg.

2025-01-09T00:43:53.748Z,1736383433.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.923400 target range: 263.799988 and range: 263.80 m.
2025-01-09T00:43:53.841Z,1736383433.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771043
2025-01-09T00:43:54.084Z,1736383434.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:54.093Z,1736383434.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023009
2025-01-09T00:43:54.094Z,1736383434.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.80 m.
2025-01-09T00:43:54.097Z,1736383434.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.799988 m,
      nav range: 245.789413 m,
      bearing: 287.302345 deg,
      approach rate: -0.940430 m/s,
      LOS rate: 0.051486 deg/s,
      cmd heading: 282.090064 deg,
      new cmd heading: 282.145795 deg.

2025-01-09T00:43:54.098Z,1736383434.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.924373 target range: 263.799988 and range: 263.80 m.
2025-01-09T00:43:54.345Z,1736383434.345 [DAT](INFO): DAT read: Rx Time:00:43:53.0125

2025-01-09T00:43:54.345Z,1736383434.345 [DAT](INFO): Rx dataTimestamp_ set to:1736383434.344762
2025-01-09T00:43:54.346Z,1736383434.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276101
2025-01-09T00:43:54.573Z,1736383434.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:54.582Z,1736383434.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.80 m.
2025-01-09T00:43:54.585Z,1736383434.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.799988 m,
      nav range: 245.350571 m,
      bearing: 287.323873 deg,
      approach rate: -0.898925 m/s,
      LOS rate: 0.044176 deg/s,
      cmd heading: 282.145798 deg,
      new cmd heading: 282.210497 deg.

2025-01-09T00:43:54.586Z,1736383434.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.925502 target range: 263.799988 and range: 263.80 m.
2025-01-09T00:43:54.597Z,1736383434.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527543
2025-01-09T00:43:54.856Z,1736383434.856 [DAT](INFO): DAT read: 00:43:53.0125 LVL= 20208, 31297, 23218, 32755, AGC= 65, IDX= 211,-0.03, 1.153,-0.550, 0.799, 0.487, PHS= 0.754,-0.990, 0.309, RAW= 135.8,  -0.9, CAL= 141.0, -10.1, ROT=   9.0,  10.1

2025-01-09T00:43:54.857Z,1736383434.857 [DAT](INFO): got valid direction response:
 00:43:53.0125 LVL= 20208, 31297, 23218, 32755, AGC= 65, IDX= 211,-0.03, 1.153,-0.550, 0.799, 0.487, PHS= 0.754,-0.990, 0.309, RAW= 135.8,  -0.9, CAL= 141.0, -10.1, ROT=   9.0,  10.1

2025-01-09T00:43:54.858Z,1736383434.858 [DAT](INFO): DAT read: Bearing   9.0,  10.1 (Local)

2025-01-09T00:43:54.858Z,1736383434.858 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.0,  10.1 (Local)

2025-01-09T00:43:54.860Z,1736383434.860 [DAT](INFO): DAT read: Range 10 to 50 : 246.6 m  (Round-trip  328.8 ms) speed  0.0 m/s

2025-01-09T00:43:54.860Z,1736383434.860 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:43:54.861Z,1736383434.861 [DAT](INFO): direction in FSK: [0.972382,0.154010,-0.175367]
2025-01-09T00:43:54.862Z,1736383434.862 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:54.867Z,1736383434.867 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:54.867Z,1736383434.867 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:54.877Z,1736383434.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:55.006Z,1736383435.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:55.045Z,1736383435.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 246.600006 m,
      deltaT: 4.030420 s,
      deltaX: -17.199982 m,
      approachRate: -4.267541 m/s,
      rangeRepo size: 4

2025-01-09T00:43:55.053Z,1736383435.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 246.600006 m,
      bearing: 290.994060 deg,
      lat: 36.904069 deg,
      lon: -122.118987 deg,
      deltaT: 4.030420 s,
      deltaX: -17.199982 m,
      approachRate: -4.267541 m/s,
      posRepo size: 4

2025-01-09T00:43:55.056Z,1736383435.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:55.058Z,1736383435.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 247.917648 m,
      bearing: 289.863306 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.044176 deg/s,
      cmd heading: 282.210494 deg,
      new cmd heading: 282.271818 deg.

2025-01-09T00:43:55.060Z,1736383435.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.926573 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:43:55.101Z,1736383435.101 [DAT](INFO): DAT read: user:3705>

2025-01-09T00:43:55.103Z,1736383435.103 [DAT](INFO): DAT read: Tx time:00:43:54.3295

2025-01-09T00:43:55.104Z,1736383435.104 [DAT](INFO): Ping request sent.
2025-01-09T00:43:55.104Z,1736383435.104 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:55.104Z,1736383435.104 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:55.105Z,1736383435.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001140
2025-01-09T00:43:55.356Z,1736383435.356 [DAT](INFO): DAT read: TxSync time:00:43:54.3288

2025-01-09T00:43:55.356Z,1736383435.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252838
2025-01-09T00:43:55.374Z,1736383435.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:55.384Z,1736383435.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:55.387Z,1736383435.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 247.591461 m,
      bearing: 289.882947 deg,
      approach rate: -0.961399 m/s,
      LOS rate: 0.057967 deg/s,
      cmd heading: 282.271829 deg,
      new cmd heading: 282.330830 deg.

2025-01-09T00:43:55.388Z,1736383435.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.927603 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:43:55.604Z,1736383435.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500502
2025-01-09T00:43:55.856Z,1736383435.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752623
2025-01-09T00:43:55.867Z,1736383435.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:55.874Z,1736383435.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:55.876Z,1736383435.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:55.879Z,1736383435.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 247.169128 m,
      bearing: 289.907700 deg,
      approach rate: -0.857703 m/s,
      LOS rate: 0.050356 deg/s,
      cmd heading: 282.330842 deg,
      new cmd heading: 282.405228 deg.

2025-01-09T00:43:55.881Z,1736383435.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.928901 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:43:56.108Z,1736383436.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004627
2025-01-09T00:43:56.236Z,1736383436.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:56.244Z,1736383436.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:56.250Z,1736383436.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 246.853516 m,
      bearing: 289.926456 deg,
      approach rate: -0.858273 m/s,
      LOS rate: 0.051071 deg/s,
      cmd heading: 282.405236 deg,
      new cmd heading: 282.461577 deg.

2025-01-09T00:43:56.253Z,1736383436.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.929884 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:43:56.362Z,1736383436.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258362
2025-01-09T00:43:56.613Z,1736383436.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509116
2025-01-09T00:43:56.722Z,1736383436.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:56.732Z,1736383436.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:56.734Z,1736383436.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 246.460373 m,
      bearing: 289.947553 deg,
      approach rate: -0.807465 m/s,
      LOS rate: 0.043400 deg/s,
      cmd heading: 282.461572 deg,
      new cmd heading: 282.524963 deg.

2025-01-09T00:43:56.736Z,1736383436.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.930991 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:43:56.865Z,1736383436.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761513
2025-01-09T00:43:57.086Z,1736383437.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:57.094Z,1736383437.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:57.098Z,1736383437.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 246.165939 m,
      bearing: 289.963227 deg,
      approach rate: -0.810759 m/s,
      LOS rate: 0.043212 deg/s,
      cmd heading: 282.524956 deg,
      new cmd heading: 282.572034 deg.

2025-01-09T00:43:57.116Z,1736383437.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012479
2025-01-09T00:43:57.117Z,1736383437.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.931812 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:43:57.368Z,1736383437.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264630
2025-01-09T00:43:57.561Z,1736383437.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:57.570Z,1736383437.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:57.573Z,1736383437.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 245.781815 m,
      bearing: 289.983575 deg,
      approach rate: -0.807866 m/s,
      LOS rate: 0.042861 deg/s,
      cmd heading: 282.572029 deg,
      new cmd heading: 282.633168 deg.

2025-01-09T00:43:57.574Z,1736383437.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.932879 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:43:57.621Z,1736383437.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517227
2025-01-09T00:43:57.872Z,1736383437.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768644
2025-01-09T00:43:57.931Z,1736383437.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:57.938Z,1736383437.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:57.940Z,1736383437.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:57.943Z,1736383437.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 245.503601 m,
      bearing: 289.998033 deg,
      approach rate: -0.751311 m/s,
      LOS rate: 0.039088 deg/s,
      cmd heading: 282.633173 deg,
      new cmd heading: 282.676597 deg.

2025-01-09T00:43:57.944Z,1736383437.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933637 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:43:58.124Z,1736383438.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020522
2025-01-09T00:43:58.313Z,1736383438.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:58.325Z,1736383438.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:58.333Z,1736383438.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 245.216171 m,
      bearing: 290.012837 deg,
      approach rate: -0.746329 m/s,
      LOS rate: 0.038483 deg/s,
      cmd heading: 282.676586 deg,
      new cmd heading: 282.721048 deg.

2025-01-09T00:43:58.340Z,1736383438.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.934413 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:43:58.377Z,1736383438.377 [DAT](INFO): DAT read: Rx Time:00:43:57.0996

2025-01-09T00:43:58.377Z,1736383438.377 [DAT](INFO): Rx dataTimestamp_ set to:1736383438.376709
2025-01-09T00:43:58.378Z,1736383438.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273881
2025-01-09T00:43:58.628Z,1736383438.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524601
2025-01-09T00:43:58.739Z,1736383438.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:58.749Z,1736383438.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:58.752Z,1736383438.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 244.923813 m,
      bearing: 290.027384 deg,
      approach rate: -0.690220 m/s,
      LOS rate: 0.034387 deg/s,
      cmd heading: 282.721037 deg,
      new cmd heading: 282.764732 deg.

2025-01-09T00:43:58.753Z,1736383438.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.935175 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:43:58.888Z,1736383438.888 [DAT](INFO): DAT read: 00:43:57.0996 LVL= 21104, 24993, 20210, 28339, AGC= 63, IDX= 301, 0.30, 2.618, 1.218, 2.639, 1.809, PHS= 0.897,-0.544, 0.827, RAW= 147.5, -16.5, CAL= 153.7, -24.2, ROT= 356.3,  24.2

2025-01-09T00:43:58.889Z,1736383438.889 [DAT](INFO): got valid direction response:
 00:43:57.0996 LVL= 21104, 24993, 20210, 28339, AGC= 63, IDX= 301, 0.30, 2.618, 1.218, 2.639, 1.809, PHS= 0.897,-0.544, 0.827, RAW= 147.5, -16.5, CAL= 153.7, -24.2, ROT= 356.3,  24.2

2025-01-09T00:43:58.890Z,1736383438.890 [DAT](INFO): DAT read: Bearing 356.3,  24.2 (Local)

2025-01-09T00:43:58.891Z,1736383438.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.3,  24.2 (Local)

2025-01-09T00:43:58.893Z,1736383438.893 [DAT](INFO): DAT read: Range 10 to 50 : 274.3 m  (Round-trip  365.8 ms) speed  0.8 m/s

2025-01-09T00:43:58.894Z,1736383438.894 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:43:58.896Z,1736383438.896 [DAT](INFO): direction in FSK: [0.910219,-0.058861,-0.409923]
2025-01-09T00:43:58.897Z,1736383438.897 [DAT](INFO): publishing direction and range info
2025-01-09T00:43:58.913Z,1736383438.913 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:43:58.913Z,1736383438.913 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:43:58.914Z,1736383438.914 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:43:59.104Z,1736383439.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:59.132Z,1736383439.132 [DAT](INFO): DAT read: user:3706>

2025-01-09T00:43:59.133Z,1736383439.133 [DAT](INFO): DAT read: Tx time:00:43:58.3796

2025-01-09T00:43:59.133Z,1736383439.133 [DAT](INFO): Ping request sent.
2025-01-09T00:43:59.134Z,1736383439.134 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:43:59.134Z,1736383439.134 [DAT](INFO): publishing transmit ping time
2025-01-09T00:43:59.134Z,1736383439.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-01-09T00:43:59.137Z,1736383439.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 274.299988 m,
 deltaT: 4.033612 s,
 deltaX: 27.699982 m,
 approachRate: 6.867290 m/s,
 rangeRepo size: 4
2025-01-09T00:43:59.137Z,1736383439.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:59.144Z,1736383439.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 244.673294 m,
      bearing: 290.039672 deg,
      approach rate: -0.646609 m/s,
      LOS rate: 0.031748 deg/s,
      cmd heading: 282.764723 deg,
      new cmd heading: 282.801623 deg.

2025-01-09T00:43:59.149Z,1736383439.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.935820 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:43:59.385Z,1736383439.385 [DAT](INFO): DAT read: TxSync time:00:43:58.3789

2025-01-09T00:43:59.386Z,1736383439.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252533
2025-01-09T00:43:59.515Z,1736383439.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:59.541Z,1736383439.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:59.571Z,1736383439.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 244.392059 m,
      bearing: 290.053305 deg,
      approach rate: -0.697358 m/s,
      LOS rate: 0.033843 deg/s,
      cmd heading: 282.801633 deg,
      new cmd heading: 282.842579 deg.

2025-01-09T00:43:59.585Z,1736383439.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.936534 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:43:59.638Z,1736383439.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503738
2025-01-09T00:43:59.888Z,1736383439.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754698
2025-01-09T00:43:59.951Z,1736383439.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:43:59.970Z,1736383439.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:43:59.988Z,1736383439.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:43:59.991Z,1736383439.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 244.127762 m,
      bearing: 290.064365 deg,
      approach rate: -0.589175 m/s,
      LOS rate: 0.024682 deg/s,
      cmd heading: 282.842587 deg,
      new cmd heading: 282.875803 deg.

2025-01-09T00:43:59.998Z,1736383439.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.937114 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:44:00.140Z,1736383440.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006880
2025-01-09T00:44:00.344Z,1736383440.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:00.352Z,1736383440.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:44:00.356Z,1736383440.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 243.870575 m,
      bearing: 290.075057 deg,
      approach rate: -0.705728 m/s,
      LOS rate: 0.029371 deg/s,
      cmd heading: 282.875809 deg,
      new cmd heading: 282.907920 deg.

2025-01-09T00:44:00.357Z,1736383440.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.937675 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:44:00.394Z,1736383440.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259727
2025-01-09T00:44:00.644Z,1736383440.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510714
2025-01-09T00:44:00.742Z,1736383440.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:00.751Z,1736383440.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:44:00.754Z,1736383440.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 243.635757 m,
      bearing: 290.085541 deg,
      approach rate: -0.588905 m/s,
      LOS rate: 0.026319 deg/s,
      cmd heading: 282.907911 deg,
      new cmd heading: 282.939394 deg.

2025-01-09T00:44:00.775Z,1736383440.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.938224 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:44:00.898Z,1736383440.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763815
2025-01-09T00:44:01.124Z,1736383441.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:01.149Z,1736383441.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015516
2025-01-09T00:44:01.153Z,1736383441.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:44:01.160Z,1736383441.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 243.410004 m,
      bearing: 290.095325 deg,
      approach rate: -0.562220 m/s,
      LOS rate: 0.024389 deg/s,
      cmd heading: 282.939384 deg,
      new cmd heading: 282.968763 deg.

2025-01-09T00:44:01.161Z,1736383441.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.938736 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:44:01.401Z,1736383441.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267528
2025-01-09T00:44:01.653Z,1736383441.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519186
2025-01-09T00:44:01.677Z,1736383441.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:01.704Z,1736383441.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:44:01.707Z,1736383441.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 243.084259 m,
      bearing: 290.109785 deg,
      approach rate: -0.590700 m/s,
      LOS rate: 0.026256 deg/s,
      cmd heading: 282.968754 deg,
      new cmd heading: 283.012191 deg.

2025-01-09T00:44:01.712Z,1736383441.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.939495 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:44:01.904Z,1736383441.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770646
2025-01-09T00:44:02.156Z,1736383442.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022816
2025-01-09T00:44:02.168Z,1736383442.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:02.191Z,1736383442.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:02.193Z,1736383442.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:44:02.201Z,1736383442.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 242.794830 m,
      bearing: 290.122090 deg,
      approach rate: -0.591690 m/s,
      LOS rate: 0.025184 deg/s,
      cmd heading: 283.012194 deg,
      new cmd heading: 283.049151 deg.

2025-01-09T00:44:02.201Z,1736383442.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.940140 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:44:02.408Z,1736383442.408 [DAT](INFO): DAT read: Rx Time:00:44:01.1442

2025-01-09T00:44:02.409Z,1736383442.409 [DAT](INFO): Rx dataTimestamp_ set to:1736383442.408533
2025-01-09T00:44:02.409Z,1736383442.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275801
2025-01-09T00:44:02.661Z,1736383442.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527354
2025-01-09T00:44:02.717Z,1736383442.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:02.725Z,1736383442.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-01-09T00:44:02.728Z,1736383442.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.600006 m,
      nav range: 242.461273 m,
      bearing: 290.138777 deg,
      approach rate: -0.626896 m/s,
      LOS rate: 0.031405 deg/s,
      cmd heading: 283.049159 deg,
      new cmd heading: 283.099289 deg.

2025-01-09T00:44:02.729Z,1736383442.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.941015 target range: 246.600006 and range: 246.60 m.
2025-01-09T00:44:02.919Z,1736383442.919 [DAT](INFO): DAT read: 00:44:01.1442 LVL= 22512, 27089, 27474, 32755, AGC= 63, IDX= 195, 0.05, 0.115,-1.730,-0.265,-0.709, PHS= 0.912,-0.974, 0.441, RAW= 136.1,  -4.5, CAL= 141.7, -14.5, ROT=   8.3,  14.5

2025-01-09T00:44:02.920Z,1736383442.920 [DAT](INFO): got valid direction response:
 00:44:01.1442 LVL= 22512, 27089, 27474, 32755, AGC= 63, IDX= 195, 0.05, 0.115,-1.730,-0.265,-0.709, PHS= 0.912,-0.974, 0.441, RAW= 136.1,  -4.5, CAL= 141.7, -14.5, ROT=   8.3,  14.5

2025-01-09T00:44:02.921Z,1736383442.921 [DAT](INFO): DAT read: Bearing   8.3,  14.5 (Local)

2025-01-09T00:44:02.921Z,1736383442.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3,  14.5 (Local)

2025-01-09T00:44:02.923Z,1736383442.923 [DAT](INFO): DAT read: Range 10 to 50 : 270.3 m  (Round-trip  360.4 ms) speed  0.7 m/s

2025-01-09T00:44:02.946Z,1736383442.946 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:02.948Z,1736383442.948 [DAT](INFO): direction in FSK: [0.958007,0.139758,-0.250380]
2025-01-09T00:44:02.948Z,1736383442.948 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:02.951Z,1736383442.951 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:02.971Z,1736383442.971 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:02.972Z,1736383442.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:03.069Z,1736383443.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:03.101Z,1736383443.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 270.299988 m,
      deltaT: 8.063939 s,
      deltaX: 23.699982 m,
      approachRate: 2.939008 m/s,
      rangeRepo size: 4

2025-01-09T00:44:03.105Z,1736383443.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 270.299988 m,
      bearing: 293.247592 deg,
      lat: 36.904102 deg,
      lon: -122.119009 deg,
      deltaT: 8.063939 s,
      deltaX: 23.699982 m,
      approachRate: 2.939008 m/s,
      posRepo size: 4

2025-01-09T00:44:03.106Z,1736383443.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.30 m.
2025-01-09T00:44:03.109Z,1736383443.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.299988 m,
      nav range: 245.362442 m,
      bearing: 290.792271 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.031405 deg/s,
      cmd heading: 283.099293 deg,
      new cmd heading: 283.134628 deg.

2025-01-09T00:44:03.110Z,1736383443.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.941631 target range: 270.299988 and range: 270.30 m.
2025-01-09T00:44:03.166Z,1736383443.166 [DAT](INFO): DAT read: user:3707>

2025-01-09T00:44:03.167Z,1736383443.167 [DAT](INFO): DAT read: Tx time:00:44:02.4296

2025-01-09T00:44:03.167Z,1736383443.167 [DAT](INFO): Ping request sent.
2025-01-09T00:44:03.167Z,1736383443.167 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:03.168Z,1736383443.168 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:03.168Z,1736383443.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-01-09T00:44:03.368Z,1736383443.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:44:03.422Z,1736383443.422 [DAT](INFO): DAT read: TxSync time:00:44:02.4289

2025-01-09T00:44:03.423Z,1736383443.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255302
2025-01-09T00:44:03.465Z,1736383443.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:03.477Z,1736383443.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.30 m.
2025-01-09T00:44:03.485Z,1736383443.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.299988 m,
      nav range: 245.121994 m,
      bearing: 290.804561 deg,
      approach rate: -0.642751 m/s,
      LOS rate: 0.032885 deg/s,
      cmd heading: 283.134618 deg,
      new cmd heading: 283.171525 deg.

2025-01-09T00:44:03.523Z,1736383443.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.942276 target range: 270.299988 and range: 270.30 m.
2025-01-09T00:44:03.673Z,1736383443.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505643
2025-01-09T00:44:03.885Z,1736383443.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:03.895Z,1736383443.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.30 m.
2025-01-09T00:44:03.899Z,1736383443.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.299988 m,
      nav range: 244.844604 m,
      bearing: 290.820026 deg,
      approach rate: -0.659854 m/s,
      LOS rate: 0.036830 deg/s,
      cmd heading: 283.171529 deg,
      new cmd heading: 283.217976 deg.

2025-01-09T00:44:03.900Z,1736383443.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.943086 target range: 270.299988 and range: 270.30 m.
2025-01-09T00:44:03.924Z,1736383443.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756677
2025-01-09T00:44:04.177Z,1736383444.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009006
2025-01-09T00:44:04.256Z,1736383444.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:04.264Z,1736383444.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:04.266Z,1736383444.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.30 m.
2025-01-09T00:44:04.269Z,1736383444.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.299988 m,
      nav range: 244.598419 m,
      bearing: 290.833805 deg,
      approach rate: -0.663492 m/s,
      LOS rate: 0.037172 deg/s,
      cmd heading: 283.217974 deg,
      new cmd heading: 283.259351 deg.

2025-01-09T00:44:04.270Z,1736383444.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.943808 target range: 270.299988 and range: 270.30 m.
2025-01-09T00:44:04.372Z,1736383444.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:44:04.429Z,1736383444.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260749
2025-01-09T00:44:04.682Z,1736383444.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514251
2025-01-09T00:44:04.741Z,1736383444.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:04.752Z,1736383444.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.30 m.
2025-01-09T00:44:04.754Z,1736383444.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.299988 m,
      nav range: 244.247925 m,
      bearing: 290.854798 deg,
      approach rate: -0.722319 m/s,
      LOS rate: 0.043326 deg/s,
      cmd heading: 283.259338 deg,
      new cmd heading: 283.322408 deg.

2025-01-09T00:44:04.756Z,1736383444.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.944909 target range: 270.299988 and range: 270.30 m.
2025-01-09T00:44:04.933Z,1736383444.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765055
2025-01-09T00:44:05.068Z,1736383445.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:05.077Z,1736383445.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.30 m.
2025-01-09T00:44:05.081Z,1736383445.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.299988 m,
      nav range: 244.011108 m,
      bearing: 290.868861 deg,
      approach rate: -0.727234 m/s,
      LOS rate: 0.043228 deg/s,
      cmd heading: 283.322394 deg,
      new cmd heading: 283.364624 deg.

2025-01-09T00:44:05.082Z,1736383445.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.945646 target range: 270.299988 and range: 270.30 m.
2025-01-09T00:44:05.185Z,1736383445.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017211
2025-01-09T00:44:05.436Z,1736383445.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268634
2025-01-09T00:44:05.470Z,1736383445.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:05.483Z,1736383445.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.30 m.
2025-01-09T00:44:05.486Z,1736383445.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.299988 m,
      nav range: 243.720657 m,
      bearing: 290.886028 deg,
      approach rate: -0.715781 m/s,
      LOS rate: 0.042357 deg/s,
      cmd heading: 283.364632 deg,
      new cmd heading: 283.416195 deg.

2025-01-09T00:44:05.486Z,1736383445.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.946546 target range: 270.299988 and range: 270.30 m.
2025-01-09T00:44:05.689Z,1736383445.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521429
2025-01-09T00:44:05.921Z,1736383445.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:05.932Z,1736383445.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.30 m.
2025-01-09T00:44:05.935Z,1736383445.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.299988 m,
      nav range: 243.354752 m,
      bearing: 290.908122 deg,
      approach rate: -0.815918 m/s,
      LOS rate: 0.049340 deg/s,
      cmd heading: 283.416186 deg,
      new cmd heading: 283.482567 deg.

2025-01-09T00:44:05.938Z,1736383445.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.947704 target range: 270.299988 and range: 270.30 m.
2025-01-09T00:44:05.941Z,1736383445.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773070
2025-01-09T00:44:06.192Z,1736383446.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024634
2025-01-09T00:44:06.276Z,1736383446.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:06.284Z,1736383446.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:06.286Z,1736383446.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.30 m.
2025-01-09T00:44:06.289Z,1736383446.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.299988 m,
      nav range: 243.067459 m,
      bearing: 290.925548 deg,
      approach rate: -0.809528 m/s,
      LOS rate: 0.049160 deg/s,
      cmd heading: 283.482576 deg,
      new cmd heading: 283.534914 deg.

2025-01-09T00:44:06.290Z,1736383446.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.948618 target range: 270.299988 and range: 270.30 m.
2025-01-09T00:44:06.447Z,1736383446.447 [DAT](INFO): DAT read: Rx Time:00:44:05.1901

2025-01-09T00:44:06.448Z,1736383446.448 [DAT](INFO): Rx dataTimestamp_ set to:1736383446.447411
2025-01-09T00:44:06.448Z,1736383446.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280708
2025-01-09T00:44:06.699Z,1736383446.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531442
2025-01-09T00:44:06.786Z,1736383446.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:06.795Z,1736383446.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.30 m.
2025-01-09T00:44:06.804Z,1736383446.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.299988 m,
      nav range: 242.620605 m,
      bearing: 290.953569 deg,
      approach rate: -0.878245 m/s,
      LOS rate: 0.055175 deg/s,
      cmd heading: 283.534922 deg,
      new cmd heading: 283.619141 deg.

2025-01-09T00:44:06.805Z,1736383446.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.950088 target range: 270.299988 and range: 270.30 m.
2025-01-09T00:44:06.954Z,1736383446.954 [DAT](INFO): DAT read: 00:44:05.1901 LVL= 20976, 25745, 24034, 30947, AGC= 63, IDX= 190, 0.38, 0.298,-1.533,-0.092,-0.523, PHS= 0.910,-0.962, 0.429, RAW= 135.7,  -4.5, CAL= 141.2, -14.6, ROT=   8.8,  14.6

2025-01-09T00:44:06.955Z,1736383446.955 [DAT](INFO): got valid direction response:
 00:44:05.1901 LVL= 20976, 25745, 24034, 30947, AGC= 63, IDX= 190, 0.38, 0.298,-1.533,-0.092,-0.523, PHS= 0.910,-0.962, 0.429, RAW= 135.7,  -4.5, CAL= 141.2, -14.6, ROT=   8.8,  14.6

2025-01-09T00:44:06.956Z,1736383446.956 [DAT](INFO): DAT read: Bearing   8.8,  14.6 (Local)

2025-01-09T00:44:06.957Z,1736383446.957 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,  14.6 (Local)

2025-01-09T00:44:06.958Z,1736383446.958 [DAT](INFO): DAT read: Range 10 to 50 : 267.2 m  (Round-trip  356.3 ms) speed  0.5 m/s

2025-01-09T00:44:06.959Z,1736383446.959 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:06.960Z,1736383446.960 [DAT](INFO): direction in FSK: [0.956318,0.148046,-0.252069]
2025-01-09T00:44:06.960Z,1736383446.960 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:06.964Z,1736383446.964 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:06.964Z,1736383446.964 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:06.964Z,1736383446.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:07.133Z,1736383447.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:07.171Z,1736383447.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 267.200012 m,
      deltaT: 4.036226 s,
      deltaX: -3.099976 m,
      approachRate: -0.768038 m/s,
      rangeRepo size: 4

2025-01-09T00:44:07.174Z,1736383447.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 267.200012 m,
      bearing: 293.454287 deg,
      lat: 36.904224 deg,
      lon: -122.119201 deg,
      deltaT: 4.036226 s,
      deltaX: -3.099976 m,
      approachRate: -0.768038 m/s,
      posRepo size: 4

2025-01-09T00:44:07.174Z,1736383447.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.20 m.
2025-01-09T00:44:07.182Z,1736383447.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.200012 m,
      nav range: 263.249176 m,
      bearing: 292.410228 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.055175 deg/s,
      cmd heading: 283.619152 deg,
      new cmd heading: 283.680686 deg.

2025-01-09T00:44:07.183Z,1736383447.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.951162 target range: 267.200012 and range: 267.20 m.
2025-01-09T00:44:07.201Z,1736383447.201 [DAT](INFO): DAT read: user:3708>

2025-01-09T00:44:07.201Z,1736383447.201 [DAT](INFO): DAT read: Tx time:00:44:06.4296

2025-01-09T00:44:07.202Z,1736383447.202 [DAT](INFO): Ping request sent.
2025-01-09T00:44:07.202Z,1736383447.202 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:07.202Z,1736383447.202 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:07.202Z,1736383447.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-01-09T00:44:07.453Z,1736383447.453 [DAT](INFO): DAT read: TxSync time:00:44:06.4289

2025-01-09T00:44:07.454Z,1736383447.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252406
2025-01-09T00:44:07.632Z,1736383447.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:07.683Z,1736383447.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.20 m.
2025-01-09T00:44:07.707Z,1736383447.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504589
2025-01-09T00:44:07.708Z,1736383447.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.200012 m,
      nav range: 262.816528 m,
      bearing: 292.438977 deg,
      approach rate: -0.840968 m/s,
      LOS rate: 0.055973 deg/s,
      cmd heading: 283.680678 deg,
      new cmd heading: 283.767066 deg.

2025-01-09T00:44:07.709Z,1736383447.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.952670 target range: 267.200012 and range: 267.20 m.
2025-01-09T00:44:07.956Z,1736383447.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754689
2025-01-09T00:44:08.054Z,1736383448.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:08.064Z,1736383448.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.20 m.
2025-01-09T00:44:08.066Z,1736383448.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.200012 m,
      nav range: 262.432709 m,
      bearing: 292.464265 deg,
      approach rate: -1.004448 m/s,
      LOS rate: 0.066276 deg/s,
      cmd heading: 283.767067 deg,
      new cmd heading: 283.843043 deg.

2025-01-09T00:44:08.068Z,1736383448.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.953996 target range: 267.200012 and range: 267.20 m.
2025-01-09T00:44:08.209Z,1736383448.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007463
2025-01-09T00:44:08.439Z,1736383448.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:08.445Z,1736383448.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:08.449Z,1736383448.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.20 m.
2025-01-09T00:44:08.455Z,1736383448.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.200012 m,
      nav range: 262.083313 m,
      bearing: 292.487659 deg,
      approach rate: -0.906845 m/s,
      LOS rate: 0.060798 deg/s,
      cmd heading: 283.843046 deg,
      new cmd heading: 283.913319 deg.

2025-01-09T00:44:08.458Z,1736383448.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.955222 target range: 267.200012 and range: 267.20 m.
2025-01-09T00:44:08.460Z,1736383448.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258572
2025-01-09T00:44:08.715Z,1736383448.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512985
2025-01-09T00:44:08.872Z,1736383448.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:08.885Z,1736383448.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.20 m.
2025-01-09T00:44:08.892Z,1736383448.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.200012 m,
      nav range: 261.680542 m,
      bearing: 292.516652 deg,
      approach rate: -0.922798 m/s,
      LOS rate: 0.066529 deg/s,
      cmd heading: 283.913315 deg,
      new cmd heading: 284.000428 deg.

2025-01-09T00:44:08.893Z,1736383448.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.956743 target range: 267.200012 and range: 267.20 m.
2025-01-09T00:44:08.965Z,1736383448.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763436
2025-01-09T00:44:09.216Z,1736383449.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014426
2025-01-09T00:44:09.249Z,1736383449.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:09.257Z,1736383449.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.20 m.
2025-01-09T00:44:09.260Z,1736383449.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.200012 m,
      nav range: 261.330811 m,
      bearing: 292.542198 deg,
      approach rate: -0.938826 m/s,
      LOS rate: 0.068668 deg/s,
      cmd heading: 284.000440 deg,
      new cmd heading: 284.077182 deg.

2025-01-09T00:44:09.261Z,1736383449.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.958082 target range: 267.200012 and range: 267.20 m.
2025-01-09T00:44:09.470Z,1736383449.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267987
2025-01-09T00:44:09.658Z,1736383449.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:09.708Z,1736383449.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.20 m.
2025-01-09T00:44:09.723Z,1736383449.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521072
2025-01-09T00:44:09.730Z,1736383449.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.200012 m,
      nav range: 260.952332 m,
      bearing: 292.570176 deg,
      approach rate: -0.851276 m/s,
      LOS rate: 0.063020 deg/s,
      cmd heading: 284.077184 deg,
      new cmd heading: 284.161242 deg.

2025-01-09T00:44:09.737Z,1736383449.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.959549 target range: 267.200012 and range: 267.20 m.
2025-01-09T00:44:09.972Z,1736383449.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770637
2025-01-09T00:44:10.078Z,1736383450.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:10.107Z,1736383450.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.20 m.
2025-01-09T00:44:10.110Z,1736383450.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.200012 m,
      nav range: 260.570099 m,
      bearing: 292.598816 deg,
      approach rate: -0.992877 m/s,
      LOS rate: 0.074502 deg/s,
      cmd heading: 284.161250 deg,
      new cmd heading: 284.247295 deg.

2025-01-09T00:44:10.111Z,1736383450.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.961051 target range: 267.200012 and range: 267.20 m.
2025-01-09T00:44:10.226Z,1736383450.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024129
2025-01-09T00:44:10.465Z,1736383450.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:10.472Z,1736383450.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:10.474Z,1736383450.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.20 m.
2025-01-09T00:44:10.476Z,1736383450.476 [DAT](INFO): DAT read: Rx Time:00:44:09.1890

2025-01-09T00:44:10.477Z,1736383450.477 [DAT](INFO): Rx dataTimestamp_ set to:1736383450.476673
2025-01-09T00:44:10.477Z,1736383450.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275727
2025-01-09T00:44:10.479Z,1736383450.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.200012 m,
      nav range: 260.218170 m,
      bearing: 292.625328 deg,
      approach rate: -0.909920 m/s,
      LOS rate: 0.068640 deg/s,
      cmd heading: 284.247284 deg,
      new cmd heading: 284.326927 deg.

2025-01-09T00:44:10.482Z,1736383450.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.962441 target range: 267.200012 and range: 267.20 m.
2025-01-09T00:44:10.731Z,1736383450.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528709
2025-01-09T00:44:10.921Z,1736383450.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:10.968Z,1736383450.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.20 m.
2025-01-09T00:44:10.970Z,1736383450.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.200012 m,
      nav range: 259.828674 m,
      bearing: 292.653882 deg,
      approach rate: -0.795586 m/s,
      LOS rate: 0.058412 deg/s,
      cmd heading: 284.326924 deg,
      new cmd heading: 284.412713 deg.

2025-01-09T00:44:10.987Z,1736383450.987 [DAT](INFO): DAT read: 00:44:09.1890 LVL= 19168, 28065, 21042, 29619, AGC= 61, IDX= 433,-0.20,-2.910, 2.119,-2.770, 2.494, PHS= 0.966,-0.329, 1.016, RAW= 151.8, -23.9, CAL= 156.2, -30.5, ROT= 353.8,  30.5

2025-01-09T00:44:10.988Z,1736383450.988 [DAT](INFO): got valid direction response:
 00:44:09.1890 LVL= 19168, 28065, 21042, 29619, AGC= 61, IDX= 433,-0.20,-2.910, 2.119,-2.770, 2.494, PHS= 0.966,-0.329, 1.016, RAW= 151.8, -23.9, CAL= 156.2, -30.5, ROT= 353.8,  30.5

2025-01-09T00:44:10.989Z,1736383450.989 [DAT](INFO): DAT read: Bearing 353.8,  30.5 (Local)

2025-01-09T00:44:10.989Z,1736383450.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,  30.5 (Local)

2025-01-09T00:44:10.991Z,1736383450.991 [DAT](INFO): DAT read: Range 10 to 50 : 266.3 m  (Round-trip  355.1 ms) speed  0.6 m/s

2025-01-09T00:44:10.992Z,1736383450.992 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:10.993Z,1736383450.993 [DAT](INFO): direction in FSK: [0.856589,-0.093055,-0.507538]
2025-01-09T00:44:10.993Z,1736383450.993 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:10.999Z,1736383450.999 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:10.000Z,1736383451.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.963938 target range: 267.200012 and range: 267.20 m.
2025-01-09T00:44:10.999Z,1736383450.999 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:11.007Z,1736383451.007 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:11.232Z,1736383451.232 [DAT](INFO): DAT read: user:3709>

2025-01-09T00:44:11.233Z,1736383451.233 [DAT](INFO): DAT read: Tx time:00:44:10.4797

2025-01-09T00:44:11.234Z,1736383451.234 [DAT](INFO): Ping request sent.
2025-01-09T00:44:11.234Z,1736383451.234 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:11.234Z,1736383451.234 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:11.234Z,1736383451.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-01-09T00:44:11.294Z,1736383451.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:11.340Z,1736383451.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 266.299988 m,
      deltaT: 4.032596 s,
      deltaX: -0.900024 m,
      approachRate: -0.223187 m/s,
      rangeRepo size: 4

2025-01-09T00:44:11.342Z,1736383451.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 266.299988 m,
      bearing: 280.514502 deg,
      lat: 36.904102 deg,
      lon: -122.119204 deg,
      deltaT: 4.032596 s,
      deltaX: -0.900024 m,
      approachRate: -0.223187 m/s,
      posRepo size: 4

2025-01-09T00:44:11.351Z,1736383451.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.30 m.
2025-01-09T00:44:11.354Z,1736383451.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.299988 m,
      nav range: 254.805939 m,
      bearing: 289.826712 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.058412 deg/s,
      cmd heading: 284.412711 deg,
      new cmd heading: 284.475041 deg.

2025-01-09T00:44:11.359Z,1736383451.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.965026 target range: 266.299988 and range: 266.30 m.
2025-01-09T00:44:11.484Z,1736383451.484 [DAT](INFO): DAT read: TxSync time:00:44:10.4790

2025-01-09T00:44:11.485Z,1736383451.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251543
2025-01-09T00:44:11.677Z,1736383451.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:11.710Z,1736383451.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.30 m.
2025-01-09T00:44:11.732Z,1736383451.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.299988 m,
      nav range: 254.474121 m,
      bearing: 289.847472 deg,
      approach rate: -0.850985 m/s,
      LOS rate: 0.053310 deg/s,
      cmd heading: 284.475029 deg,
      new cmd heading: 284.537390 deg.

2025-01-09T00:44:11.740Z,1736383451.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505415
2025-01-09T00:44:11.744Z,1736383451.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.966115 target range: 266.299988 and range: 266.30 m.
2025-01-09T00:44:11.988Z,1736383451.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754582
2025-01-09T00:44:12.117Z,1736383452.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:12.125Z,1736383452.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.30 m.
2025-01-09T00:44:12.148Z,1736383452.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.299988 m,
      nav range: 254.131088 m,
      bearing: 289.867503 deg,
      approach rate: -0.824257 m/s,
      LOS rate: 0.048198 deg/s,
      cmd heading: 284.537403 deg,
      new cmd heading: 284.597579 deg.

2025-01-09T00:44:12.149Z,1736383452.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.967165 target range: 266.299988 and range: 266.30 m.
2025-01-09T00:44:12.242Z,1736383452.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007856
2025-01-09T00:44:12.478Z,1736383452.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:12.484Z,1736383452.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:12.486Z,1736383452.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.30 m.
2025-01-09T00:44:12.490Z,1736383452.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.299988 m,
      nav range: 253.850189 m,
      bearing: 289.883783 deg,
      approach rate: -0.777898 m/s,
      LOS rate: 0.045134 deg/s,
      cmd heading: 284.597590 deg,
      new cmd heading: 284.646484 deg.

2025-01-09T00:44:12.490Z,1736383452.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.968019 target range: 266.299988 and range: 266.30 m.
2025-01-09T00:44:12.492Z,1736383452.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258654
2025-01-09T00:44:12.747Z,1736383452.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512642
2025-01-09T00:44:12.905Z,1736383452.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:12.915Z,1736383452.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.30 m.
2025-01-09T00:44:12.918Z,1736383452.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.299988 m,
      nav range: 253.558685 m,
      bearing: 289.899230 deg,
      approach rate: -0.680396 m/s,
      LOS rate: 0.036095 deg/s,
      cmd heading: 284.646494 deg,
      new cmd heading: 284.692887 deg.

2025-01-09T00:44:12.919Z,1736383452.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.968828 target range: 266.299988 and range: 266.30 m.
2025-01-09T00:44:12.999Z,1736383452.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764861
2025-01-09T00:44:13.252Z,1736383453.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018493
2025-01-09T00:44:13.295Z,1736383453.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:13.306Z,1736383453.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.30 m.
2025-01-09T00:44:13.309Z,1736383453.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.299988 m,
      nav range: 253.292679 m,
      bearing: 289.912901 deg,
      approach rate: -0.680063 m/s,
      LOS rate: 0.034989 deg/s,
      cmd heading: 284.692885 deg,
      new cmd heading: 284.733943 deg.

2025-01-09T00:44:13.310Z,1736383453.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.969545 target range: 266.299988 and range: 266.30 m.
2025-01-09T00:44:13.504Z,1736383453.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270613
2025-01-09T00:44:13.694Z,1736383453.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:13.704Z,1736383453.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.30 m.
2025-01-09T00:44:13.707Z,1736383453.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.299988 m,
      nav range: 253.020096 m,
      bearing: 289.926545 deg,
      approach rate: -0.684602 m/s,
      LOS rate: 0.034305 deg/s,
      cmd heading: 284.733948 deg,
      new cmd heading: 284.774925 deg.

2025-01-09T00:44:13.724Z,1736383453.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.970260 target range: 266.299988 and range: 266.30 m.
2025-01-09T00:44:13.759Z,1736383453.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524946
2025-01-09T00:44:14.009Z,1736383454.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774890
2025-01-09T00:44:14.116Z,1736383454.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:14.129Z,1736383454.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.30 m.
2025-01-09T00:44:14.137Z,1736383454.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.299988 m,
      nav range: 252.763321 m,
      bearing: 289.937344 deg,
      approach rate: -0.603706 m/s,
      LOS rate: 0.025414 deg/s,
      cmd heading: 284.774929 deg,
      new cmd heading: 284.807358 deg.

2025-01-09T00:44:14.138Z,1736383454.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.970826 target range: 266.299988 and range: 266.30 m.
2025-01-09T00:44:14.261Z,1736383454.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027145
2025-01-09T00:44:14.497Z,1736383454.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:14.504Z,1736383454.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:14.505Z,1736383454.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.30 m.
2025-01-09T00:44:14.508Z,1736383454.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.299988 m,
      nav range: 252.532593 m,
      bearing: 289.946703 deg,
      approach rate: -0.613267 m/s,
      LOS rate: 0.024900 deg/s,
      cmd heading: 284.807359 deg,
      new cmd heading: 284.835463 deg.

2025-01-09T00:44:14.509Z,1736383454.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.971317 target range: 266.299988 and range: 266.30 m.
2025-01-09T00:44:14.512Z,1736383454.512 [DAT](INFO): DAT read: Rx Time:00:44:13.2343

2025-01-09T00:44:14.513Z,1736383454.513 [DAT](INFO): Rx dataTimestamp_ set to:1736383454.512584
2025-01-09T00:44:14.513Z,1736383454.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279705
2025-01-09T00:44:14.768Z,1736383454.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534167
2025-01-09T00:44:14.968Z,1736383454.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:14.977Z,1736383454.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.30 m.
2025-01-09T00:44:14.980Z,1736383454.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.299988 m,
      nav range: 252.273514 m,
      bearing: 289.953959 deg,
      approach rate: -0.549968 m/s,
      LOS rate: 0.015417 deg/s,
      cmd heading: 284.835472 deg,
      new cmd heading: 284.857260 deg.

2025-01-09T00:44:14.981Z,1736383454.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.971697 target range: 266.299988 and range: 266.30 m.
2025-01-09T00:44:15.023Z,1736383455.023 [DAT](INFO): DAT read: 00:44:13.2343 LVL= 22384, 24561, 19154, 27891, AGC= 65, IDX= 401,-0.21, 0.704,-0.510, 0.793,-0.356, PHS= 1.148,-0.107, 1.146, RAW= 149.9, -31.7, CAL= 152.9, -37.0, ROT= 357.1,  37.0

2025-01-09T00:44:15.024Z,1736383455.024 [DAT](INFO): got valid direction response:
 00:44:13.2343 LVL= 22384, 24561, 19154, 27891, AGC= 65, IDX= 401,-0.21, 0.704,-0.510, 0.793,-0.356, PHS= 1.148,-0.107, 1.146, RAW= 149.9, -31.7, CAL= 152.9, -37.0, ROT= 357.1,  37.0

2025-01-09T00:44:15.025Z,1736383455.025 [DAT](INFO): DAT read: Bearing 357.1,  37.0 (Local)

2025-01-09T00:44:15.026Z,1736383455.026 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.1,  37.0 (Local)

2025-01-09T00:44:15.027Z,1736383455.027 [DAT](INFO): DAT read: Range 10 to 50 : 262.8 m  (Round-trip  350.4 ms) speed  0.8 m/s

2025-01-09T00:44:15.028Z,1736383455.028 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:15.029Z,1736383455.029 [DAT](INFO): direction in FSK: [0.797613,-0.040405,-0.601815]
2025-01-09T00:44:15.029Z,1736383455.029 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:15.033Z,1736383455.033 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:15.033Z,1736383455.033 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:15.033Z,1736383455.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:15.268Z,1736383455.268 [DAT](INFO): DAT read: user:3710>

2025-01-09T00:44:15.269Z,1736383455.269 [DAT](INFO): DAT read: Tx time:00:44:14.4797

2025-01-09T00:44:15.269Z,1736383455.269 [DAT](INFO): Ping request sent.
2025-01-09T00:44:15.269Z,1736383455.269 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:15.270Z,1736383455.270 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:15.270Z,1736383455.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-01-09T00:44:15.397Z,1736383455.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:15.411Z,1736383455.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 262.799988 m,
      deltaT: 4.035723 s,
      deltaX: -3.500000 m,
      approachRate: -0.867255 m/s,
      rangeRepo size: 4

2025-01-09T00:44:15.414Z,1736383455.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 262.799988 m,
      bearing: 287.873694 deg,
      lat: 36.903972 deg,
      lon: -122.119204 deg,
      deltaT: 4.035723 s,
      deltaX: -3.500000 m,
      approachRate: -0.867255 m/s,
      posRepo size: 4

2025-01-09T00:44:15.415Z,1736383455.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.80 m.
2025-01-09T00:44:15.418Z,1736383455.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.799988 m,
      nav range: 247.485535 m,
      bearing: 286.819146 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015417 deg/s,
      cmd heading: 284.857247 deg,
      new cmd heading: 284.877304 deg.

2025-01-09T00:44:15.432Z,1736383455.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972047 target range: 262.799988 and range: 262.80 m.
2025-01-09T00:44:15.521Z,1736383455.521 [DAT](INFO): DAT read: TxSync time:00:44:14.4790

2025-01-09T00:44:15.521Z,1736383455.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251972
2025-01-09T00:44:15.778Z,1736383455.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507635
2025-01-09T00:44:15.894Z,1736383455.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:15.927Z,1736383455.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.80 m.
2025-01-09T00:44:15.931Z,1736383455.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.799988 m,
      nav range: 247.215988 m,
      bearing: 286.820039 deg,
      approach rate: -0.546923 m/s,
      LOS rate: 0.001815 deg/s,
      cmd heading: 284.877300 deg,
      new cmd heading: 284.879984 deg.

2025-01-09T00:44:15.932Z,1736383455.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972094 target range: 262.799988 and range: 262.80 m.
2025-01-09T00:44:16.031Z,1736383456.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761204
2025-01-09T00:44:16.281Z,1736383456.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011604
2025-01-09T00:44:16.282Z,1736383456.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:16.291Z,1736383456.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.80 m.
2025-01-09T00:44:16.294Z,1736383456.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.799988 m,
      nav range: 247.005463 m,
      bearing: 286.820555 deg,
      approach rate: -0.542878 m/s,
      LOS rate: 0.001330 deg/s,
      cmd heading: 284.879978 deg,
      new cmd heading: 284.881525 deg.

2025-01-09T00:44:16.295Z,1736383456.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972121 target range: 262.799988 and range: 262.80 m.
2025-01-09T00:44:16.532Z,1736383456.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262842
2025-01-09T00:44:16.710Z,1736383456.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:16.718Z,1736383456.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:16.720Z,1736383456.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.80 m.
2025-01-09T00:44:16.723Z,1736383456.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.799988 m,
      nav range: 246.773727 m,
      bearing: 286.820685 deg,
      approach rate: -0.539764 m/s,
      LOS rate: 0.000304 deg/s,
      cmd heading: 284.881535 deg,
      new cmd heading: 284.881926 deg.

2025-01-09T00:44:16.724Z,1736383456.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972127 target range: 262.799988 and range: 262.80 m.
2025-01-09T00:44:16.784Z,1736383456.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514988
2025-01-09T00:44:17.036Z,1736383457.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766787
2025-01-09T00:44:17.113Z,1736383457.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:17.123Z,1736383457.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.80 m.
2025-01-09T00:44:17.126Z,1736383457.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.799988 m,
      nav range: 246.544296 m,
      bearing: 286.820267 deg,
      approach rate: -0.569417 m/s,
      LOS rate: -0.001038 deg/s,
      cmd heading: 284.881917 deg,
      new cmd heading: 284.880663 deg.

2025-01-09T00:44:17.127Z,1736383457.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972106 target range: 262.799988 and range: 262.80 m.
2025-01-09T00:44:17.288Z,1736383457.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019031
2025-01-09T00:44:17.498Z,1736383457.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:17.506Z,1736383457.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.80 m.
2025-01-09T00:44:17.509Z,1736383457.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.799988 m,
      nav range: 246.326477 m,
      bearing: 286.819642 deg,
      approach rate: -0.568399 m/s,
      LOS rate: -0.001632 deg/s,
      cmd heading: 284.880661 deg,
      new cmd heading: 284.878785 deg.

2025-01-09T00:44:17.510Z,1736383457.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972073 target range: 262.799988 and range: 262.80 m.
2025-01-09T00:44:17.541Z,1736383457.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271404
2025-01-09T00:44:17.795Z,1736383457.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524838
2025-01-09T00:44:17.920Z,1736383457.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:17.929Z,1736383457.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.80 m.
2025-01-09T00:44:17.933Z,1736383457.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.799988 m,
      nav range: 246.056503 m,
      bearing: 286.820288 deg,
      approach rate: -0.639351 m/s,
      LOS rate: 0.001531 deg/s,
      cmd heading: 284.878775 deg,
      new cmd heading: 284.880715 deg.

2025-01-09T00:44:17.934Z,1736383457.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972106 target range: 262.799988 and range: 262.80 m.
2025-01-09T00:44:18.046Z,1736383458.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776119
2025-01-09T00:44:18.296Z,1736383458.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026649
2025-01-09T00:44:18.308Z,1736383458.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:18.318Z,1736383458.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.80 m.
2025-01-09T00:44:18.321Z,1736383458.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.799988 m,
      nav range: 245.809845 m,
      bearing: 286.820880 deg,
      approach rate: -0.633870 m/s,
      LOS rate: 0.001521 deg/s,
      cmd heading: 284.880715 deg,
      new cmd heading: 284.882491 deg.

2025-01-09T00:44:18.322Z,1736383458.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972137 target range: 262.799988 and range: 262.80 m.
2025-01-09T00:44:18.549Z,1736383458.549 [DAT](INFO): DAT read: Rx Time:00:44:17.2315

2025-01-09T00:44:18.549Z,1736383458.549 [DAT](INFO): Rx dataTimestamp_ set to:1736383458.548969
2025-01-09T00:44:18.550Z,1736383458.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280386
2025-01-09T00:44:18.716Z,1736383458.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:18.744Z,1736383458.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:18.746Z,1736383458.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.80 m.
2025-01-09T00:44:18.753Z,1736383458.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.799988 m,
      nav range: 245.550797 m,
      bearing: 286.821502 deg,
      approach rate: -0.604781 m/s,
      LOS rate: 0.001454 deg/s,
      cmd heading: 284.882491 deg,
      new cmd heading: 284.884360 deg.

2025-01-09T00:44:18.754Z,1736383458.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972170 target range: 262.799988 and range: 262.80 m.
2025-01-09T00:44:18.805Z,1736383458.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535123
2025-01-09T00:44:19.062Z,1736383459.062 [DAT](INFO): DAT read: 00:44:17.2315 LVL= 19824, 28977, 18226, 28723, AGC= 60, IDX= 420,-0.10, 1.651, 0.643, 1.687, 0.567, PHS= 1.172, 0.124, 1.118, RAW= 147.4, -39.9, CAL= 150.6, -42.4, ROT= 359.4,  42.4

2025-01-09T00:44:19.063Z,1736383459.063 [DAT](INFO): got valid direction response:
 00:44:17.2315 LVL= 19824, 28977, 18226, 28723, AGC= 60, IDX= 420,-0.10, 1.651, 0.643, 1.687, 0.567, PHS= 1.172, 0.124, 1.118, RAW= 147.4, -39.9, CAL= 150.6, -42.4, ROT= 359.4,  42.4

2025-01-09T00:44:19.064Z,1736383459.064 [DAT](INFO): DAT read: Bearing 359.4,  42.4 (Local)

2025-01-09T00:44:19.065Z,1736383459.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,  42.4 (Local)

2025-01-09T00:44:19.066Z,1736383459.066 [DAT](INFO): DAT read: Range 10 to 50 : 260.7 m  (Round-trip  347.6 ms) speed  0.6 m/s

2025-01-09T00:44:19.067Z,1736383459.067 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:19.068Z,1736383459.068 [DAT](INFO): direction in FSK: [0.738415,-0.007733,-0.674302]
2025-01-09T00:44:19.068Z,1736383459.068 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:19.072Z,1736383459.072 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:19.072Z,1736383459.072 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:19.072Z,1736383459.072 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:19.209Z,1736383459.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:19.236Z,1736383459.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 260.700012 m,
      deltaT: 4.039396 s,
      deltaX: -2.099976 m,
      approachRate: -0.519874 m/s,
      rangeRepo size: 4

2025-01-09T00:44:19.238Z,1736383459.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 260.700012 m,
      bearing: 292.271639 deg,
      lat: 36.904080 deg,
      lon: -122.119201 deg,
      deltaT: 4.039396 s,
      deltaX: -2.099976 m,
      approachRate: -0.519874 m/s,
      posRepo size: 4

2025-01-09T00:44:19.243Z,1736383459.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:19.246Z,1736383459.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 248.690552 m,
      bearing: 289.488265 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001454 deg/s,
      cmd heading: 284.884349 deg,
      new cmd heading: 284.886466 deg.

2025-01-09T00:44:19.252Z,1736383459.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972207 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:19.308Z,1736383459.308 [DAT](INFO): DAT read: user:3711>

2025-01-09T00:44:19.309Z,1736383459.309 [DAT](INFO): DAT read: Tx time:00:44:18.5297

2025-01-09T00:44:19.309Z,1736383459.309 [DAT](INFO): Ping request sent.
2025-01-09T00:44:19.309Z,1736383459.309 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:19.310Z,1736383459.310 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:19.310Z,1736383459.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-01-09T00:44:19.561Z,1736383459.561 [DAT](INFO): DAT read: TxSync time:00:44:18.5290

2025-01-09T00:44:19.561Z,1736383459.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251852
2025-01-09T00:44:19.565Z,1736383459.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:19.584Z,1736383459.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:19.591Z,1736383459.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 248.431213 m,
      bearing: 289.492892 deg,
      approach rate: -0.734757 m/s,
      LOS rate: 0.013123 deg/s,
      cmd heading: 284.886480 deg,
      new cmd heading: 284.900376 deg.

2025-01-09T00:44:19.592Z,1736383459.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972450 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:19.812Z,1736383459.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502701
2025-01-09T00:44:19.990Z,1736383459.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:20.002Z,1736383460.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:20.004Z,1736383460.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 248.090057 m,
      bearing: 289.502452 deg,
      approach rate: -0.817771 m/s,
      LOS rate: 0.022947 deg/s,
      cmd heading: 284.900386 deg,
      new cmd heading: 284.929105 deg.

2025-01-09T00:44:20.005Z,1736383460.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972951 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:20.066Z,1736383460.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755944
2025-01-09T00:44:20.316Z,1736383460.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006819
2025-01-09T00:44:20.348Z,1736383460.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:20.357Z,1736383460.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:20.376Z,1736383460.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 247.803146 m,
      bearing: 289.510922 deg,
      approach rate: -0.807906 m/s,
      LOS rate: 0.023878 deg/s,
      cmd heading: 284.929100 deg,
      new cmd heading: 284.954540 deg.

2025-01-09T00:44:20.377Z,1736383460.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.973395 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:20.568Z,1736383460.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258798
2025-01-09T00:44:20.760Z,1736383460.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:20.777Z,1736383460.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:20.778Z,1736383460.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:20.783Z,1736383460.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 247.472977 m,
      bearing: 289.521139 deg,
      approach rate: -0.782667 m/s,
      LOS rate: 0.024251 deg/s,
      cmd heading: 284.954536 deg,
      new cmd heading: 284.985227 deg.

2025-01-09T00:44:20.784Z,1736383460.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.973930 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:20.820Z,1736383460.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511000
2025-01-09T00:44:21.075Z,1736383461.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764851
2025-01-09T00:44:21.233Z,1736383461.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:21.242Z,1736383461.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:21.245Z,1736383461.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 247.060089 m,
      bearing: 289.538756 deg,
      approach rate: -0.891450 m/s,
      LOS rate: 0.038100 deg/s,
      cmd heading: 284.985217 deg,
      new cmd heading: 285.038157 deg.

2025-01-09T00:44:21.246Z,1736383461.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.974854 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:21.325Z,1736383461.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015388
2025-01-09T00:44:21.577Z,1736383461.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267053
2025-01-09T00:44:21.613Z,1736383461.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:21.622Z,1736383461.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:21.625Z,1736383461.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 246.728745 m,
      bearing: 289.553321 deg,
      approach rate: -0.871189 m/s,
      LOS rate: 0.038348 deg/s,
      cmd heading: 285.038165 deg,
      new cmd heading: 285.081920 deg.

2025-01-09T00:44:21.626Z,1736383461.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.975618 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:21.832Z,1736383461.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522024
2025-01-09T00:44:22.066Z,1736383462.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:22.075Z,1736383462.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:22.078Z,1736383462.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 246.321457 m,
      bearing: 289.574999 deg,
      approach rate: -0.899705 m/s,
      LOS rate: 0.047966 deg/s,
      cmd heading: 285.081933 deg,
      new cmd heading: 285.147074 deg.

2025-01-09T00:44:22.082Z,1736383462.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772012
2025-01-09T00:44:22.095Z,1736383462.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.976755 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:22.333Z,1736383462.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023164
2025-01-09T00:44:22.453Z,1736383462.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:22.462Z,1736383462.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:22.466Z,1736383462.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 245.973419 m,
      bearing: 289.593987 deg,
      approach rate: -0.898788 m/s,
      LOS rate: 0.049103 deg/s,
      cmd heading: 285.147065 deg,
      new cmd heading: 285.204108 deg.

2025-01-09T00:44:22.467Z,1736383462.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.977751 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:22.585Z,1736383462.585 [DAT](INFO): DAT read: Rx Time:00:44:21.2344

2025-01-09T00:44:22.585Z,1736383462.585 [DAT](INFO): Rx dataTimestamp_ set to:1736383462.585198
2025-01-09T00:44:22.587Z,1736383462.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276972
2025-01-09T00:44:22.836Z,1736383462.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526702
2025-01-09T00:44:22.845Z,1736383462.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:22.869Z,1736383462.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:22.871Z,1736383462.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:22.892Z,1736383462.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 245.622223 m,
      bearing: 289.613612 deg,
      approach rate: -0.858996 m/s,
      LOS rate: 0.048071 deg/s,
      cmd heading: 285.204111 deg,
      new cmd heading: 285.263072 deg.

2025-01-09T00:44:22.921Z,1736383462.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.978780 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:23.094Z,1736383463.094 [DAT](INFO): DAT read: 00:44:21.2344 LVL= 27232, 32753, 22194, 32755, AGC= 64, IDX= 466, 0.07,-1.283,-3.073,-1.587,-2.117, PHS= 0.923,-0.909, 0.527, RAW= 138.2,  -6.5, CAL= 144.1, -16.6, ROT=   5.9,  16.6

2025-01-09T00:44:23.095Z,1736383463.095 [DAT](INFO): got valid direction response:
 00:44:21.2344 LVL= 27232, 32753, 22194, 32755, AGC= 64, IDX= 466, 0.07,-1.283,-3.073,-1.587,-2.117, PHS= 0.923,-0.909, 0.527, RAW= 138.2,  -6.5, CAL= 144.1, -16.6, ROT=   5.9,  16.6

2025-01-09T00:44:23.097Z,1736383463.097 [DAT](INFO): DAT read: Bearing   5.9,  16.6 (Local)

2025-01-09T00:44:23.097Z,1736383463.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.9,  16.6 (Local)

2025-01-09T00:44:23.099Z,1736383463.099 [DAT](INFO): DAT read: Range 10 to 50 : 225.3 m  (Round-trip  300.5 ms) speed  0.7 m/s

2025-01-09T00:44:23.100Z,1736383463.100 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:23.101Z,1736383463.101 [DAT](INFO): direction in FSK: [0.953246,0.098508,-0.285688]
2025-01-09T00:44:23.101Z,1736383463.101 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:23.111Z,1736383463.111 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:23.111Z,1736383463.111 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:23.111Z,1736383463.111 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:23.303Z,1736383463.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:23.321Z,1736383463.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 225.300003 m,
 deltaT: 4.032471 s,
 deltaX: -35.400009 m,
 approachRate: -8.778739 m/s,
 rangeRepo size: 4
2025-01-09T00:44:23.322Z,1736383463.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:23.324Z,1736383463.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 245.201889 m,
      bearing: 289.640228 deg,
      approach rate: -0.935166 m/s,
      LOS rate: 0.059317 deg/s,
      cmd heading: 285.263069 deg,
      new cmd heading: 285.343054 deg.

2025-01-09T00:44:23.327Z,1736383463.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.980176 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:23.345Z,1736383463.345 [DAT](INFO): DAT read: user:3712>

2025-01-09T00:44:23.348Z,1736383463.348 [DAT](INFO): DAT read: Tx time:00:44:22.5797

2025-01-09T00:44:23.348Z,1736383463.348 [DAT](INFO): Ping request sent.
2025-01-09T00:44:23.348Z,1736383463.348 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:23.348Z,1736383463.348 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:23.349Z,1736383463.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-01-09T00:44:23.597Z,1736383463.597 [DAT](INFO): DAT read: TxSync time:00:44:22.5790

2025-01-09T00:44:23.598Z,1736383463.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250066
2025-01-09T00:44:23.665Z,1736383463.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:23.699Z,1736383463.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:23.712Z,1736383463.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 244.870071 m,
      bearing: 289.661558 deg,
      approach rate: -0.885496 m/s,
      LOS rate: 0.056999 deg/s,
      cmd heading: 285.343064 deg,
      new cmd heading: 285.407141 deg.

2025-01-09T00:44:23.713Z,1736383463.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.981294 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:23.849Z,1736383463.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501116
2025-01-09T00:44:24.088Z,1736383464.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:24.099Z,1736383464.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:24.100Z,1736383464.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752387
2025-01-09T00:44:24.121Z,1736383464.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 244.498413 m,
      bearing: 289.687619 deg,
      approach rate: -0.921018 m/s,
      LOS rate: 0.064679 deg/s,
      cmd heading: 285.407132 deg,
      new cmd heading: 285.485432 deg.

2025-01-09T00:44:24.122Z,1736383464.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.982661 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:24.352Z,1736383464.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004122
2025-01-09T00:44:24.469Z,1736383464.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:24.505Z,1736383464.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:24.512Z,1736383464.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 244.164642 m,
      bearing: 289.711272 deg,
      approach rate: -0.821311 m/s,
      LOS rate: 0.058284 deg/s,
      cmd heading: 285.485433 deg,
      new cmd heading: 285.556490 deg.

2025-01-09T00:44:24.513Z,1736383464.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.983901 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:24.606Z,1736383464.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257619
2025-01-09T00:44:24.856Z,1736383464.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508275
2025-01-09T00:44:24.885Z,1736383464.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:24.896Z,1736383464.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:24.899Z,1736383464.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:24.902Z,1736383464.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 243.800568 m,
      bearing: 289.737149 deg,
      approach rate: -0.923724 m/s,
      LOS rate: 0.065753 deg/s,
      cmd heading: 285.556494 deg,
      new cmd heading: 285.634241 deg.

2025-01-09T00:44:24.903Z,1736383464.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.985258 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:25.108Z,1736383465.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760159
2025-01-09T00:44:25.322Z,1736383465.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:25.335Z,1736383465.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:25.337Z,1736383465.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 243.441132 m,
      bearing: 289.763117 deg,
      approach rate: -0.825294 m/s,
      LOS rate: 0.059711 deg/s,
      cmd heading: 285.634249 deg,
      new cmd heading: 285.712266 deg.

2025-01-09T00:44:25.338Z,1736383465.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.986620 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:25.360Z,1736383465.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012184
2025-01-09T00:44:25.613Z,1736383465.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265437
2025-01-09T00:44:25.694Z,1736383465.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:25.731Z,1736383465.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:25.757Z,1736383465.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 243.135986 m,
      bearing: 289.784984 deg,
      approach rate: -0.771385 m/s,
      LOS rate: 0.055348 deg/s,
      cmd heading: 285.712277 deg,
      new cmd heading: 285.777961 deg.

2025-01-09T00:44:25.758Z,1736383465.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.987766 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:25.867Z,1736383465.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518400
2025-01-09T00:44:26.108Z,1736383466.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:26.117Z,1736383466.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768598
2025-01-09T00:44:26.120Z,1736383466.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:26.123Z,1736383466.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 242.808060 m,
      bearing: 289.806807 deg,
      approach rate: -0.840965 m/s,
      LOS rate: 0.056042 deg/s,
      cmd heading: 285.777956 deg,
      new cmd heading: 285.843515 deg.

2025-01-09T00:44:26.124Z,1736383466.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988911 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:26.370Z,1736383466.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021802
2025-01-09T00:44:26.506Z,1736383466.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:26.515Z,1736383466.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:26.518Z,1736383466.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 242.492905 m,
      bearing: 289.827839 deg,
      approach rate: -0.797895 m/s,
      LOS rate: 0.053315 deg/s,
      cmd heading: 285.843526 deg,
      new cmd heading: 285.906702 deg.

2025-01-09T00:44:26.519Z,1736383466.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.990013 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:26.621Z,1736383466.621 [DAT](INFO): DAT read: Rx Time:00:44:25.2801

2025-01-09T00:44:26.621Z,1736383466.621 [DAT](INFO): Rx dataTimestamp_ set to:1736383466.620955
2025-01-09T00:44:26.622Z,1736383466.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273730
2025-01-09T00:44:26.872Z,1736383466.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524271
2025-01-09T00:44:26.916Z,1736383466.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:26.927Z,1736383466.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:26.994Z,1736383466.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.70 m.
2025-01-09T00:44:27.013Z,1736383467.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.700012 m,
      nav range: 242.168488 m,
      bearing: 289.849548 deg,
      approach rate: -0.679429 m/s,
      LOS rate: 0.045526 deg/s,
      cmd heading: 285.906692 deg,
      new cmd heading: 285.971906 deg.

2025-01-09T00:44:27.014Z,1736383467.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.991151 target range: 260.700012 and range: 260.70 m.
2025-01-09T00:44:27.131Z,1736383467.131 [DAT](INFO): DAT read: 00:44:25.2801 LVL= 22544, 31825, 18770, 30387, AGC= 64, IDX= 388, 0.20,-0.798,-2.474,-1.095,-1.614, PHS= 0.905,-0.812, 0.516, RAW= 137.5,  -7.9, CAL= 143.6, -18.3, ROT=   6.4,  18.3

2025-01-09T00:44:27.132Z,1736383467.132 [DAT](INFO): got valid direction response:
 00:44:25.2801 LVL= 22544, 31825, 18770, 30387, AGC= 64, IDX= 388, 0.20,-0.798,-2.474,-1.095,-1.614, PHS= 0.905,-0.812, 0.516, RAW= 137.5,  -7.9, CAL= 143.6, -18.3, ROT=   6.4,  18.3

2025-01-09T00:44:27.133Z,1736383467.133 [DAT](INFO): DAT read: Bearing   6.4,  18.3 (Local)

2025-01-09T00:44:27.133Z,1736383467.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.4,  18.3 (Local)

2025-01-09T00:44:27.135Z,1736383467.135 [DAT](INFO): DAT read: Range 10 to 50 : 222.0 m  (Round-trip  296.1 ms) speed  0.4 m/s

2025-01-09T00:44:27.136Z,1736383467.136 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:27.137Z,1736383467.137 [DAT](INFO): direction in FSK: [0.943509,0.105831,-0.313992]
2025-01-09T00:44:27.137Z,1736383467.137 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:27.140Z,1736383467.140 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:27.140Z,1736383467.140 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:27.141Z,1736383467.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:27.377Z,1736383467.377 [DAT](INFO): DAT read: user:3713>

2025-01-09T00:44:27.377Z,1736383467.377 [DAT](INFO): DAT read: Tx time:00:44:26.5798

2025-01-09T00:44:27.378Z,1736383467.378 [DAT](INFO): Ping request sent.
2025-01-09T00:44:27.378Z,1736383467.378 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:27.378Z,1736383467.378 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:27.379Z,1736383467.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-01-09T00:44:27.401Z,1736383467.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:27.453Z,1736383467.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 222.000000 m,
      deltaT: 8.068372 s,
      deltaX: -38.700012 m,
      approachRate: -4.796508 m/s,
      rangeRepo size: 4

2025-01-09T00:44:27.455Z,1736383467.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 222.000000 m,
      bearing: 293.254989 deg,
      lat: 36.904076 deg,
      lon: -122.118945 deg,
      deltaT: 8.068372 s,
      deltaX: -38.700012 m,
      approachRate: -4.796508 m/s,
      posRepo size: 4

2025-01-09T00:44:27.460Z,1736383467.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:27.462Z,1736383467.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 220.319595 m,
      bearing: 291.770070 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.045526 deg/s,
      cmd heading: 285.971906 deg,
      new cmd heading: 286.034649 deg.

2025-01-09T00:44:27.468Z,1736383467.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.992247 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:27.629Z,1736383467.629 [DAT](INFO): DAT read: TxSync time:00:44:26.5791

2025-01-09T00:44:27.629Z,1736383467.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251664
2025-01-09T00:44:27.710Z,1736383467.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:27.724Z,1736383467.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:27.727Z,1736383467.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 220.098206 m,
      bearing: 291.784944 deg,
      approach rate: -0.812744 m/s,
      LOS rate: 0.054658 deg/s,
      cmd heading: 286.034662 deg,
      new cmd heading: 286.079329 deg.

2025-01-09T00:44:27.728Z,1736383467.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993026 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:27.883Z,1736383467.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504713
2025-01-09T00:44:28.132Z,1736383468.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754557
2025-01-09T00:44:28.139Z,1736383468.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:28.164Z,1736383468.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:28.167Z,1736383468.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 219.807556 m,
      bearing: 291.801518 deg,
      approach rate: -0.687027 m/s,
      LOS rate: 0.039229 deg/s,
      cmd heading: 286.079331 deg,
      new cmd heading: 286.129120 deg.

2025-01-09T00:44:28.172Z,1736383468.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993895 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:28.384Z,1736383468.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006406
2025-01-09T00:44:28.520Z,1736383468.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:28.548Z,1736383468.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:28.558Z,1736383468.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 219.548965 m,
      bearing: 291.816049 deg,
      approach rate: -0.644834 m/s,
      LOS rate: 0.036276 deg/s,
      cmd heading: 286.129110 deg,
      new cmd heading: 286.172752 deg.

2025-01-09T00:44:28.559Z,1736383468.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994657 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:28.636Z,1736383468.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258618
2025-01-09T00:44:28.888Z,1736383468.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510384
2025-01-09T00:44:28.931Z,1736383468.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:28.938Z,1736383468.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:28.940Z,1736383468.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:28.943Z,1736383468.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 219.268921 m,
      bearing: 291.831096 deg,
      approach rate: -0.715020 m/s,
      LOS rate: 0.038469 deg/s,
      cmd heading: 286.172741 deg,
      new cmd heading: 286.217941 deg.

2025-01-09T00:44:28.944Z,1736383468.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995445 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:29.140Z,1736383469.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762548
2025-01-09T00:44:29.345Z,1736383469.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:29.355Z,1736383469.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:29.358Z,1736383469.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 219.000626 m,
      bearing: 291.842009 deg,
      approach rate: -0.646775 m/s,
      LOS rate: 0.026340 deg/s,
      cmd heading: 286.217930 deg,
      new cmd heading: 286.250709 deg.

2025-01-09T00:44:29.359Z,1736383469.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996017 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:29.392Z,1736383469.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014644
2025-01-09T00:44:29.644Z,1736383469.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266449
2025-01-09T00:44:29.723Z,1736383469.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:29.735Z,1736383469.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:29.738Z,1736383469.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 218.755554 m,
      bearing: 291.851761 deg,
      approach rate: -0.644519 m/s,
      LOS rate: 0.025674 deg/s,
      cmd heading: 286.250715 deg,
      new cmd heading: 286.280002 deg.

2025-01-09T00:44:29.739Z,1736383469.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996529 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:29.897Z,1736383469.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518744
2025-01-09T00:44:30.149Z,1736383470.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771128
2025-01-09T00:44:30.161Z,1736383470.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:30.170Z,1736383470.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:30.173Z,1736383470.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 218.483566 m,
      bearing: 291.860185 deg,
      approach rate: -0.625267 m/s,
      LOS rate: 0.019391 deg/s,
      cmd heading: 286.280002 deg,
      new cmd heading: 286.305307 deg.

2025-01-09T00:44:30.174Z,1736383470.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996970 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:30.401Z,1736383470.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023000
2025-01-09T00:44:30.534Z,1736383470.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:30.542Z,1736383470.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:30.561Z,1736383470.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 218.252426 m,
      bearing: 291.867237 deg,
      approach rate: -0.621603 m/s,
      LOS rate: 0.018986 deg/s,
      cmd heading: 286.305301 deg,
      new cmd heading: 286.326481 deg.

2025-01-09T00:44:30.562Z,1736383470.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997340 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:30.653Z,1736383470.653 [DAT](INFO): DAT read: Rx Time:00:44:29.3225

2025-01-09T00:44:30.654Z,1736383470.654 [DAT](INFO): Rx dataTimestamp_ set to:1736383470.653303
2025-01-09T00:44:30.655Z,1736383470.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276751
2025-01-09T00:44:30.904Z,1736383470.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526512
2025-01-09T00:44:30.951Z,1736383470.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:30.957Z,1736383470.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:30.960Z,1736383470.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:30.962Z,1736383470.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 217.993652 m,
      bearing: 291.874972 deg,
      approach rate: -0.619947 m/s,
      LOS rate: 0.018551 deg/s,
      cmd heading: 286.326475 deg,
      new cmd heading: 286.349705 deg.

2025-01-09T00:44:30.964Z,1736383470.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997745 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:31.162Z,1736383471.162 [DAT](INFO): DAT read: 00:44:29.3225 LVL= 18720, 27057, 16610, 27315, AGC= 62, IDX= 353, 0.07, 1.710, 0.570, 1.838, 0.664, PHS= 1.135,-0.046, 1.171, RAW= 151.5, -33.7, CAL= 153.9, -38.8, ROT= 356.1,  38.8

2025-01-09T00:44:31.163Z,1736383471.163 [DAT](INFO): got valid direction response:
 00:44:29.3225 LVL= 18720, 27057, 16610, 27315, AGC= 62, IDX= 353, 0.07, 1.710, 0.570, 1.838, 0.664, PHS= 1.135,-0.046, 1.171, RAW= 151.5, -33.7, CAL= 153.9, -38.8, ROT= 356.1,  38.8

2025-01-09T00:44:31.165Z,1736383471.165 [DAT](INFO): DAT read: Bearing 356.1,  38.8 (Local)

2025-01-09T00:44:31.165Z,1736383471.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1,  38.8 (Local)

2025-01-09T00:44:31.166Z,1736383471.166 [DAT](INFO): DAT read: Range 10 to 50 : 253.8 m  (Round-trip  338.5 ms) speed  0.7 m/s

2025-01-09T00:44:31.167Z,1736383471.167 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:31.168Z,1736383471.168 [DAT](INFO): direction in FSK: [0.777533,-0.053007,-0.626604]
2025-01-09T00:44:31.168Z,1736383471.168 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:31.175Z,1736383471.175 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:31.175Z,1736383471.175 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:31.175Z,1736383471.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:31.372Z,1736383471.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:31.405Z,1736383471.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 253.800003 m,
 deltaT: 4.031718 s,
 deltaX: 31.800003 m,
 approachRate: 7.887457 m/s,
 rangeRepo size: 4
2025-01-09T00:44:31.405Z,1736383471.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:31.408Z,1736383471.408 [DAT](INFO): DAT read: user:3714>

2025-01-09T00:44:31.409Z,1736383471.409 [DAT](INFO): DAT read: Tx time:00:44:30.6298

2025-01-09T00:44:31.409Z,1736383471.409 [DAT](INFO): Ping request sent.
2025-01-09T00:44:31.409Z,1736383471.409 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:31.410Z,1736383471.410 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:31.410Z,1736383471.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-01-09T00:44:31.416Z,1736383471.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 217.732071 m,
      bearing: 291.881236 deg,
      approach rate: -0.594357 m/s,
      LOS rate: 0.014251 deg/s,
      cmd heading: 286.349698 deg,
      new cmd heading: 286.368513 deg.

2025-01-09T00:44:31.417Z,1736383471.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998074 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:31.662Z,1736383471.662 [DAT](INFO): DAT read: TxSync time:00:44:30.6291

2025-01-09T00:44:31.663Z,1736383471.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252967
2025-01-09T00:44:31.879Z,1736383471.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:31.892Z,1736383471.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:31.895Z,1736383471.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 217.417633 m,
      bearing: 291.888764 deg,
      approach rate: -0.638306 m/s,
      LOS rate: 0.015304 deg/s,
      cmd heading: 286.368522 deg,
      new cmd heading: 286.391138 deg.

2025-01-09T00:44:31.896Z,1736383471.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998468 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:31.913Z,1736383471.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503349
2025-01-09T00:44:32.166Z,1736383472.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756800
2025-01-09T00:44:32.322Z,1736383472.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:32.332Z,1736383472.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:32.335Z,1736383472.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 217.141998 m,
      bearing: 291.894634 deg,
      approach rate: -0.627960 m/s,
      LOS rate: 0.013391 deg/s,
      cmd heading: 286.391143 deg,
      new cmd heading: 286.408777 deg.

2025-01-09T00:44:32.336Z,1736383472.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998776 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:32.418Z,1736383472.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008219
2025-01-09T00:44:32.669Z,1736383472.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259117
2025-01-09T00:44:32.758Z,1736383472.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:32.768Z,1736383472.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:32.772Z,1736383472.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 216.870361 m,
      bearing: 291.900506 deg,
      approach rate: -0.621129 m/s,
      LOS rate: 0.013443 deg/s,
      cmd heading: 286.408765 deg,
      new cmd heading: 286.426402 deg.

2025-01-09T00:44:32.773Z,1736383472.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999084 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:32.920Z,1736383472.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510808
2025-01-09T00:44:33.172Z,1736383473.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762980
2025-01-09T00:44:33.272Z,1736383473.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:33.278Z,1736383473.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:33.282Z,1736383473.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:33.285Z,1736383473.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 216.536530 m,
      bearing: 291.909813 deg,
      approach rate: -0.650411 m/s,
      LOS rate: 0.018161 deg/s,
      cmd heading: 286.426414 deg,
      new cmd heading: 286.454379 deg.

2025-01-09T00:44:33.286Z,1736383473.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999572 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:33.424Z,1736383473.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014729
2025-01-09T00:44:33.606Z,1736383473.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:33.615Z,1736383473.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:33.618Z,1736383473.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 216.318878 m,
      bearing: 291.915897 deg,
      approach rate: -0.652461 m/s,
      LOS rate: 0.018256 deg/s,
      cmd heading: 286.454391 deg,
      new cmd heading: 286.472661 deg.

2025-01-09T00:44:33.620Z,1736383473.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999891 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:33.678Z,1736383473.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268310
2025-01-09T00:44:33.928Z,1736383473.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518800
2025-01-09T00:44:34.007Z,1736383474.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:34.020Z,1736383474.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:34.022Z,1736383474.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 216.057587 m,
      bearing: 291.922946 deg,
      approach rate: -0.645859 m/s,
      LOS rate: 0.017445 deg/s,
      cmd heading: 286.472668 deg,
      new cmd heading: 286.493841 deg.

2025-01-09T00:44:34.024Z,1736383474.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000261 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:34.182Z,1736383474.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772097
2025-01-09T00:44:34.435Z,1736383474.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025390
2025-01-09T00:44:34.449Z,1736383474.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:34.458Z,1736383474.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:34.461Z,1736383474.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 215.755615 m,
      bearing: 291.933952 deg,
      approach rate: -0.689464 m/s,
      LOS rate: 0.025165 deg/s,
      cmd heading: 286.493842 deg,
      new cmd heading: 286.526907 deg.

2025-01-09T00:44:34.462Z,1736383474.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000838 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:34.492Z,1736383474.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:44:34.688Z,1736383474.688 [DAT](INFO): DAT read: Rx Time:00:44:33.3454

2025-01-09T00:44:34.688Z,1736383474.688 [DAT](INFO): Rx dataTimestamp_ set to:1736383474.687978
2025-01-09T00:44:34.689Z,1736383474.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279736
2025-01-09T00:44:34.811Z,1736383474.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:34.823Z,1736383474.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.00 m.
2025-01-09T00:44:34.830Z,1736383474.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.000000 m,
      nav range: 215.508743 m,
      bearing: 291.942804 deg,
      approach rate: -0.676823 m/s,
      LOS rate: 0.024296 deg/s,
      cmd heading: 286.526900 deg,
      new cmd heading: 286.553486 deg.

2025-01-09T00:44:34.831Z,1736383474.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001302 target range: 222.000000 and range: 222.00 m.
2025-01-09T00:44:34.938Z,1736383474.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528335
2025-01-09T00:44:35.194Z,1736383475.194 [DAT](INFO): DAT read: 00:44:33.3454 LVL= 23728, 24177, 20754, 24531, AGC= 58, IDX= 160, 0.04,-2.210, 3.118,-2.061, 3.060, PHS= 1.102, 0.105, 1.159, RAW= 152.8, -39.2, CAL= 155.4, -42.5, ROT= 354.6,  42.5

2025-01-09T00:44:35.195Z,1736383475.195 [DAT](INFO): got valid direction response:
 00:44:33.3454 LVL= 23728, 24177, 20754, 24531, AGC= 58, IDX= 160, 0.04,-2.210, 3.118,-2.061, 3.060, PHS= 1.102, 0.105, 1.159, RAW= 152.8, -39.2, CAL= 155.4, -42.5, ROT= 354.6,  42.5

2025-01-09T00:44:35.196Z,1736383475.196 [DAT](INFO): DAT read: Bearing 354.6,  42.5 (Local)

2025-01-09T00:44:35.196Z,1736383475.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,  42.5 (Local)

2025-01-09T00:44:35.198Z,1736383475.198 [DAT](INFO): DAT read: Range 10 to 50 : 233.5 m  (Round-trip  311.4 ms) speed  0.4 m/s

2025-01-09T00:44:35.199Z,1736383475.199 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:35.200Z,1736383475.200 [DAT](INFO): direction in FSK: [0.734005,-0.069384,-0.675590]
2025-01-09T00:44:35.200Z,1736383475.200 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:35.204Z,1736383475.204 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:35.204Z,1736383475.204 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:35.204Z,1736383475.204 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:35.386Z,1736383475.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:35.416Z,1736383475.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 233.500000 m,
      deltaT: 8.063748 s,
      deltaX: 11.500000 m,
      approachRate: 1.426136 m/s,
      rangeRepo size: 4

2025-01-09T00:44:35.418Z,1736383475.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 233.500000 m,
      bearing: 288.463504 deg,
      lat: 36.904076 deg,
      lon: -122.118918 deg,
      deltaT: 8.063748 s,
      deltaX: 11.500000 m,
      approachRate: 1.426136 m/s,
      posRepo size: 4

2025-01-09T00:44:35.423Z,1736383475.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.50 m.
2025-01-09T00:44:35.426Z,1736383475.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.500000 m,
      nav range: 212.899811 m,
      bearing: 292.198890 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024296 deg/s,
      cmd heading: 286.553483 deg,
      new cmd heading: 286.596402 deg.

2025-01-09T00:44:35.427Z,1736383475.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002051 target range: 233.500000 and range: 233.50 m.
2025-01-09T00:44:35.440Z,1736383475.440 [DAT](INFO): DAT read: user:3715>

2025-01-09T00:44:35.441Z,1736383475.441 [DAT](INFO): DAT read: Tx time:00:44:34.6798

2025-01-09T00:44:35.441Z,1736383475.441 [DAT](INFO): Ping request sent.
2025-01-09T00:44:35.441Z,1736383475.441 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:35.442Z,1736383475.442 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:35.442Z,1736383475.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-01-09T00:44:35.496Z,1736383475.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:44:35.693Z,1736383475.693 [DAT](INFO): DAT read: TxSync time:00:44:34.6791

2025-01-09T00:44:35.694Z,1736383475.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252133
2025-01-09T00:44:35.896Z,1736383475.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:35.911Z,1736383475.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:35.913Z,1736383475.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.50 m.
2025-01-09T00:44:35.933Z,1736383475.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.500000 m,
      nav range: 212.533371 m,
      bearing: 292.215252 deg,
      approach rate: -0.730686 m/s,
      LOS rate: 0.032683 deg/s,
      cmd heading: 286.596404 deg,
      new cmd heading: 286.645576 deg.

2025-01-09T00:44:35.933Z,1736383475.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002909 target range: 233.500000 and range: 233.50 m.
2025-01-09T00:44:35.944Z,1736383475.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502851
2025-01-09T00:44:36.198Z,1736383476.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756674
2025-01-09T00:44:36.321Z,1736383476.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:36.329Z,1736383476.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.50 m.
2025-01-09T00:44:36.333Z,1736383476.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.500000 m,
      nav range: 212.213989 m,
      bearing: 292.231891 deg,
      approach rate: -0.767193 m/s,
      LOS rate: 0.040027 deg/s,
      cmd heading: 286.645582 deg,
      new cmd heading: 286.695572 deg.

2025-01-09T00:44:36.334Z,1736383476.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.003782 target range: 233.500000 and range: 233.50 m.
2025-01-09T00:44:36.352Z,1736383476.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 60.049305 m.
2025-01-09T00:44:36.449Z,1736383476.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007172
2025-01-09T00:44:36.701Z,1736383476.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259726
2025-01-09T00:44:36.773Z,1736383476.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:36.792Z,1736383476.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.50 m.
2025-01-09T00:44:36.795Z,1736383476.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.500000 m,
      nav range: 211.873734 m,
      bearing: 292.249778 deg,
      approach rate: -0.749649 m/s,
      LOS rate: 0.039472 deg/s,
      cmd heading: 286.695578 deg,
      new cmd heading: 286.749326 deg.

2025-01-09T00:44:36.803Z,1736383476.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004720 target range: 233.500000 and range: 233.50 m.
2025-01-09T00:44:36.952Z,1736383476.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510864
2025-01-09T00:44:37.204Z,1736383477.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762795
2025-01-09T00:44:37.223Z,1736383477.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:37.232Z,1736383477.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.50 m.
2025-01-09T00:44:37.235Z,1736383477.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.500000 m,
      nav range: 211.519852 m,
      bearing: 292.271108 deg,
      approach rate: -0.787682 m/s,
      LOS rate: 0.047558 deg/s,
      cmd heading: 286.749318 deg,
      new cmd heading: 286.813417 deg.

2025-01-09T00:44:37.236Z,1736383477.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.005838 target range: 233.500000 and range: 233.50 m.
2025-01-09T00:44:37.457Z,1736383477.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015415
2025-01-09T00:44:37.654Z,1736383477.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:37.669Z,1736383477.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.50 m.
2025-01-09T00:44:37.673Z,1736383477.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.500000 m,
      nav range: 211.179596 m,
      bearing: 292.291522 deg,
      approach rate: -0.780043 m/s,
      LOS rate: 0.046876 deg/s,
      cmd heading: 286.813413 deg,
      new cmd heading: 286.874754 deg.

2025-01-09T00:44:37.675Z,1736383477.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006909 target range: 233.500000 and range: 233.50 m.
2025-01-09T00:44:37.708Z,1736383477.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266892
2025-01-09T00:44:37.961Z,1736383477.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519496
2025-01-09T00:44:38.065Z,1736383478.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:38.106Z,1736383478.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:38.123Z,1736383478.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.50 m.
2025-01-09T00:44:38.142Z,1736383478.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.500000 m,
      nav range: 210.855774 m,
      bearing: 292.311002 deg,
      approach rate: -0.715197 m/s,
      LOS rate: 0.043090 deg/s,
      cmd heading: 286.874748 deg,
      new cmd heading: 286.933278 deg.

2025-01-09T00:44:38.147Z,1736383478.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.007930 target range: 233.500000 and range: 233.50 m.
2025-01-09T00:44:38.216Z,1736383478.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774121
2025-01-09T00:44:38.468Z,1736383478.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026857
2025-01-09T00:44:38.516Z,1736383478.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:38.524Z,1736383478.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.50 m.
2025-01-09T00:44:38.527Z,1736383478.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.500000 m,
      nav range: 210.491287 m,
      bearing: 292.334252 deg,
      approach rate: -0.904456 m/s,
      LOS rate: 0.057792 deg/s,
      cmd heading: 286.933269 deg,
      new cmd heading: 287.003138 deg.

2025-01-09T00:44:38.528Z,1736383478.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.009150 target range: 233.500000 and range: 233.50 m.
2025-01-09T00:44:38.721Z,1736383478.721 [DAT](INFO): DAT read: Rx Time:00:44:37.3919

2025-01-09T00:44:38.722Z,1736383478.722 [DAT](INFO): Rx dataTimestamp_ set to:1736383478.720973
2025-01-09T00:44:38.722Z,1736383478.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280684
2025-01-09T00:44:38.877Z,1736383478.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:38.887Z,1736383478.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.50 m.
2025-01-09T00:44:38.890Z,1736383478.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.500000 m,
      nav range: 210.199387 m,
      bearing: 292.352915 deg,
      approach rate: -0.804772 m/s,
      LOS rate: 0.051525 deg/s,
      cmd heading: 287.003128 deg,
      new cmd heading: 287.059195 deg.

2025-01-09T00:44:38.891Z,1736383478.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.010128 target range: 233.500000 and range: 233.50 m.
2025-01-09T00:44:38.973Z,1736383478.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531029
2025-01-09T00:44:39.231Z,1736383479.231 [DAT](INFO): DAT read: 00:44:37.3920 LVL= 25136, 31185, 21026, 32755, AGC= 62, IDX= 173, 0.15,-1.282,-2.956,-1.536,-2.103, PHS= 0.909,-0.807, 0.564, RAW= 139.0,  -8.5, CAL= 145.4, -18.7, ROT=   4.6,  18.7

2025-01-09T00:44:39.233Z,1736383479.233 [DAT](INFO): got valid direction response:
 00:44:37.3920 LVL= 25136, 31185, 21026, 32755, AGC= 62, IDX= 173, 0.15,-1.282,-2.956,-1.536,-2.103, PHS= 0.909,-0.807, 0.564, RAW= 139.0,  -8.5, CAL= 145.4, -18.7, ROT=   4.6,  18.7

2025-01-09T00:44:39.234Z,1736383479.234 [DAT](INFO): DAT read: Bearing   4.6,  18.7 (Local)

2025-01-09T00:44:39.234Z,1736383479.234 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.6,  18.7 (Local)

2025-01-09T00:44:39.235Z,1736383479.235 [DAT](INFO): DAT read: Range 10 to 50 : 231.0 m  (Round-trip  308.0 ms) speed  0.4 m/s

2025-01-09T00:44:39.236Z,1736383479.236 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:39.237Z,1736383479.237 [DAT](INFO): direction in FSK: [0.944159,0.075965,-0.320613]
2025-01-09T00:44:39.237Z,1736383479.237 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:39.253Z,1736383479.253 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:39.253Z,1736383479.253 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:39.253Z,1736383479.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:39.378Z,1736383479.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:39.416Z,1736383479.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 231.000000 m,
      deltaT: 4.035934 s,
      deltaX: -2.500000 m,
      approachRate: -0.619435 m/s,
      rangeRepo size: 4

2025-01-09T00:44:39.418Z,1736383479.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 231.000000 m,
      bearing: 293.735527 deg,
      lat: 36.904076 deg,
      lon: -122.118945 deg,
      deltaT: 4.035934 s,
      deltaX: -2.500000 m,
      approachRate: -0.619435 m/s,
      posRepo size: 4

2025-01-09T00:44:39.419Z,1736383479.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.00 m.
2025-01-09T00:44:39.426Z,1736383479.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.000000 m,
      nav range: 211.980713 m,
      bearing: 292.136774 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.051525 deg/s,
      cmd heading: 287.059190 deg,
      new cmd heading: 287.140177 deg.

2025-01-09T00:44:39.427Z,1736383479.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.011541 target range: 231.000000 and range: 231.00 m.
2025-01-09T00:44:39.477Z,1736383479.477 [DAT](INFO): DAT read: user:3716>

2025-01-09T00:44:39.478Z,1736383479.478 [DAT](INFO): DAT read: Tx time:00:44:38.7299

2025-01-09T00:44:39.478Z,1736383479.478 [DAT](INFO): Ping request sent.
2025-01-09T00:44:39.478Z,1736383479.478 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:39.479Z,1736383479.479 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:39.482Z,1736383479.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003165
2025-01-09T00:44:39.693Z,1736383479.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:39.702Z,1736383479.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.00 m.
2025-01-09T00:44:39.705Z,1736383479.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.000000 m,
      nav range: 211.722031 m,
      bearing: 292.153716 deg,
      approach rate: -0.887427 m/s,
      LOS rate: 0.058191 deg/s,
      cmd heading: 287.140169 deg,
      new cmd heading: 287.191056 deg.

2025-01-09T00:44:39.706Z,1736383479.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.012430 target range: 231.000000 and range: 231.00 m.
2025-01-09T00:44:39.729Z,1736383479.729 [DAT](INFO): DAT read: TxSync time:00:44:38.7291

2025-01-09T00:44:39.729Z,1736383479.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250835
2025-01-09T00:44:39.980Z,1736383479.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501898
2025-01-09T00:44:40.079Z,1736383480.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:40.096Z,1736383480.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.00 m.
2025-01-09T00:44:40.123Z,1736383480.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.000000 m,
      nav range: 211.405502 m,
      bearing: 292.174739 deg,
      approach rate: -0.804539 m/s,
      LOS rate: 0.053516 deg/s,
      cmd heading: 287.191068 deg,
      new cmd heading: 287.254231 deg.

2025-01-09T00:44:40.131Z,1736383480.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.013532 target range: 231.000000 and range: 231.00 m.
2025-01-09T00:44:40.233Z,1736383480.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754107
2025-01-09T00:44:40.485Z,1736383480.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006172
2025-01-09T00:44:40.513Z,1736383480.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:40.521Z,1736383480.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:40.540Z,1736383480.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.00 m.
2025-01-09T00:44:40.542Z,1736383480.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.000000 m,
      nav range: 211.046539 m,
      bearing: 292.196434 deg,
      approach rate: -0.840045 m/s,
      LOS rate: 0.050858 deg/s,
      cmd heading: 287.254233 deg,
      new cmd heading: 287.319430 deg.

2025-01-09T00:44:40.548Z,1736383480.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.014670 target range: 231.000000 and range: 231.00 m.
2025-01-09T00:44:40.736Z,1736383480.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257819
2025-01-09T00:44:40.884Z,1736383480.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:40.893Z,1736383480.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.00 m.
2025-01-09T00:44:40.912Z,1736383480.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.000000 m,
      nav range: 210.739151 m,
      bearing: 292.214961 deg,
      approach rate: -0.831784 m/s,
      LOS rate: 0.050205 deg/s,
      cmd heading: 287.319421 deg,
      new cmd heading: 287.375081 deg.

2025-01-09T00:44:40.913Z,1736383480.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.015641 target range: 231.000000 and range: 231.00 m.
2025-01-09T00:44:40.990Z,1736383480.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511648
2025-01-09T00:44:41.240Z,1736383481.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761803
2025-01-09T00:44:41.317Z,1736383481.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:41.329Z,1736383481.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.00 m.
2025-01-09T00:44:41.332Z,1736383481.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.000000 m,
      nav range: 210.395294 m,
      bearing: 292.234434 deg,
      approach rate: -0.788840 m/s,
      LOS rate: 0.044746 deg/s,
      cmd heading: 287.375073 deg,
      new cmd heading: 287.433587 deg.

2025-01-09T00:44:41.333Z,1736383481.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.016663 target range: 231.000000 and range: 231.00 m.
2025-01-09T00:44:41.492Z,1736383481.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013929
2025-01-09T00:44:41.696Z,1736383481.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:41.722Z,1736383481.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.00 m.
2025-01-09T00:44:41.725Z,1736383481.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.000000 m,
      nav range: 210.093063 m,
      bearing: 292.251352 deg,
      approach rate: -0.768679 m/s,
      LOS rate: 0.043092 deg/s,
      cmd heading: 287.433594 deg,
      new cmd heading: 287.484423 deg.

2025-01-09T00:44:41.726Z,1736383481.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.017550 target range: 231.000000 and range: 231.00 m.
2025-01-09T00:44:41.744Z,1736383481.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265918
2025-01-09T00:44:41.996Z,1736383481.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517830
2025-01-09T00:44:42.101Z,1736383482.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:42.114Z,1736383482.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.00 m.
2025-01-09T00:44:42.121Z,1736383482.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.000000 m,
      nav range: 209.770447 m,
      bearing: 292.269309 deg,
      approach rate: -0.823716 m/s,
      LOS rate: 0.045919 deg/s,
      cmd heading: 287.484411 deg,
      new cmd heading: 287.538364 deg.

2025-01-09T00:44:42.122Z,1736383482.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.018491 target range: 231.000000 and range: 231.00 m.
2025-01-09T00:44:42.249Z,1736383482.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770339
2025-01-09T00:44:42.501Z,1736383482.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023038
2025-01-09T00:44:42.552Z,1736383482.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:42.561Z,1736383482.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:42.563Z,1736383482.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.00 m.
2025-01-09T00:44:42.566Z,1736383482.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.000000 m,
      nav range: 209.423233 m,
      bearing: 292.287205 deg,
      approach rate: -0.772711 m/s,
      LOS rate: 0.039894 deg/s,
      cmd heading: 287.538369 deg,
      new cmd heading: 287.592147 deg.

2025-01-09T00:44:42.568Z,1736383482.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.019430 target range: 231.000000 and range: 231.00 m.
2025-01-09T00:44:42.753Z,1736383482.753 [DAT](INFO): DAT read: Rx Time:00:44:41.4387

2025-01-09T00:44:42.753Z,1736383482.753 [DAT](INFO): Rx dataTimestamp_ set to:1736383482.752804
2025-01-09T00:44:42.754Z,1736383482.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275195
2025-01-09T00:44:42.917Z,1736383482.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:42.926Z,1736383482.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.00 m.
2025-01-09T00:44:42.929Z,1736383482.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.000000 m,
      nav range: 209.141754 m,
      bearing: 292.301587 deg,
      approach rate: -0.773902 m/s,
      LOS rate: 0.039596 deg/s,
      cmd heading: 287.592136 deg,
      new cmd heading: 287.635341 deg.

2025-01-09T00:44:42.932Z,1736383482.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.020184 target range: 231.000000 and range: 231.00 m.
2025-01-09T00:44:43.005Z,1736383483.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526906
2025-01-09T00:44:43.262Z,1736383483.262 [DAT](INFO): DAT read: 00:44:41.4387 LVL= 21232, 27345, 18354, 25395, AGC= 55, IDX= 412,-0.01, 1.358, 0.086, 1.443, 0.346, PHS= 1.100,-0.213, 1.094, RAW= 149.8, -28.1, CAL= 153.4, -34.0, ROT= 356.6,  34.0

2025-01-09T00:44:43.263Z,1736383483.263 [DAT](INFO): got valid direction response:
 00:44:41.4387 LVL= 21232, 27345, 18354, 25395, AGC= 55, IDX= 412,-0.01, 1.358, 0.086, 1.443, 0.346, PHS= 1.100,-0.213, 1.094, RAW= 149.8, -28.1, CAL= 153.4, -34.0, ROT= 356.6,  34.0

2025-01-09T00:44:43.265Z,1736383483.265 [DAT](INFO): DAT read: Bearing 356.6,  34.0 (Local)

2025-01-09T00:44:43.266Z,1736383483.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  34.0 (Local)

2025-01-09T00:44:43.267Z,1736383483.267 [DAT](INFO): DAT read: Range 10 to 50 : 228.4 m  (Round-trip  304.6 ms) speed  0.3 m/s

2025-01-09T00:44:43.268Z,1736383483.268 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:43.269Z,1736383483.269 [DAT](INFO): direction in FSK: [0.827578,-0.049167,-0.559193]
2025-01-09T00:44:43.269Z,1736383483.269 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:43.272Z,1736383483.272 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:43.273Z,1736383483.273 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:43.273Z,1736383483.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:43.416Z,1736383483.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:43.456Z,1736383483.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 228.399994 m,
      deltaT: 4.032026 s,
      deltaX: -2.600006 m,
      approachRate: -0.644839 m/s,
      rangeRepo size: 4

2025-01-09T00:44:43.458Z,1736383483.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 228.399994 m,
      bearing: 289.554931 deg,
      lat: 36.904005 deg,
      lon: -122.118918 deg,
      deltaT: 4.032026 s,
      deltaX: -2.600006 m,
      approachRate: -0.644839 m/s,
      posRepo size: 4

2025-01-09T00:44:43.459Z,1736383483.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T00:44:43.467Z,1736383483.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 203.703278 m,
      bearing: 290.525494 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.039596 deg/s,
      cmd heading: 287.635331 deg,
      new cmd heading: 287.697603 deg.

2025-01-09T00:44:43.476Z,1736383483.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.021270 target range: 228.399994 and range: 228.40 m.
2025-01-09T00:44:43.514Z,1736383483.514 [DAT](INFO): DAT read: user:3717>

2025-01-09T00:44:43.516Z,1736383483.516 [DAT](INFO): DAT read: Tx time:00:44:42.7299

2025-01-09T00:44:43.516Z,1736383483.516 [DAT](INFO): Ping request sent.
2025-01-09T00:44:43.516Z,1736383483.516 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:43.516Z,1736383483.516 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:43.517Z,1736383483.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-01-09T00:44:43.753Z,1736383483.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:43.761Z,1736383483.761 [DAT](INFO): DAT read: TxSync time:00:44:42.7291

2025-01-09T00:44:43.761Z,1736383483.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245286
2025-01-09T00:44:43.788Z,1736383483.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T00:44:43.791Z,1736383483.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 203.457443 m,
      bearing: 290.535166 deg,
      approach rate: -0.728897 m/s,
      LOS rate: 0.028714 deg/s,
      cmd heading: 287.697595 deg,
      new cmd heading: 287.726647 deg.

2025-01-09T00:44:43.796Z,1736383483.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.021777 target range: 228.399994 and range: 228.40 m.
2025-01-09T00:44:44.012Z,1736383484.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496306
2025-01-09T00:44:44.150Z,1736383484.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:44.170Z,1736383484.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T00:44:44.198Z,1736383484.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 203.168243 m,
      bearing: 290.546671 deg,
      approach rate: -0.757016 m/s,
      LOS rate: 0.030157 deg/s,
      cmd heading: 287.726637 deg,
      new cmd heading: 287.761199 deg.

2025-01-09T00:44:44.206Z,1736383484.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022380 target range: 228.399994 and range: 228.40 m.
2025-01-09T00:44:44.268Z,1736383484.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751849
2025-01-09T00:44:44.516Z,1736383484.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000258
2025-01-09T00:44:44.582Z,1736383484.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:44.590Z,1736383484.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:44.592Z,1736383484.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T00:44:44.595Z,1736383484.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 202.878922 m,
      bearing: 290.558092 deg,
      approach rate: -0.685404 m/s,
      LOS rate: 0.027094 deg/s,
      cmd heading: 287.761197 deg,
      new cmd heading: 287.795508 deg.

2025-01-09T00:44:44.596Z,1736383484.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022979 target range: 228.399994 and range: 228.40 m.
2025-01-09T00:44:44.770Z,1736383484.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253805
2025-01-09T00:44:44.950Z,1736383484.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:44.958Z,1736383484.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T00:44:44.961Z,1736383484.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 202.633438 m,
      bearing: 290.567646 deg,
      approach rate: -0.670220 m/s,
      LOS rate: 0.026116 deg/s,
      cmd heading: 287.795512 deg,
      new cmd heading: 287.824209 deg.

2025-01-09T00:44:44.962Z,1736383484.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.023480 target range: 228.399994 and range: 228.40 m.
2025-01-09T00:44:45.021Z,1736383485.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505011
2025-01-09T00:44:45.275Z,1736383485.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758450
2025-01-09T00:44:45.376Z,1736383485.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:45.413Z,1736383485.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T00:44:45.422Z,1736383485.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 202.361740 m,
      bearing: 290.575904 deg,
      approach rate: -0.597866 m/s,
      LOS rate: 0.018197 deg/s,
      cmd heading: 287.824199 deg,
      new cmd heading: 287.849007 deg.

2025-01-09T00:44:45.424Z,1736383485.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.023913 target range: 228.399994 and range: 228.40 m.
2025-01-09T00:44:45.525Z,1736383485.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008738
2025-01-09T00:44:45.756Z,1736383485.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:45.776Z,1736383485.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260309
2025-01-09T00:44:45.789Z,1736383485.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T00:44:45.792Z,1736383485.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 202.119110 m,
      bearing: 290.582951 deg,
      approach rate: -0.644847 m/s,
      LOS rate: 0.018750 deg/s,
      cmd heading: 287.849006 deg,
      new cmd heading: 287.870171 deg.

2025-01-09T00:44:45.793Z,1736383485.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.024282 target range: 228.399994 and range: 228.40 m.
2025-01-09T00:44:46.028Z,1736383486.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512234
2025-01-09T00:44:46.163Z,1736383486.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:46.171Z,1736383486.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T00:44:46.194Z,1736383486.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 201.859818 m,
      bearing: 290.590180 deg,
      approach rate: -0.678695 m/s,
      LOS rate: 0.018947 deg/s,
      cmd heading: 287.870180 deg,
      new cmd heading: 287.891896 deg.

2025-01-09T00:44:46.195Z,1736383486.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.024662 target range: 228.399994 and range: 228.40 m.
2025-01-09T00:44:46.281Z,1736383486.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765288
2025-01-09T00:44:46.532Z,1736383486.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016415
2025-01-09T00:44:46.597Z,1736383486.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:46.624Z,1736383486.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:46.626Z,1736383486.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T00:44:46.633Z,1736383486.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 201.592606 m,
      bearing: 290.597831 deg,
      approach rate: -0.587218 m/s,
      LOS rate: 0.016835 deg/s,
      cmd heading: 287.891900 deg,
      new cmd heading: 287.914881 deg.

2025-01-09T00:44:46.634Z,1736383486.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025063 target range: 228.399994 and range: 228.40 m.
2025-01-09T00:44:46.786Z,1736383486.786 [DAT](INFO): DAT read: Rx Time:00:44:45.4593

2025-01-09T00:44:46.786Z,1736383486.786 [DAT](INFO): Rx dataTimestamp_ set to:1736383486.785748
2025-01-09T00:44:46.787Z,1736383486.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270886
2025-01-09T00:44:46.972Z,1736383486.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:46.982Z,1736383486.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T00:44:47.001Z,1736383487.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 201.361511 m,
      bearing: 290.604234 deg,
      approach rate: -0.649490 m/s,
      LOS rate: 0.018017 deg/s,
      cmd heading: 287.914877 deg,
      new cmd heading: 287.934108 deg.

2025-01-09T00:44:47.008Z,1736383487.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025398 target range: 228.399994 and range: 228.40 m.
2025-01-09T00:44:47.037Z,1736383487.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520458
2025-01-09T00:44:47.314Z,1736383487.314 [DAT](INFO): DAT read: 00:44:45.4593 LVL= 21488, 24881, 20290, 23971, AGC= 64, IDX= 142, 0.47, 0.178,-1.098, 0.199,-0.769, PHS= 1.034,-0.282, 0.964, RAW= 147.3, -25.3, CAL= 151.6, -31.7, ROT= 358.4,  31.7

2025-01-09T00:44:47.316Z,1736383487.316 [DAT](INFO): got valid direction response:
 00:44:45.4593 LVL= 21488, 24881, 20290, 23971, AGC= 64, IDX= 142, 0.47, 0.178,-1.098, 0.199,-0.769, PHS= 1.034,-0.282, 0.964, RAW= 147.3, -25.3, CAL= 151.6, -31.7, ROT= 358.4,  31.7

2025-01-09T00:44:47.317Z,1736383487.317 [DAT](INFO): DAT read: Bearing 358.4,  31.7 (Local)

2025-01-09T00:44:47.317Z,1736383487.317 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  31.7 (Local)

2025-01-09T00:44:47.318Z,1736383487.318 [DAT](INFO): DAT read: Range 10 to 50 : 243.9 m  (Round-trip  325.2 ms) speed  0.6 m/s

2025-01-09T00:44:47.321Z,1736383487.321 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:47.322Z,1736383487.322 [DAT](INFO): direction in FSK: [0.850479,-0.023756,-0.525472]
2025-01-09T00:44:47.322Z,1736383487.322 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:47.325Z,1736383487.325 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:47.325Z,1736383487.325 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:47.325Z,1736383487.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:47.476Z,1736383487.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:47.520Z,1736383487.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 243.899994 m,
      deltaT: 4.033839 s,
      deltaX: 15.500000 m,
      approachRate: 3.842494 m/s,
      rangeRepo size: 4

2025-01-09T00:44:47.522Z,1736383487.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 243.899994 m,
      bearing: 292.419702 deg,
      lat: 36.904005 deg,
      lon: -122.118989 deg,
      deltaT: 4.033839 s,
      deltaX: 15.500000 m,
      approachRate: 3.842494 m/s,
      posRepo size: 4

2025-01-09T00:44:47.522Z,1736383487.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-01-09T00:44:47.529Z,1736383487.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.899994 m,
      nav range: 206.995209 m,
      bearing: 289.994652 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018017 deg/s,
      cmd heading: 287.934110 deg,
      new cmd heading: 287.962833 deg.

2025-01-09T00:44:47.535Z,1736383487.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.025899 target range: 243.899994 and range: 243.90 m.
2025-01-09T00:44:47.540Z,1736383487.540 [DAT](INFO): DAT read: user:3718>

2025-01-09T00:44:47.541Z,1736383487.541 [DAT](INFO): DAT read: Tx time:00:44:46.7799

2025-01-09T00:44:47.541Z,1736383487.541 [DAT](INFO): Ping request sent.
2025-01-09T00:44:47.541Z,1736383487.541 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:47.542Z,1736383487.542 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:47.542Z,1736383487.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-01-09T00:44:47.792Z,1736383487.792 [DAT](INFO): DAT read: TxSync time:00:44:46.7791

2025-01-09T00:44:47.793Z,1736383487.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251692
2025-01-09T00:44:47.830Z,1736383487.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:47.854Z,1736383487.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-01-09T00:44:47.862Z,1736383487.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.899994 m,
      nav range: 206.778412 m,
      bearing: 289.999173 deg,
      approach rate: -0.649923 m/s,
      LOS rate: 0.013568 deg/s,
      cmd heading: 287.962824 deg,
      new cmd heading: 287.976403 deg.

2025-01-09T00:44:47.863Z,1736383487.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.026136 target range: 243.899994 and range: 243.90 m.
2025-01-09T00:44:48.046Z,1736383488.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504135
2025-01-09T00:44:48.229Z,1736383488.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:48.300Z,1736383488.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757403
2025-01-09T00:44:48.313Z,1736383488.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-01-09T00:44:48.321Z,1736383488.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.899994 m,
      nav range: 206.533447 m,
      bearing: 290.004344 deg,
      approach rate: -0.525602 m/s,
      LOS rate: 0.011109 deg/s,
      cmd heading: 287.976403 deg,
      new cmd heading: 287.991935 deg.

2025-01-09T00:44:48.322Z,1736383488.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.026408 target range: 243.899994 and range: 243.90 m.
2025-01-09T00:44:48.548Z,1736383488.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006933
2025-01-09T00:44:48.634Z,1736383488.634 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -40,  +636,  

2025-01-09T00:44:48.647Z,1736383488.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:44:48.648Z,1736383488.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:48.657Z,1736383488.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:48.661Z,1736383488.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-01-09T00:44:48.665Z,1736383488.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.899994 m,
      nav range: 206.278168 m,
      bearing: 290.009887 deg,
      approach rate: -0.735011 m/s,
      LOS rate: 0.015979 deg/s,
      cmd heading: 287.991948 deg,
      new cmd heading: 288.008598 deg.

2025-01-09T00:44:48.667Z,1736383488.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.026698 target range: 243.899994 and range: 243.90 m.
2025-01-09T00:44:48.800Z,1736383488.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258841
2025-01-09T00:44:49.049Z,1736383489.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:44:49.050Z,1736383489.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:49.052Z,1736383489.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510909
2025-01-09T00:44:49.062Z,1736383489.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-01-09T00:44:49.066Z,1736383489.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.899994 m,
      nav range: 206.031387 m,
      bearing: 290.015259 deg,
      approach rate: -0.614540 m/s,
      LOS rate: 0.013393 deg/s,
      cmd heading: 288.008587 deg,
      new cmd heading: 288.024721 deg.

2025-01-09T00:44:49.068Z,1736383489.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.026980 target range: 243.899994 and range: 243.90 m.
2025-01-09T00:44:49.307Z,1736383489.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764665
2025-01-09T00:44:49.462Z,1736383489.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:49.474Z,1736383489.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-01-09T00:44:49.502Z,1736383489.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.899994 m,
      nav range: 205.754105 m,
      bearing: 290.021536 deg,
      approach rate: -0.672297 m/s,
      LOS rate: 0.015241 deg/s,
      cmd heading: 288.024733 deg,
      new cmd heading: 288.043591 deg.

2025-01-09T00:44:49.508Z,1736383489.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.027309 target range: 243.899994 and range: 243.90 m.
2025-01-09T00:44:49.558Z,1736383489.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016214
2025-01-09T00:44:49.808Z,1736383489.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266812
2025-01-09T00:44:49.836Z,1736383489.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:49.844Z,1736383489.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-01-09T00:44:49.848Z,1736383489.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.899994 m,
      nav range: 205.503204 m,
      bearing: 290.026983 deg,
      approach rate: -0.678010 m/s,
      LOS rate: 0.014737 deg/s,
      cmd heading: 288.043585 deg,
      new cmd heading: 288.059945 deg.

2025-01-09T00:44:49.849Z,1736383489.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.027595 target range: 243.899994 and range: 243.90 m.
2025-01-09T00:44:50.062Z,1736383490.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519971
2025-01-09T00:44:50.242Z,1736383490.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:50.304Z,1736383490.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-01-09T00:44:50.317Z,1736383490.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775019
2025-01-09T00:44:50.336Z,1736383490.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.899994 m,
      nav range: 205.231537 m,
      bearing: 290.032893 deg,
      approach rate: -0.597740 m/s,
      LOS rate: 0.013020 deg/s,
      cmd heading: 288.059950 deg,
      new cmd heading: 288.077702 deg.

2025-01-09T00:44:50.338Z,1736383490.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.027905 target range: 243.899994 and range: 243.90 m.
2025-01-09T00:44:50.565Z,1736383490.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023487
2025-01-09T00:44:50.684Z,1736383490.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:50.712Z,1736383490.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:50.719Z,1736383490.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-01-09T00:44:50.722Z,1736383490.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.899994 m,
      nav range: 204.912628 m,
      bearing: 290.039704 deg,
      approach rate: -0.766250 m/s,
      LOS rate: 0.016392 deg/s,
      cmd heading: 288.077708 deg,
      new cmd heading: 288.098175 deg.

2025-01-09T00:44:50.728Z,1736383490.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.028262 target range: 243.899994 and range: 243.90 m.
2025-01-09T00:44:50.817Z,1736383490.817 [DAT](INFO): DAT read: Rx Time:00:44:49.5055

2025-01-09T00:44:50.818Z,1736383490.818 [DAT](INFO): Rx dataTimestamp_ set to:1736383490.817112
2025-01-09T00:44:50.818Z,1736383490.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276781
2025-01-09T00:44:51.053Z,1736383491.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:51.061Z,1736383491.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-01-09T00:44:51.065Z,1736383491.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.899994 m,
      nav range: 204.645630 m,
      bearing: 290.045582 deg,
      approach rate: -0.771237 m/s,
      LOS rate: 0.017000 deg/s,
      cmd heading: 288.098171 deg,
      new cmd heading: 288.115827 deg.

2025-01-09T00:44:51.066Z,1736383491.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.028570 target range: 243.899994 and range: 243.90 m.
2025-01-09T00:44:51.070Z,1736383491.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528378
2025-01-09T00:44:51.353Z,1736383491.353 [DAT](INFO): DAT read: 00:44:49.5056 LVL= 24544, 29121, 23106, 24323, AGC= 63, IDX= 157, 0.27, 1.177,-0.306, 1.090, 0.775, PHS= 0.489,-1.035, 0.311, RAW= 143.9,   3.3, CAL= 147.2,  -5.3, ROT=   2.8,   5.3

2025-01-09T00:44:51.362Z,1736383491.362 [DAT](INFO): got valid direction response:
 00:44:49.5056 LVL= 24544, 29121, 23106, 24323, AGC= 63, IDX= 157, 0.27, 1.177,-0.306, 1.090, 0.775, PHS= 0.489,-1.035, 0.311, RAW= 143.9,   3.3, CAL= 147.2,  -5.3, ROT=   2.8,   5.3

2025-01-09T00:44:51.368Z,1736383491.368 [DAT](INFO): DAT read: Bearing   2.8,   5.3 (Local)

2025-01-09T00:44:51.368Z,1736383491.368 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.8,   5.3 (Local)

2025-01-09T00:44:51.369Z,1736383491.369 [DAT](INFO): DAT read: Range 10 to 50 : 241.0 m  (Round-trip  321.4 ms) speed  0.5 m/s

2025-01-09T00:44:51.370Z,1736383491.370 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:51.376Z,1736383491.376 [DAT](INFO): direction in FSK: [0.994536,0.048641,-0.092371]
2025-01-09T00:44:51.376Z,1736383491.376 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:51.379Z,1736383491.379 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:51.383Z,1736383491.383 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:51.383Z,1736383491.383 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:51.557Z,1736383491.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:51.572Z,1736383491.572 [DAT](INFO): DAT read: user:3719>

2025-01-09T00:44:51.573Z,1736383491.573 [DAT](INFO): DAT read: Tx time:00:44:50.8300

2025-01-09T00:44:51.573Z,1736383491.573 [DAT](INFO): Ping request sent.
2025-01-09T00:44:51.573Z,1736383491.573 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:51.574Z,1736383491.574 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:51.574Z,1736383491.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-01-09T00:44:51.602Z,1736383491.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 241.000000 m,
      deltaT: 4.031846 s,
      deltaX: -2.899994 m,
      approachRate: -0.719272 m/s,
      rangeRepo size: 4

2025-01-09T00:44:51.609Z,1736383491.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 241.000000 m,
      bearing: 292.674632 deg,
      lat: 36.904090 deg,
      lon: -122.118989 deg,
      deltaT: 4.031846 s,
      deltaX: -2.899994 m,
      approachRate: -0.719272 m/s,
      posRepo size: 4

2025-01-09T00:44:51.610Z,1736383491.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:51.617Z,1736383491.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 207.702316 m,
      bearing: 292.511023 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017000 deg/s,
      cmd heading: 288.115821 deg,
      new cmd heading: 288.143354 deg.

2025-01-09T00:44:51.618Z,1736383491.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.029050 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:51.825Z,1736383491.825 [DAT](INFO): DAT read: TxSync time:00:44:50.8292

2025-01-09T00:44:51.827Z,1736383491.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253112
2025-01-09T00:44:52.043Z,1736383492.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:52.053Z,1736383492.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:52.056Z,1736383492.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 207.333603 m,
      bearing: 292.524001 deg,
      approach rate: -0.816567 m/s,
      LOS rate: 0.028793 deg/s,
      cmd heading: 288.143360 deg,
      new cmd heading: 288.182363 deg.

2025-01-09T00:44:52.057Z,1736383492.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.029731 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:52.076Z,1736383492.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502888
2025-01-09T00:44:52.332Z,1736383492.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757370
2025-01-09T00:44:52.468Z,1736383492.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:52.477Z,1736383492.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:52.480Z,1736383492.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 207.000519 m,
      bearing: 292.536450 deg,
      approach rate: -0.785498 m/s,
      LOS rate: 0.029406 deg/s,
      cmd heading: 288.182374 deg,
      new cmd heading: 288.219782 deg.

2025-01-09T00:44:52.481Z,1736383492.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.030384 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:52.583Z,1736383492.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009843
2025-01-09T00:44:52.836Z,1736383492.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262820
2025-01-09T00:44:52.865Z,1736383492.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:52.872Z,1736383492.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:52.874Z,1736383492.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:52.877Z,1736383492.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 206.690079 m,
      bearing: 292.548477 deg,
      approach rate: -0.781597 m/s,
      LOS rate: 0.030326 deg/s,
      cmd heading: 288.219776 deg,
      new cmd heading: 288.255911 deg.

2025-01-09T00:44:52.878Z,1736383492.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.031015 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:53.088Z,1736383493.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514797
2025-01-09T00:44:53.295Z,1736383493.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:53.317Z,1736383493.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:53.320Z,1736383493.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 206.354233 m,
      bearing: 292.561611 deg,
      approach rate: -0.758787 m/s,
      LOS rate: 0.029721 deg/s,
      cmd heading: 288.255922 deg,
      new cmd heading: 288.295386 deg.

2025-01-09T00:44:53.321Z,1736383493.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.031703 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:53.344Z,1736383493.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769596
2025-01-09T00:44:53.592Z,1736383493.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018822
2025-01-09T00:44:53.701Z,1736383493.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:53.731Z,1736383493.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:53.734Z,1736383493.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 206.024353 m,
      bearing: 292.575904 deg,
      approach rate: -0.798000 m/s,
      LOS rate: 0.034632 deg/s,
      cmd heading: 288.295373 deg,
      new cmd heading: 288.338321 deg.

2025-01-09T00:44:53.735Z,1736383493.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.032453 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:53.844Z,1736383493.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270864
2025-01-09T00:44:54.063Z,1736383494.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:54.084Z,1736383494.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:54.087Z,1736383494.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 205.730560 m,
      bearing: 292.588730 deg,
      approach rate: -0.829389 m/s,
      LOS rate: 0.036262 deg/s,
      cmd heading: 288.338321 deg,
      new cmd heading: 288.376855 deg.

2025-01-09T00:44:54.092Z,1736383494.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.033125 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:54.097Z,1736383494.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523219
2025-01-09T00:44:54.351Z,1736383494.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777427
2025-01-09T00:44:54.505Z,1736383494.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:54.515Z,1736383494.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:54.521Z,1736383494.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 205.378464 m,
      bearing: 292.604499 deg,
      approach rate: -0.818770 m/s,
      LOS rate: 0.036731 deg/s,
      cmd heading: 288.376843 deg,
      new cmd heading: 288.424230 deg.

2025-01-09T00:44:54.522Z,1736383494.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.033952 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:54.600Z,1736383494.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026973
2025-01-09T00:44:54.853Z,1736383494.853 [DAT](INFO): DAT read: Rx Time:00:44:53.5031

2025-01-09T00:44:54.853Z,1736383494.853 [DAT](INFO): Rx dataTimestamp_ set to:1736383494.852799
2025-01-09T00:44:54.854Z,1736383494.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280216
2025-01-09T00:44:54.890Z,1736383494.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:54.903Z,1736383494.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:54.907Z,1736383494.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:54.932Z,1736383494.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 205.072433 m,
      bearing: 292.618483 deg,
      approach rate: -0.781297 m/s,
      LOS rate: 0.035755 deg/s,
      cmd heading: 288.424217 deg,
      new cmd heading: 288.466233 deg.

2025-01-09T00:44:54.933Z,1736383494.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.034686 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:55.104Z,1736383495.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530863
2025-01-09T00:44:55.277Z,1736383495.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:55.307Z,1736383495.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:55.316Z,1736383495.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 204.764786 m,
      bearing: 292.632678 deg,
      approach rate: -0.767203 m/s,
      LOS rate: 0.035452 deg/s,
      cmd heading: 288.466237 deg,
      new cmd heading: 288.508886 deg.

2025-01-09T00:44:55.317Z,1736383495.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.035430 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:55.405Z,1736383495.405 [DAT](INFO): DAT read: 00:44:53.5031 LVL= 25312, 32753, 25778, 32755, AGC= 62, IDX= 414,-0.48, 0.292,-1.107, 0.181,-0.089, PHS= 0.469,-0.971, 0.267, RAW= 142.6,   3.5, CAL= 146.1,  -4.9, ROT=   3.9,   4.9

2025-01-09T00:44:55.416Z,1736383495.416 [DAT](INFO): got valid direction response:
 00:44:53.5031 LVL= 25312, 32753, 25778, 32755, AGC= 62, IDX= 414,-0.48, 0.292,-1.107, 0.181,-0.089, PHS= 0.469,-0.971, 0.267, RAW= 142.6,   3.5, CAL= 146.1,  -4.9, ROT=   3.9,   4.9

2025-01-09T00:44:55.432Z,1736383495.432 [DAT](INFO): DAT read: Bearing   3.9,   4.9 (Local)

2025-01-09T00:44:55.432Z,1736383495.432 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.9,   4.9 (Local)

2025-01-09T00:44:55.434Z,1736383495.434 [DAT](INFO): DAT read: Range 10 to 50 : 201.6 m  (Round-trip  268.9 ms) speed  0.4 m/s

2025-01-09T00:44:55.434Z,1736383495.434 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:44:55.444Z,1736383495.444 [DAT](INFO): direction in FSK: [0.994038,0.067767,-0.085417]
2025-01-09T00:44:55.444Z,1736383495.444 [DAT](INFO): publishing direction and range info
2025-01-09T00:44:55.452Z,1736383495.452 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:55.452Z,1736383495.452 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:55.452Z,1736383495.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:55.608Z,1736383495.608 [DAT](INFO): DAT read: user:3720>

2025-01-09T00:44:55.609Z,1736383495.609 [DAT](INFO): DAT read: Tx time:00:44:54.9300

2025-01-09T00:44:55.609Z,1736383495.609 [DAT](INFO): Ping request sent.
2025-01-09T00:44:55.609Z,1736383495.609 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:55.609Z,1736383495.609 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:55.610Z,1736383495.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-01-09T00:44:55.741Z,1736383495.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:55.779Z,1736383495.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 201.600006 m,
 deltaT: 4.035231 s,
 deltaX: -39.399994 m,
 approachRate: -9.764000 m/s,
 rangeRepo size: 4
2025-01-09T00:44:55.780Z,1736383495.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:55.788Z,1736383495.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 204.408264 m,
      bearing: 292.650512 deg,
      approach rate: -0.762595 m/s,
      LOS rate: 0.038214 deg/s,
      cmd heading: 288.508884 deg,
      new cmd heading: 288.562481 deg.

2025-01-09T00:44:55.789Z,1736383495.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.036366 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:55.861Z,1736383495.861 [DAT](INFO): DAT read: TxSync time:00:44:54.9292

2025-01-09T00:44:55.863Z,1736383495.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253208
2025-01-09T00:44:56.090Z,1736383496.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:56.112Z,1736383496.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503012
2025-01-09T00:44:56.117Z,1736383496.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:56.120Z,1736383496.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 204.140564 m,
      bearing: 292.663956 deg,
      approach rate: -0.781255 m/s,
      LOS rate: 0.039286 deg/s,
      cmd heading: 288.562488 deg,
      new cmd heading: 288.602873 deg.

2025-01-09T00:44:56.121Z,1736383496.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.037070 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:56.368Z,1736383496.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758370
2025-01-09T00:44:56.518Z,1736383496.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:56.546Z,1736383496.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:56.553Z,1736383496.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 203.835419 m,
      bearing: 292.680308 deg,
      approach rate: -0.711072 m/s,
      LOS rate: 0.038161 deg/s,
      cmd heading: 288.602868 deg,
      new cmd heading: 288.651996 deg.

2025-01-09T00:44:56.554Z,1736383496.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.037928 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:56.617Z,1736383496.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007723
2025-01-09T00:44:56.868Z,1736383496.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258981
2025-01-09T00:44:56.896Z,1736383496.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:56.904Z,1736383496.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:56.906Z,1736383496.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:56.936Z,1736383496.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 203.565659 m,
      bearing: 292.694856 deg,
      approach rate: -0.749606 m/s,
      LOS rate: 0.040480 deg/s,
      cmd heading: 288.651991 deg,
      new cmd heading: 288.695693 deg.

2025-01-09T00:44:56.937Z,1736383496.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038691 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:57.123Z,1736383497.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513466
2025-01-09T00:44:57.307Z,1736383497.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:57.349Z,1736383497.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:57.358Z,1736383497.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 203.272736 m,
      bearing: 292.710724 deg,
      approach rate: -0.660832 m/s,
      LOS rate: 0.035850 deg/s,
      cmd heading: 288.695704 deg,
      new cmd heading: 288.743377 deg.

2025-01-09T00:44:57.365Z,1736383497.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.039523 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:57.377Z,1736383497.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767499
2025-01-09T00:44:57.628Z,1736383497.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018877
2025-01-09T00:44:57.767Z,1736383497.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:57.776Z,1736383497.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:57.779Z,1736383497.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 202.960312 m,
      bearing: 292.726536 deg,
      approach rate: -0.732206 m/s,
      LOS rate: 0.037113 deg/s,
      cmd heading: 288.743378 deg,
      new cmd heading: 288.790885 deg.

2025-01-09T00:44:57.780Z,1736383497.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.040352 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:57.882Z,1736383497.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272586
2025-01-09T00:44:58.132Z,1736383498.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522951
2025-01-09T00:44:58.143Z,1736383498.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:58.153Z,1736383498.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:58.156Z,1736383498.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 202.705353 m,
      bearing: 292.739227 deg,
      approach rate: -0.676896 m/s,
      LOS rate: 0.033737 deg/s,
      cmd heading: 288.790889 deg,
      new cmd heading: 288.829011 deg.

2025-01-09T00:44:58.157Z,1736383498.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.041017 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:58.386Z,1736383498.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776211
2025-01-09T00:44:58.574Z,1736383498.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:58.583Z,1736383498.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:58.586Z,1736383498.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 202.429520 m,
      bearing: 292.753188 deg,
      approach rate: -0.641478 m/s,
      LOS rate: 0.032512 deg/s,
      cmd heading: 288.829002 deg,
      new cmd heading: 288.870942 deg.

2025-01-09T00:44:58.587Z,1736383498.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.041749 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:58.638Z,1736383498.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028212
2025-01-09T00:44:58.888Z,1736383498.888 [DAT](INFO): DAT read: Rx Time:00:44:57.6505

2025-01-09T00:44:58.889Z,1736383498.889 [DAT](INFO): Rx dataTimestamp_ set to:1736383498.888643
2025-01-09T00:44:58.889Z,1736383498.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280163
2025-01-09T00:44:58.952Z,1736383498.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:58.958Z,1736383498.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:44:58.966Z,1736383498.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:58.973Z,1736383498.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 202.187225 m,
      bearing: 292.765272 deg,
      approach rate: -0.632276 m/s,
      LOS rate: 0.031572 deg/s,
      cmd heading: 288.870939 deg,
      new cmd heading: 288.907235 deg.

2025-01-09T00:44:58.974Z,1736383498.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.042383 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:59.140Z,1736383499.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531021
2025-01-09T00:44:59.352Z,1736383499.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:59.380Z,1736383499.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:59.383Z,1736383499.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 201.930679 m,
      bearing: 292.777811 deg,
      approach rate: -0.618799 m/s,
      LOS rate: 0.030283 deg/s,
      cmd heading: 288.907248 deg,
      new cmd heading: 288.944914 deg.

2025-01-09T00:44:59.384Z,1736383499.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.043040 target range: 241.000000 and range: 241.00 m.
2025-01-09T00:44:59.396Z,1736383499.396 [DAT](INFO): DAT read: Range 10 to 50 : 237.3 m  (Round-trip  316.4 ms) speed  0.8 m/s

2025-01-09T00:44:59.397Z,1736383499.397 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T00:44:59.400Z,1736383499.400 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:44:59.400Z,1736383499.400 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:44:59.402Z,1736383499.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:44:59.644Z,1736383499.644 [DAT](INFO): DAT read: user:3721>

2025-01-09T00:44:59.645Z,1736383499.645 [DAT](INFO): DAT read: Tx time:00:44:58.8800

2025-01-09T00:44:59.645Z,1736383499.645 [DAT](INFO): Ping request sent.
2025-01-09T00:44:59.645Z,1736383499.645 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:44:59.646Z,1736383499.646 [DAT](INFO): publishing transmit ping time
2025-01-09T00:44:59.646Z,1736383499.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-01-09T00:44:59.778Z,1736383499.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:44:59.788Z,1736383499.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.300003 m,
      deltaT: 8.071549 s,
      deltaX: -3.699997 m,
      approachRate: -0.458400 m/s,
      rangeRepo size: 4

2025-01-09T00:44:59.789Z,1736383499.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:44:59.792Z,1736383499.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 201.669647 m,
      bearing: 292.789559 deg,
      approach rate: -0.640889 m/s,
      LOS rate: 0.028880 deg/s,
      cmd heading: 288.944924 deg,
      new cmd heading: 288.980212 deg.

2025-01-09T00:44:59.793Z,1736383499.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.043656 target range: 241.000000 and range: 237.30 m.
2025-01-09T00:44:59.897Z,1736383499.897 [DAT](INFO): DAT read: TxSync time:00:44:58.8792

2025-01-09T00:44:59.898Z,1736383499.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252677
2025-01-09T00:45:00.149Z,1736383500.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503127
2025-01-09T00:45:00.158Z,1736383500.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:00.167Z,1736383500.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:45:00.170Z,1736383500.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 201.437271 m,
      bearing: 292.800218 deg,
      approach rate: -0.612574 m/s,
      LOS rate: 0.028131 deg/s,
      cmd heading: 288.980222 deg,
      new cmd heading: 289.012236 deg.

2025-01-09T00:45:00.171Z,1736383500.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.044215 target range: 241.000000 and range: 237.30 m.
2025-01-09T00:45:00.404Z,1736383500.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757610
2025-01-09T00:45:00.610Z,1736383500.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:00.621Z,1736383500.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:45:00.624Z,1736383500.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 201.162308 m,
      bearing: 292.811497 deg,
      approach rate: -0.606176 m/s,
      LOS rate: 0.024900 deg/s,
      cmd heading: 289.012242 deg,
      new cmd heading: 289.046126 deg.

2025-01-09T00:45:00.625Z,1736383500.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.044806 target range: 241.000000 and range: 237.30 m.
2025-01-09T00:45:00.653Z,1736383500.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007310
2025-01-09T00:45:00.904Z,1736383500.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258790
2025-01-09T00:45:00.965Z,1736383500.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:00.972Z,1736383500.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:00.974Z,1736383500.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:45:00.997Z,1736383500.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 200.946655 m,
      bearing: 292.820192 deg,
      approach rate: -0.610894 m/s,
      LOS rate: 0.024658 deg/s,
      cmd heading: 289.046120 deg,
      new cmd heading: 289.072234 deg.

2025-01-09T00:45:00.998Z,1736383500.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.045262 target range: 241.000000 and range: 237.30 m.
2025-01-09T00:45:01.156Z,1736383501.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510886
2025-01-09T00:45:01.370Z,1736383501.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:01.394Z,1736383501.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:45:01.399Z,1736383501.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 200.700439 m,
      bearing: 292.829897 deg,
      approach rate: -0.586633 m/s,
      LOS rate: 0.023150 deg/s,
      cmd heading: 289.072238 deg,
      new cmd heading: 289.101387 deg.

2025-01-09T00:45:01.400Z,1736383501.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.045771 target range: 241.000000 and range: 237.30 m.
2025-01-09T00:45:01.408Z,1736383501.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762889
2025-01-09T00:45:01.672Z,1736383501.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026358
2025-01-09T00:45:01.798Z,1736383501.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:01.807Z,1736383501.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:45:01.809Z,1736383501.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 200.431915 m,
      bearing: 292.839991 deg,
      approach rate: -0.650049 m/s,
      LOS rate: 0.024470 deg/s,
      cmd heading: 289.101390 deg,
      new cmd heading: 289.131715 deg.

2025-01-09T00:45:01.810Z,1736383501.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.046300 target range: 241.000000 and range: 237.30 m.
2025-01-09T00:45:01.920Z,1736383501.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275002
2025-01-09T00:45:02.172Z,1736383502.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526863
2025-01-09T00:45:02.179Z,1736383502.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:02.188Z,1736383502.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:45:02.191Z,1736383502.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 200.192764 m,
      bearing: 292.848788 deg,
      approach rate: -0.626328 m/s,
      LOS rate: 0.023065 deg/s,
      cmd heading: 289.131716 deg,
      new cmd heading: 289.158137 deg.

2025-01-09T00:45:02.192Z,1736383502.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.046762 target range: 241.000000 and range: 237.30 m.
2025-01-09T00:45:02.424Z,1736383502.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779089
2025-01-09T00:45:02.617Z,1736383502.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:02.633Z,1736383502.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:45:02.640Z,1736383502.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 199.912247 m,
      bearing: 292.859465 deg,
      approach rate: -0.631306 m/s,
      LOS rate: 0.024062 deg/s,
      cmd heading: 289.158135 deg,
      new cmd heading: 289.190211 deg.

2025-01-09T00:45:02.641Z,1736383502.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.047321 target range: 241.000000 and range: 237.30 m.
2025-01-09T00:45:02.681Z,1736383502.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035804
2025-01-09T00:45:02.932Z,1736383502.932 [DAT](INFO): DAT read: Rx Time:00:45:01.5957

2025-01-09T00:45:02.933Z,1736383502.933 [DAT](INFO): Rx dataTimestamp_ set to:1736383502.932463
2025-01-09T00:45:02.933Z,1736383502.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287890
2025-01-09T00:45:03.010Z,1736383503.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:03.017Z,1736383503.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:03.031Z,1736383503.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:45:03.034Z,1736383503.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 199.660629 m,
      bearing: 292.868993 deg,
      approach rate: -0.650923 m/s,
      LOS rate: 0.024681 deg/s,
      cmd heading: 289.190209 deg,
      new cmd heading: 289.218831 deg.

2025-01-09T00:45:03.039Z,1736383503.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.047821 target range: 241.000000 and range: 237.30 m.
2025-01-09T00:45:03.185Z,1736383503.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539106
2025-01-09T00:45:03.390Z,1736383503.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:03.398Z,1736383503.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.00 m.
2025-01-09T00:45:03.420Z,1736383503.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.000000 m,
      nav range: 199.417145 m,
      bearing: 292.878295 deg,
      approach rate: -0.642622 m/s,
      LOS rate: 0.024579 deg/s,
      cmd heading: 289.218842 deg,
      new cmd heading: 289.246780 deg.

2025-01-09T00:45:03.421Z,1736383503.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.048309 target range: 241.000000 and range: 237.30 m.
2025-01-09T00:45:03.442Z,1736383503.442 [DAT](INFO): DAT read: 00:45:01.5958 LVL= 19888, 23793, 15858, 20531, AGC= 58, IDX= 385, 0.26,-2.846, 1.870,-2.746, 2.558, PHS= 0.967,-0.641, 0.976, RAW= 150.3, -15.9, CAL= 156.5, -23.3, ROT= 353.5,  23.3

2025-01-09T00:45:03.443Z,1736383503.443 [DAT](INFO): got valid direction response:
 00:45:01.5958 LVL= 19888, 23793, 15858, 20531, AGC= 58, IDX= 385, 0.26,-2.846, 1.870,-2.746, 2.558, PHS= 0.967,-0.641, 0.976, RAW= 150.3, -15.9, CAL= 156.5, -23.3, ROT= 353.5,  23.3

2025-01-09T00:45:03.444Z,1736383503.444 [DAT](INFO): DAT read: Bearing 353.5,  23.3 (Local)

2025-01-09T00:45:03.444Z,1736383503.444 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.5,  23.3 (Local)

2025-01-09T00:45:03.446Z,1736383503.446 [DAT](INFO): DAT read: Range 10 to 50 : 233.6 m  (Round-trip  311.5 ms) speed  0.8 m/s

2025-01-09T00:45:03.446Z,1736383503.446 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:03.447Z,1736383503.447 [DAT](INFO): direction in FSK: [0.912542,-0.103971,-0.395545]
2025-01-09T00:45:03.448Z,1736383503.448 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:03.451Z,1736383503.451 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:03.451Z,1736383503.451 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:03.461Z,1736383503.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:03.692Z,1736383503.692 [DAT](INFO): DAT read: user:3722>

2025-01-09T00:45:03.693Z,1736383503.693 [DAT](INFO): DAT read: Tx time:00:45:02.9301

2025-01-09T00:45:03.693Z,1736383503.693 [DAT](INFO): Ping request sent.
2025-01-09T00:45:03.693Z,1736383503.693 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:03.693Z,1736383503.693 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:03.694Z,1736383503.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-01-09T00:45:03.822Z,1736383503.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:45:03.822Z,1736383503.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:03.849Z,1736383503.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 233.600006 m,
      deltaT: 4.042867 s,
      deltaX: -3.699997 m,
      approachRate: -0.915191 m/s,
      rangeRepo size: 4

2025-01-09T00:45:03.851Z,1736383503.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 233.600006 m,
      bearing: 286.839456 deg,
      lat: 36.904079 deg,
      lon: -122.118989 deg,
      deltaT: 12.114416 s,
      deltaX: -7.399994 m,
      approachRate: -0.610842 m/s,
      posRepo size: 4

2025-01-09T00:45:03.856Z,1736383503.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:03.858Z,1736383503.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 198.641174 m,
      bearing: 292.544973 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024579 deg/s,
      cmd heading: 289.246791 deg,
      new cmd heading: 289.279631 deg.

2025-01-09T00:45:03.865Z,1736383503.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.048882 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:03.942Z,1736383503.942 [DAT](INFO): DAT read: TxSync time:00:45:02.9293

2025-01-09T00:45:03.943Z,1736383503.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250512
2025-01-09T00:45:04.192Z,1736383504.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499469
2025-01-09T00:45:04.290Z,1736383504.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T00:45:04.290Z,1736383504.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:04.300Z,1736383504.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:04.305Z,1736383504.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 198.341446 m,
      bearing: 292.556364 deg,
      approach rate: -0.656060 m/s,
      LOS rate: 0.024971 deg/s,
      cmd heading: 289.279630 deg,
      new cmd heading: 289.313855 deg.

2025-01-09T00:45:04.306Z,1736383504.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.049479 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:04.446Z,1736383504.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752566
2025-01-09T00:45:04.696Z,1736383504.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003252
2025-01-09T00:45:04.738Z,1736383504.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:04.747Z,1736383504.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:04.751Z,1736383504.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 198.006989 m,
      bearing: 292.569147 deg,
      approach rate: -0.749577 m/s,
      LOS rate: 0.028697 deg/s,
      cmd heading: 289.313863 deg,
      new cmd heading: 289.352277 deg.

2025-01-09T00:45:04.752Z,1736383504.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.050150 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:04.949Z,1736383504.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256020
2025-01-09T00:45:05.169Z,1736383505.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:05.175Z,1736383505.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:05.177Z,1736383505.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:05.181Z,1736383505.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 197.685837 m,
      bearing: 292.582126 deg,
      approach rate: -0.745389 m/s,
      LOS rate: 0.030173 deg/s,
      cmd heading: 289.352276 deg,
      new cmd heading: 289.391276 deg.

2025-01-09T00:45:05.182Z,1736383505.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.050830 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:05.200Z,1736383505.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507284
2025-01-09T00:45:05.452Z,1736383505.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759242
2025-01-09T00:45:05.638Z,1736383505.638 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:45:05.646Z,1736383505.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:05.658Z,1736383505.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:05.662Z,1736383505.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 197.316208 m,
      bearing: 292.595055 deg,
      approach rate: -0.769829 m/s,
      LOS rate: 0.026978 deg/s,
      cmd heading: 289.391263 deg,
      new cmd heading: 289.430123 deg.

2025-01-09T00:45:05.665Z,1736383505.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051508 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:05.705Z,1736383505.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011795
2025-01-09T00:45:05.956Z,1736383505.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263176
2025-01-09T00:45:05.982Z,1736383505.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:05.991Z,1736383505.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:05.994Z,1736383505.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 197.056152 m,
      bearing: 292.604196 deg,
      approach rate: -0.780526 m/s,
      LOS rate: 0.027470 deg/s,
      cmd heading: 289.430113 deg,
      new cmd heading: 289.457571 deg.

2025-01-09T00:45:05.995Z,1736383505.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.051988 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:06.208Z,1736383506.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515488
2025-01-09T00:45:06.370Z,1736383506.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:06.412Z,1736383506.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:06.421Z,1736383506.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 196.755402 m,
      bearing: 292.614936 deg,
      approach rate: -0.714082 m/s,
      LOS rate: 0.025541 deg/s,
      cmd heading: 289.457570 deg,
      new cmd heading: 289.489842 deg.

2025-01-09T00:45:06.423Z,1736383506.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.052551 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:06.461Z,1736383506.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767593
2025-01-09T00:45:06.640Z,1736383506.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:45:06.712Z,1736383506.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019303
2025-01-09T00:45:06.805Z,1736383506.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:06.834Z,1736383506.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:06.841Z,1736383506.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 196.403748 m,
      bearing: 292.628923 deg,
      approach rate: -0.832311 m/s,
      LOS rate: 0.033163 deg/s,
      cmd heading: 289.489836 deg,
      new cmd heading: 289.531871 deg.

2025-01-09T00:45:06.842Z,1736383506.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.053285 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:06.965Z,1736383506.965 [DAT](INFO): DAT read: Rx Time:00:45:05.5914

2025-01-09T00:45:06.966Z,1736383506.966 [DAT](INFO): Rx dataTimestamp_ set to:1736383506.965340
2025-01-09T00:45:06.966Z,1736383506.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273233
2025-01-09T00:45:07.202Z,1736383507.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:07.217Z,1736383507.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523666
2025-01-09T00:45:07.221Z,1736383507.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:07.224Z,1736383507.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:07.226Z,1736383507.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 196.083542 m,
      bearing: 292.641703 deg,
      approach rate: -0.823210 m/s,
      LOS rate: 0.032909 deg/s,
      cmd heading: 289.531883 deg,
      new cmd heading: 289.570285 deg.

2025-01-09T00:45:07.228Z,1736383507.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.053955 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:07.476Z,1736383507.476 [DAT](INFO): DAT read: 00:45:05.5914 LVL= 19792, 28561, 17906, 27123, AGC= 61, IDX= 388, 0.41, 0.454,-1.141, 0.367, 0.072, PHS= 0.470,-1.166, 0.292, RAW= 144.3,   5.2, CAL= 147.1,  -3.2, ROT=   2.9,   3.2

2025-01-09T00:45:07.478Z,1736383507.478 [DAT](INFO): got valid direction response:
 00:45:05.5914 LVL= 19792, 28561, 17906, 27123, AGC= 61, IDX= 388, 0.41, 0.454,-1.141, 0.367, 0.072, PHS= 0.470,-1.166, 0.292, RAW= 144.3,   5.2, CAL= 147.1,  -3.2, ROT=   2.9,   3.2

2025-01-09T00:45:07.478Z,1736383507.478 [DAT](INFO): DAT read: Bearing   2.9,   3.2 (Local)

2025-01-09T00:45:07.479Z,1736383507.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,   3.2 (Local)

2025-01-09T00:45:07.489Z,1736383507.489 [DAT](INFO): DAT read: Range 10 to 50 : 192.8 m  (Round-trip  257.1 ms) speed  0.1 m/s

2025-01-09T00:45:07.491Z,1736383507.491 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:07.517Z,1736383507.517 [DAT](INFO): direction in FSK: [0.997162,0.050514,-0.055822]
2025-01-09T00:45:07.517Z,1736383507.517 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:07.534Z,1736383507.534 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:07.534Z,1736383507.534 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:07.534Z,1736383507.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:07.720Z,1736383507.720 [DAT](INFO): DAT read: user:3723>

2025-01-09T00:45:07.721Z,1736383507.721 [DAT](INFO): DAT read: Tx time:00:45:06.9801

2025-01-09T00:45:07.722Z,1736383507.722 [DAT](INFO): Ping request sent.
2025-01-09T00:45:07.722Z,1736383507.722 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:07.722Z,1736383507.722 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:07.722Z,1736383507.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-01-09T00:45:07.727Z,1736383507.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:07.782Z,1736383507.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 192.800003 m,
 deltaT: 4.032948 s,
 deltaX: -40.800003 m,
 approachRate: -10.116670 m/s,
 rangeRepo size: 4
2025-01-09T00:45:07.783Z,1736383507.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:07.796Z,1736383507.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 195.651749 m,
      bearing: 292.658677 deg,
      approach rate: -0.775235 m/s,
      LOS rate: 0.030542 deg/s,
      cmd heading: 289.570296 deg,
      new cmd heading: 289.621330 deg.

2025-01-09T00:45:07.798Z,1736383507.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.054846 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:07.972Z,1736383507.972 [DAT](INFO): DAT read: TxSync time:00:45:06.9793

2025-01-09T00:45:07.973Z,1736383507.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251447
2025-01-09T00:45:08.082Z,1736383508.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:08.093Z,1736383508.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:08.111Z,1736383508.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 195.359528 m,
      bearing: 292.670681 deg,
      approach rate: -0.936057 m/s,
      LOS rate: 0.038511 deg/s,
      cmd heading: 289.621331 deg,
      new cmd heading: 289.657398 deg.

2025-01-09T00:45:08.112Z,1736383508.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.055475 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:08.224Z,1736383508.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502560
2025-01-09T00:45:08.476Z,1736383508.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754627
2025-01-09T00:45:08.498Z,1736383508.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:08.507Z,1736383508.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:08.513Z,1736383508.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 195.017426 m,
      bearing: 292.685117 deg,
      approach rate: -0.826325 m/s,
      LOS rate: 0.034929 deg/s,
      cmd heading: 289.657394 deg,
      new cmd heading: 289.700777 deg.

2025-01-09T00:45:08.514Z,1736383508.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056232 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:08.728Z,1736383508.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006566
2025-01-09T00:45:08.909Z,1736383508.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:08.939Z,1736383508.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:08.946Z,1736383508.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 194.683411 m,
      bearing: 292.699551 deg,
      approach rate: -0.772625 m/s,
      LOS rate: 0.033446 deg/s,
      cmd heading: 289.700780 deg,
      new cmd heading: 289.744157 deg.

2025-01-09T00:45:08.952Z,1736383508.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.056990 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:08.981Z,1736383508.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259207
2025-01-09T00:45:09.232Z,1736383509.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510583
2025-01-09T00:45:09.296Z,1736383509.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:09.304Z,1736383509.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:09.306Z,1736383509.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:09.309Z,1736383509.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 194.368820 m,
      bearing: 292.713168 deg,
      approach rate: -0.856933 m/s,
      LOS rate: 0.037153 deg/s,
      cmd heading: 289.744165 deg,
      new cmd heading: 289.785083 deg.

2025-01-09T00:45:09.310Z,1736383509.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057704 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:09.484Z,1736383509.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762570
2025-01-09T00:45:09.729Z,1736383509.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:09.736Z,1736383509.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014617
2025-01-09T00:45:09.740Z,1736383509.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:09.743Z,1736383509.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 194.031143 m,
      bearing: 292.726791 deg,
      approach rate: -0.777852 m/s,
      LOS rate: 0.031435 deg/s,
      cmd heading: 289.785092 deg,
      new cmd heading: 289.826030 deg.

2025-01-09T00:45:09.744Z,1736383509.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.058418 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:09.989Z,1736383509.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267438
2025-01-09T00:45:10.113Z,1736383510.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:10.122Z,1736383510.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:10.125Z,1736383510.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 193.731125 m,
      bearing: 292.738756 deg,
      approach rate: -0.785697 m/s,
      LOS rate: 0.031385 deg/s,
      cmd heading: 289.826018 deg,
      new cmd heading: 289.861971 deg.

2025-01-09T00:45:10.126Z,1736383510.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059046 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:10.241Z,1736383510.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518849
2025-01-09T00:45:10.492Z,1736383510.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770599
2025-01-09T00:45:10.507Z,1736383510.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:10.515Z,1736383510.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:10.522Z,1736383510.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 193.422958 m,
      bearing: 292.750911 deg,
      approach rate: -0.783768 m/s,
      LOS rate: 0.030962 deg/s,
      cmd heading: 289.861972 deg,
      new cmd heading: 289.898494 deg.

2025-01-09T00:45:10.523Z,1736383510.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059683 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:10.749Z,1736383510.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026580
2025-01-09T00:45:10.926Z,1736383510.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:10.956Z,1736383510.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:10.958Z,1736383510.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 193.116348 m,
      bearing: 292.762129 deg,
      approach rate: -0.729503 m/s,
      LOS rate: 0.026733 deg/s,
      cmd heading: 289.898500 deg,
      new cmd heading: 289.932208 deg.

2025-01-09T00:45:10.964Z,1736383510.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060272 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:10.997Z,1736383510.997 [DAT](INFO): DAT read: Rx Time:00:45:09.6919

2025-01-09T00:45:10.998Z,1736383510.998 [DAT](INFO): Rx dataTimestamp_ set to:1736383510.997108
2025-01-09T00:45:10.998Z,1736383510.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276620
2025-01-09T00:45:11.249Z,1736383511.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526869
2025-01-09T00:45:11.312Z,1736383511.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:11.320Z,1736383511.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:11.322Z,1736383511.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.60 m.
2025-01-09T00:45:11.325Z,1736383511.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 233.600006 m,
      nav range: 192.834427 m,
      bearing: 292.772262 deg,
      approach rate: -0.729911 m/s,
      LOS rate: 0.026273 deg/s,
      cmd heading: 289.932214 deg,
      new cmd heading: 289.962657 deg.

2025-01-09T00:45:11.326Z,1736383511.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060803 target range: 233.600006 and range: 233.60 m.
2025-01-09T00:45:11.508Z,1736383511.508 [DAT](INFO): DAT read: 00:45:09.6919 LVL= 19696, 26257, 20178, 24563, AGC= 57, IDX= 442,-0.39,-1.364,-2.896,-1.393,-2.308, PHS= 1.033,-0.541, 0.913, RAW= 146.1, -18.1, CAL= 151.9, -25.7, ROT= 358.1,  25.7

2025-01-09T00:45:11.509Z,1736383511.509 [DAT](INFO): got valid direction response:
 00:45:09.6919 LVL= 19696, 26257, 20178, 24563, AGC= 57, IDX= 442,-0.39,-1.364,-2.896,-1.393,-2.308, PHS= 1.033,-0.541, 0.913, RAW= 146.1, -18.1, CAL= 151.9, -25.7, ROT= 358.1,  25.7

2025-01-09T00:45:11.510Z,1736383511.510 [DAT](INFO): DAT read: Bearing 358.1,  25.7 (Local)

2025-01-09T00:45:11.510Z,1736383511.510 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.1,  25.7 (Local)

2025-01-09T00:45:11.512Z,1736383511.512 [DAT](INFO): DAT read: Range 10 to 50 : 230.7 m  (Round-trip  307.7 ms) speed  0.4 m/s

2025-01-09T00:45:11.513Z,1736383511.513 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:11.514Z,1736383511.514 [DAT](INFO): direction in FSK: [0.900582,-0.029875,-0.433659]
2025-01-09T00:45:11.514Z,1736383511.514 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:11.517Z,1736383511.517 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:11.517Z,1736383511.517 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:11.517Z,1736383511.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:11.752Z,1736383511.752 [DAT](INFO): DAT read: user:3724>

2025-01-09T00:45:11.753Z,1736383511.753 [DAT](INFO): DAT read: Tx time:00:45:10.9801

2025-01-09T00:45:11.754Z,1736383511.754 [DAT](INFO): Ping request sent.
2025-01-09T00:45:11.754Z,1736383511.754 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:11.754Z,1736383511.754 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:11.754Z,1736383511.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-01-09T00:45:11.817Z,1736383511.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:11.866Z,1736383511.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 230.699997 m,
      deltaT: 8.065352 s,
      deltaX: -2.900009 m,
      approachRate: -0.359564 m/s,
      rangeRepo size: 4

2025-01-09T00:45:11.876Z,1736383511.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 230.699997 m,
      bearing: 291.448309 deg,
      lat: 36.904079 deg,
      lon: -122.119143 deg,
      deltaT: 8.065352 s,
      deltaX: -2.900009 m,
      approachRate: -0.359564 m/s,
      posRepo size: 4

2025-01-09T00:45:11.877Z,1736383511.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.70 m.
2025-01-09T00:45:11.884Z,1736383511.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.699997 m,
      nav range: 205.165039 m,
      bearing: 291.305356 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026273 deg/s,
      cmd heading: 289.962649 deg,
      new cmd heading: 290.005489 deg.

2025-01-09T00:45:11.885Z,1736383511.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.061551 target range: 230.699997 and range: 230.70 m.
2025-01-09T00:45:12.005Z,1736383512.005 [DAT](INFO): DAT read: TxSync time:00:45:10.9793

2025-01-09T00:45:12.005Z,1736383512.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251698
2025-01-09T00:45:12.169Z,1736383512.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:12.178Z,1736383512.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.70 m.
2025-01-09T00:45:12.182Z,1736383512.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.699997 m,
      nav range: 204.926224 m,
      bearing: 291.311050 deg,
      approach rate: -0.763764 m/s,
      LOS rate: 0.018231 deg/s,
      cmd heading: 290.005488 deg,
      new cmd heading: 290.022590 deg.

2025-01-09T00:45:12.184Z,1736383512.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.061849 target range: 230.699997 and range: 230.70 m.
2025-01-09T00:45:12.256Z,1736383512.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502796
2025-01-09T00:45:12.509Z,1736383512.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755816
2025-01-09T00:45:12.571Z,1736383512.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:12.633Z,1736383512.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.70 m.
2025-01-09T00:45:12.646Z,1736383512.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.699997 m,
      nav range: 204.654541 m,
      bearing: 291.317574 deg,
      approach rate: -0.615878 m/s,
      LOS rate: 0.014808 deg/s,
      cmd heading: 290.022591 deg,
      new cmd heading: 290.042188 deg.

2025-01-09T00:45:12.655Z,1736383512.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062191 target range: 230.699997 and range: 230.70 m.
2025-01-09T00:45:12.760Z,1736383512.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006626
2025-01-09T00:45:13.008Z,1736383513.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:13.012Z,1736383513.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258645
2025-01-09T00:45:13.020Z,1736383513.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.70 m.
2025-01-09T00:45:13.022Z,1736383513.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.699997 m,
      nav range: 204.383881 m,
      bearing: 291.325645 deg,
      approach rate: -0.676137 m/s,
      LOS rate: 0.020188 deg/s,
      cmd heading: 290.042180 deg,
      new cmd heading: 290.066424 deg.

2025-01-09T00:45:13.039Z,1736383513.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062614 target range: 230.699997 and range: 230.70 m.
2025-01-09T00:45:13.265Z,1736383513.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511249
2025-01-09T00:45:13.375Z,1736383513.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:13.383Z,1736383513.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:13.385Z,1736383513.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.70 m.
2025-01-09T00:45:13.404Z,1736383513.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.699997 m,
      nav range: 204.157211 m,
      bearing: 291.331948 deg,
      approach rate: -0.619850 m/s,
      LOS rate: 0.017256 deg/s,
      cmd heading: 290.066413 deg,
      new cmd heading: 290.085344 deg.

2025-01-09T00:45:13.405Z,1736383513.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062944 target range: 230.699997 and range: 230.70 m.
2025-01-09T00:45:13.519Z,1736383513.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764730
2025-01-09T00:45:13.768Z,1736383513.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014539
2025-01-09T00:45:13.809Z,1736383513.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:13.818Z,1736383513.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.70 m.
2025-01-09T00:45:13.821Z,1736383513.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.699997 m,
      nav range: 203.905228 m,
      bearing: 291.338017 deg,
      approach rate: -0.581720 m/s,
      LOS rate: 0.014028 deg/s,
      cmd heading: 290.085347 deg,
      new cmd heading: 290.103576 deg.

2025-01-09T00:45:13.822Z,1736383513.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063262 target range: 230.699997 and range: 230.70 m.
2025-01-09T00:45:14.020Z,1736383514.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266555
2025-01-09T00:45:14.188Z,1736383514.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:14.197Z,1736383514.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.70 m.
2025-01-09T00:45:14.201Z,1736383514.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.699997 m,
      nav range: 203.684601 m,
      bearing: 291.343021 deg,
      approach rate: -0.582922 m/s,
      LOS rate: 0.013236 deg/s,
      cmd heading: 290.103570 deg,
      new cmd heading: 290.118598 deg.

2025-01-09T00:45:14.202Z,1736383514.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063525 target range: 230.699997 and range: 230.70 m.
2025-01-09T00:45:14.272Z,1736383514.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518718
2025-01-09T00:45:14.524Z,1736383514.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770817
2025-01-09T00:45:14.590Z,1736383514.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:14.599Z,1736383514.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.70 m.
2025-01-09T00:45:14.602Z,1736383514.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.699997 m,
      nav range: 203.450912 m,
      bearing: 291.348080 deg,
      approach rate: -0.580788 m/s,
      LOS rate: 0.012587 deg/s,
      cmd heading: 290.118596 deg,
      new cmd heading: 290.133790 deg.

2025-01-09T00:45:14.603Z,1736383514.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063790 target range: 230.699997 and range: 230.70 m.
2025-01-09T00:45:14.777Z,1736383514.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023580
2025-01-09T00:45:15.014Z,1736383515.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:15.023Z,1736383515.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.70 m.
2025-01-09T00:45:15.026Z,1736383515.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.699997 m,
      nav range: 203.206223 m,
      bearing: 291.354457 deg,
      approach rate: -0.576998 m/s,
      LOS rate: 0.015056 deg/s,
      cmd heading: 290.133786 deg,
      new cmd heading: 290.152942 deg.

2025-01-09T00:45:15.037Z,1736383515.037 [DAT](INFO): DAT read: Rx Time:00:45:13.6871

2025-01-09T00:45:15.037Z,1736383515.037 [DAT](INFO): Rx dataTimestamp_ set to:1736383515.036745
2025-01-09T00:45:15.038Z,1736383515.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283889
2025-01-09T00:45:15.059Z,1736383515.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.064124 target range: 230.699997 and range: 230.70 m.
2025-01-09T00:45:15.288Z,1736383515.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534517
2025-01-09T00:45:15.422Z,1736383515.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:15.429Z,1736383515.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:15.432Z,1736383515.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.70 m.
2025-01-09T00:45:15.434Z,1736383515.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.699997 m,
      nav range: 202.970016 m,
      bearing: 291.360440 deg,
      approach rate: -0.578925 m/s,
      LOS rate: 0.014680 deg/s,
      cmd heading: 290.152938 deg,
      new cmd heading: 290.170907 deg.

2025-01-09T00:45:15.436Z,1736383515.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.064438 target range: 230.699997 and range: 230.70 m.
2025-01-09T00:45:15.546Z,1736383515.546 [DAT](INFO): DAT read: 00:45:13.6872 LVL= 21280, 24049, 17842, 23523, AGC= 60, IDX= 393,-0.12, 0.434,-0.818, 0.414,-0.502, PHS= 1.025,-0.269, 0.913, RAW= 145.5, -25.4, CAL= 150.0, -31.7, ROT= 360.0,  31.7

2025-01-09T00:45:15.548Z,1736383515.548 [DAT](INFO): got valid direction response:
 00:45:13.6872 LVL= 21280, 24049, 17842, 23523, AGC= 60, IDX= 393,-0.12, 0.434,-0.818, 0.414,-0.502, PHS= 1.025,-0.269, 0.913, RAW= 145.5, -25.4, CAL= 150.0, -31.7, ROT= 360.0,  31.7

2025-01-09T00:45:15.550Z,1736383515.550 [DAT](INFO): DAT read: Bearing 360.0,  31.7 (Local)

2025-01-09T00:45:15.551Z,1736383515.551 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,  31.7 (Local)

2025-01-09T00:45:15.554Z,1736383515.554 [DAT](INFO): DAT read: Range 10 to 50 : 227.1 m  (Round-trip  302.8 ms) speed  0.5 m/s

2025-01-09T00:45:15.556Z,1736383515.556 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:15.558Z,1736383515.558 [DAT](INFO): direction in FSK: [0.850811,0.000000,-0.525472]
2025-01-09T00:45:15.563Z,1736383515.563 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:15.572Z,1736383515.572 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:15.572Z,1736383515.572 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:15.573Z,1736383515.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:15.792Z,1736383515.792 [DAT](INFO): DAT read: user:3725>

2025-01-09T00:45:15.793Z,1736383515.793 [DAT](INFO): DAT read: Tx time:00:45:15.0302

2025-01-09T00:45:15.793Z,1736383515.793 [DAT](INFO): Ping request sent.
2025-01-09T00:45:15.793Z,1736383515.793 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:15.793Z,1736383515.793 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:15.794Z,1736383515.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-01-09T00:45:15.856Z,1736383515.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:15.889Z,1736383515.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 227.100006 m,
      deltaT: 4.038758 s,
      deltaX: -3.599991 m,
      approachRate: -0.891361 m/s,
      rangeRepo size: 4

2025-01-09T00:45:15.895Z,1736383515.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 227.100006 m,
      bearing: 296.177817 deg,
      lat: 36.904079 deg,
      lon: -122.118958 deg,
      deltaT: 4.038758 s,
      deltaX: -3.599991 m,
      approachRate: -0.891361 m/s,
      posRepo size: 4

2025-01-09T00:45:15.896Z,1736383515.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.10 m.
2025-01-09T00:45:15.904Z,1736383515.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.100006 m,
      nav range: 187.466873 m,
      bearing: 293.200711 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014680 deg/s,
      cmd heading: 290.170915 deg,
      new cmd heading: 290.191056 deg.

2025-01-09T00:45:15.905Z,1736383515.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.064789 target range: 227.100006 and range: 227.10 m.
2025-01-09T00:45:16.045Z,1736383516.045 [DAT](INFO): DAT read: TxSync time:00:45:15.0294

2025-01-09T00:45:16.045Z,1736383516.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252073
2025-01-09T00:45:16.217Z,1736383516.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:16.225Z,1736383516.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.10 m.
2025-01-09T00:45:16.228Z,1736383516.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.100006 m,
      nav range: 187.251297 m,
      bearing: 293.208125 deg,
      approach rate: -0.639829 m/s,
      LOS rate: 0.022030 deg/s,
      cmd heading: 290.191051 deg,
      new cmd heading: 290.213319 deg.

2025-01-09T00:45:16.229Z,1736383516.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.065178 target range: 227.100006 and range: 227.10 m.
2025-01-09T00:45:16.296Z,1736383516.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503205
2025-01-09T00:45:16.548Z,1736383516.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754965
2025-01-09T00:45:16.639Z,1736383516.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:16.679Z,1736383516.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.10 m.
2025-01-09T00:45:16.702Z,1736383516.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.100006 m,
      nav range: 187.008301 m,
      bearing: 293.216918 deg,
      approach rate: -0.538204 m/s,
      LOS rate: 0.019500 deg/s,
      cmd heading: 290.213317 deg,
      new cmd heading: 290.239730 deg.

2025-01-09T00:45:16.709Z,1736383516.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.065639 target range: 227.100006 and range: 227.10 m.
2025-01-09T00:45:16.802Z,1736383516.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008406
2025-01-09T00:45:17.047Z,1736383517.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:17.052Z,1736383517.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259188
2025-01-09T00:45:17.058Z,1736383517.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.10 m.
2025-01-09T00:45:17.082Z,1736383517.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.100006 m,
      nav range: 186.726852 m,
      bearing: 293.227922 deg,
      approach rate: -0.737834 m/s,
      LOS rate: 0.028892 deg/s,
      cmd heading: 290.239736 deg,
      new cmd heading: 290.272799 deg.

2025-01-09T00:45:17.087Z,1736383517.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.066216 target range: 227.100006 and range: 227.10 m.
2025-01-09T00:45:17.304Z,1736383517.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510968
2025-01-09T00:45:17.416Z,1736383517.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:17.437Z,1736383517.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.10 m.
2025-01-09T00:45:17.445Z,1736383517.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.100006 m,
      nav range: 186.481339 m,
      bearing: 293.237613 deg,
      approach rate: -0.648909 m/s,
      LOS rate: 0.025646 deg/s,
      cmd heading: 290.272794 deg,
      new cmd heading: 290.301904 deg.

2025-01-09T00:45:17.452Z,1736383517.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.066724 target range: 227.100006 and range: 227.10 m.
2025-01-09T00:45:17.557Z,1736383517.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763699
2025-01-09T00:45:17.808Z,1736383517.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015136
2025-01-09T00:45:17.842Z,1736383517.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:17.866Z,1736383517.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:17.872Z,1736383517.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.10 m.
2025-01-09T00:45:17.886Z,1736383517.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.100006 m,
      nav range: 186.169891 m,
      bearing: 293.251536 deg,
      approach rate: -0.715084 m/s,
      LOS rate: 0.032022 deg/s,
      cmd heading: 290.301891 deg,
      new cmd heading: 290.343732 deg.

2025-01-09T00:45:17.887Z,1736383517.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.067454 target range: 227.100006 and range: 227.10 m.
2025-01-09T00:45:18.060Z,1736383518.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266920
2025-01-09T00:45:18.228Z,1736383518.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:18.268Z,1736383518.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.10 m.
2025-01-09T00:45:18.301Z,1736383518.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.100006 m,
      nav range: 185.887207 m,
      bearing: 293.264248 deg,
      approach rate: -0.730184 m/s,
      LOS rate: 0.032886 deg/s,
      cmd heading: 290.343719 deg,
      new cmd heading: 290.381914 deg.

2025-01-09T00:45:18.302Z,1736383518.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.068120 target range: 227.100006 and range: 227.10 m.
2025-01-09T00:45:18.313Z,1736383518.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519749
2025-01-09T00:45:18.565Z,1736383518.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771881
2025-01-09T00:45:18.668Z,1736383518.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:18.759Z,1736383518.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.10 m.
2025-01-09T00:45:18.762Z,1736383518.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.100006 m,
      nav range: 185.568237 m,
      bearing: 293.278720 deg,
      approach rate: -0.649699 m/s,
      LOS rate: 0.029528 deg/s,
      cmd heading: 290.381914 deg,
      new cmd heading: 290.425404 deg.

2025-01-09T00:45:18.771Z,1736383518.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.068880 target range: 227.100006 and range: 227.10 m.
2025-01-09T00:45:18.817Z,1736383518.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023752
2025-01-09T00:45:19.069Z,1736383519.069 [DAT](INFO): DAT read: Rx Time:00:45:17.7325

2025-01-09T00:45:19.069Z,1736383519.069 [DAT](INFO): Rx dataTimestamp_ set to:1736383519.068747
2025-01-09T00:45:19.070Z,1736383519.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276328
2025-01-09T00:45:19.082Z,1736383519.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:19.091Z,1736383519.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.10 m.
2025-01-09T00:45:19.122Z,1736383519.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.100006 m,
      nav range: 185.227783 m,
      bearing: 293.294326 deg,
      approach rate: -1.000238 m/s,
      LOS rate: 0.045935 deg/s,
      cmd heading: 290.425408 deg,
      new cmd heading: 290.472313 deg.

2025-01-09T00:45:19.122Z,1736383519.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.069698 target range: 227.100006 and range: 227.10 m.
2025-01-09T00:45:19.320Z,1736383519.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527092
2025-01-09T00:45:19.485Z,1736383519.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:19.494Z,1736383519.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.10 m.
2025-01-09T00:45:19.496Z,1736383519.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.100006 m,
      nav range: 184.900864 m,
      bearing: 293.309367 deg,
      approach rate: -0.811487 m/s,
      LOS rate: 0.037399 deg/s,
      cmd heading: 290.472318 deg,
      new cmd heading: 290.517519 deg.

2025-01-09T00:45:19.498Z,1736383519.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.070487 target range: 227.100006 and range: 227.10 m.
2025-01-09T00:45:19.578Z,1736383519.578 [DAT](INFO): DAT read: 00:45:17.7325 LVL= 15248, 20145, 13794, 23875, AGC= 59, IDX= 395,-0.04,-0.850,-1.981,-0.977,-1.849, PHS= 1.087,-0.085, 0.870, RAW= 140.0, -31.5, CAL= 144.2, -36.0, ROT=   5.8,  36.0

2025-01-09T00:45:19.579Z,1736383519.579 [DAT](INFO): got valid direction response:
 00:45:17.7325 LVL= 15248, 20145, 13794, 23875, AGC= 59, IDX= 395,-0.04,-0.850,-1.981,-0.977,-1.849, PHS= 1.087,-0.085, 0.870, RAW= 140.0, -31.5, CAL= 144.2, -36.0, ROT=   5.8,  36.0

2025-01-09T00:45:19.581Z,1736383519.581 [DAT](INFO): DAT read: Bearing   5.8,  36.0 (Local)

2025-01-09T00:45:19.582Z,1736383519.582 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,  36.0 (Local)

2025-01-09T00:45:19.583Z,1736383519.583 [DAT](INFO): DAT read: Range 10 to 50 : 223.5 m  (Round-trip  298.1 ms) speed  0.4 m/s

2025-01-09T00:45:19.584Z,1736383519.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:19.585Z,1736383519.585 [DAT](INFO): direction in FSK: [0.804875,0.081756,-0.587785]
2025-01-09T00:45:19.585Z,1736383519.585 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:19.588Z,1736383519.588 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:19.589Z,1736383519.589 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:19.589Z,1736383519.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:19.829Z,1736383519.829 [DAT](INFO): DAT read: user:3726>

2025-01-09T00:45:19.829Z,1736383519.829 [DAT](INFO): DAT read: Tx time:00:45:19.0302

2025-01-09T00:45:19.830Z,1736383519.830 [DAT](INFO): Ping request sent.
2025-01-09T00:45:19.830Z,1736383519.830 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:19.830Z,1736383519.830 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:19.836Z,1736383519.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001096
2025-01-09T00:45:19.953Z,1736383519.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:19.983Z,1736383519.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 223.500000 m,
      deltaT: 4.031765 s,
      deltaX: -3.600006 m,
      approachRate: -0.892911 m/s,
      rangeRepo size: 4

2025-01-09T00:45:19.985Z,1736383519.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 223.500000 m,
      bearing: 301.434188 deg,
      lat: 36.904084 deg,
      lon: -122.118958 deg,
      deltaT: 4.031765 s,
      deltaX: -3.600006 m,
      approachRate: -0.892911 m/s,
      posRepo size: 4

2025-01-09T00:45:19.986Z,1736383519.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-01-09T00:45:19.993Z,1736383519.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 184.710754 m,
      bearing: 293.486354 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037399 deg/s,
      cmd heading: 290.517506 deg,
      new cmd heading: 290.572365 deg.

2025-01-09T00:45:19.994Z,1736383519.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.071445 target range: 223.500000 and range: 223.50 m.
2025-01-09T00:45:20.078Z,1736383520.078 [DAT](INFO): DAT read: TxSync time:00:45:19.0294

2025-01-09T00:45:20.079Z,1736383520.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248917
2025-01-09T00:45:20.286Z,1736383520.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:20.293Z,1736383520.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:20.295Z,1736383520.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-01-09T00:45:20.300Z,1736383520.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 184.418640 m,
      bearing: 293.500834 deg,
      approach rate: -0.933980 m/s,
      LOS rate: 0.046369 deg/s,
      cmd heading: 290.572367 deg,
      new cmd heading: 290.615874 deg.

2025-01-09T00:45:20.301Z,1736383520.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.072204 target range: 223.500000 and range: 223.50 m.
2025-01-09T00:45:20.328Z,1736383520.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498471
2025-01-09T00:45:20.581Z,1736383520.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751145
2025-01-09T00:45:20.709Z,1736383520.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:20.762Z,1736383520.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-01-09T00:45:20.788Z,1736383520.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 184.049377 m,
      bearing: 293.519480 deg,
      approach rate: -0.793907 m/s,
      LOS rate: 0.040170 deg/s,
      cmd heading: 290.615861 deg,
      new cmd heading: 290.671913 deg.

2025-01-09T00:45:20.790Z,1736383520.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.073182 target range: 223.500000 and range: 223.50 m.
2025-01-09T00:45:20.834Z,1736383520.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004409
2025-01-09T00:45:21.084Z,1736383521.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254515
2025-01-09T00:45:21.162Z,1736383521.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:21.172Z,1736383521.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-01-09T00:45:21.174Z,1736383521.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 183.635910 m,
      bearing: 293.541109 deg,
      approach rate: -1.005592 m/s,
      LOS rate: 0.052722 deg/s,
      cmd heading: 290.671923 deg,
      new cmd heading: 290.736956 deg.

2025-01-09T00:45:21.176Z,1736383521.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074317 target range: 223.500000 and range: 223.50 m.
2025-01-09T00:45:21.337Z,1736383521.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506792
2025-01-09T00:45:21.588Z,1736383521.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758602
2025-01-09T00:45:21.594Z,1736383521.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:21.604Z,1736383521.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-01-09T00:45:21.606Z,1736383521.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 183.241455 m,
      bearing: 293.562358 deg,
      approach rate: -0.913754 m/s,
      LOS rate: 0.049328 deg/s,
      cmd heading: 290.736947 deg,
      new cmd heading: 290.800829 deg.

2025-01-09T00:45:21.607Z,1736383521.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075432 target range: 223.500000 and range: 223.50 m.
2025-01-09T00:45:21.840Z,1736383521.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010397
2025-01-09T00:45:22.026Z,1736383522.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:22.060Z,1736383522.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-01-09T00:45:22.062Z,1736383522.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 182.847656 m,
      bearing: 293.582922 deg,
      approach rate: -0.870814 m/s,
      LOS rate: 0.045571 deg/s,
      cmd heading: 290.800823 deg,
      new cmd heading: 290.862647 deg.

2025-01-09T00:45:22.068Z,1736383522.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.076511 target range: 223.500000 and range: 223.50 m.
2025-01-09T00:45:22.092Z,1736383522.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262602
2025-01-09T00:45:22.344Z,1736383522.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514553
2025-01-09T00:45:22.534Z,1736383522.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:22.540Z,1736383522.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:22.542Z,1736383522.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-01-09T00:45:22.546Z,1736383522.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 182.385956 m,
      bearing: 293.607518 deg,
      approach rate: -0.948003 m/s,
      LOS rate: 0.050632 deg/s,
      cmd heading: 290.862650 deg,
      new cmd heading: 290.936626 deg.

2025-01-09T00:45:22.547Z,1736383522.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.077802 target range: 223.500000 and range: 223.50 m.
2025-01-09T00:45:22.597Z,1736383522.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767497
2025-01-09T00:45:22.849Z,1736383522.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019678
2025-01-09T00:45:22.867Z,1736383522.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:22.876Z,1736383522.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-01-09T00:45:22.878Z,1736383522.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 182.096497 m,
      bearing: 293.621985 deg,
      approach rate: -0.869132 m/s,
      LOS rate: 0.043508 deg/s,
      cmd heading: 290.936634 deg,
      new cmd heading: 290.980104 deg.

2025-01-09T00:45:22.880Z,1736383522.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.078561 target range: 223.500000 and range: 223.50 m.
2025-01-09T00:45:23.102Z,1736383523.102 [DAT](INFO): DAT read: Rx Time:00:45:21.7302

2025-01-09T00:45:23.102Z,1736383523.102 [DAT](INFO): Rx dataTimestamp_ set to:1736383523.101818
2025-01-09T00:45:23.104Z,1736383523.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273869
2025-01-09T00:45:23.250Z,1736383523.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:23.307Z,1736383523.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-01-09T00:45:23.322Z,1736383523.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.500000 m,
      nav range: 181.764420 m,
      bearing: 293.638669 deg,
      approach rate: -0.770144 m/s,
      LOS rate: 0.038763 deg/s,
      cmd heading: 290.980102 deg,
      new cmd heading: 291.030244 deg.

2025-01-09T00:45:23.332Z,1736383523.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.079436 target range: 223.500000 and range: 223.50 m.
2025-01-09T00:45:23.352Z,1736383523.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522593
2025-01-09T00:45:23.610Z,1736383523.610 [DAT](INFO): DAT read: 00:45:21.7302 LVL= 22960, 27521, 22994, 31475, AGC= 59, IDX= 421,-0.21, 2.316, 1.355, 2.324, 1.258, PHS= 1.146, 0.144, 1.063, RAW= 145.7, -40.8, CAL= 149.4, -42.9, ROT=   0.6,  42.9

2025-01-09T00:45:23.611Z,1736383523.611 [DAT](INFO): got valid direction response:
 00:45:21.7302 LVL= 22960, 27521, 22994, 31475, AGC= 59, IDX= 421,-0.21, 2.316, 1.355, 2.324, 1.258, PHS= 1.146, 0.144, 1.063, RAW= 145.7, -40.8, CAL= 149.4, -42.9, ROT=   0.6,  42.9

2025-01-09T00:45:23.612Z,1736383523.612 [DAT](INFO): DAT read: Bearing   0.6,  42.9 (Local)

2025-01-09T00:45:23.613Z,1736383523.613 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  42.9 (Local)

2025-01-09T00:45:23.625Z,1736383523.625 [DAT](INFO): DAT read: Range 10 to 50 : 221.8 m  (Round-trip  295.8 ms) speed  0.1 m/s

2025-01-09T00:45:23.626Z,1736383523.626 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:23.632Z,1736383523.632 [DAT](INFO): direction in FSK: [0.732503,0.007671,-0.680721]
2025-01-09T00:45:23.632Z,1736383523.632 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:23.640Z,1736383523.640 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:23.640Z,1736383523.640 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:23.640Z,1736383523.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:23.694Z,1736383523.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:23.766Z,1736383523.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 221.800003 m,
      deltaT: 4.032062 s,
      deltaX: -1.699997 m,
      approachRate: -0.421620 m/s,
      rangeRepo size: 4

2025-01-09T00:45:23.782Z,1736383523.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 221.800003 m,
      bearing: 297.467839 deg,
      lat: 36.904116 deg,
      lon: -122.118952 deg,
      deltaT: 4.032062 s,
      deltaX: -1.699997 m,
      approachRate: -0.421620 m/s,
      posRepo size: 4

2025-01-09T00:45:23.789Z,1736383523.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m.
2025-01-09T00:45:23.812Z,1736383523.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.800003 m,
      nav range: 182.374405 m,
      bearing: 294.749190 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038763 deg/s,
      cmd heading: 291.030235 deg,
      new cmd heading: 291.083520 deg.

2025-01-09T00:45:23.815Z,1736383523.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.080366 target range: 221.800003 and range: 221.80 m.
2025-01-09T00:45:23.856Z,1736383523.856 [DAT](INFO): DAT read: user:3727>

2025-01-09T00:45:23.857Z,1736383523.857 [DAT](INFO): DAT read: Tx time:00:45:23.0802

2025-01-09T00:45:23.857Z,1736383523.857 [DAT](INFO): Ping request sent.
2025-01-09T00:45:23.857Z,1736383523.857 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:23.858Z,1736383523.858 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:23.858Z,1736383523.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-01-09T00:45:24.109Z,1736383524.109 [DAT](INFO): DAT read: TxSync time:00:45:23.0794

2025-01-09T00:45:24.109Z,1736383524.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251912
2025-01-09T00:45:24.176Z,1736383524.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:24.193Z,1736383524.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m.
2025-01-09T00:45:24.207Z,1736383524.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.800003 m,
      nav range: 181.991348 m,
      bearing: 294.771246 deg,
      approach rate: -0.894925 m/s,
      LOS rate: 0.051637 deg/s,
      cmd heading: 291.083511 deg,
      new cmd heading: 291.149818 deg.

2025-01-09T00:45:24.210Z,1736383524.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.081523 target range: 221.800003 and range: 221.80 m.
2025-01-09T00:45:24.360Z,1736383524.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502745
2025-01-09T00:45:24.573Z,1736383524.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:24.596Z,1736383524.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:24.599Z,1736383524.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m.
2025-01-09T00:45:24.601Z,1736383524.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.800003 m,
      nav range: 181.675827 m,
      bearing: 294.789486 deg,
      approach rate: -0.777763 m/s,
      LOS rate: 0.045038 deg/s,
      cmd heading: 291.149818 deg,
      new cmd heading: 291.204631 deg.

2025-01-09T00:45:24.602Z,1736383524.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.082479 target range: 221.800003 and range: 221.80 m.
2025-01-09T00:45:24.612Z,1736383524.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754916
2025-01-09T00:45:24.868Z,1736383524.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010361
2025-01-09T00:45:24.985Z,1736383524.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:24.994Z,1736383524.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m.
2025-01-09T00:45:24.996Z,1736383524.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.800003 m,
      nav range: 181.382950 m,
      bearing: 294.805065 deg,
      approach rate: -0.741527 m/s,
      LOS rate: 0.039510 deg/s,
      cmd heading: 291.204623 deg,
      new cmd heading: 291.251438 deg.

2025-01-09T00:45:24.998Z,1736383524.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.083297 target range: 221.800003 and range: 221.80 m.
2025-01-09T00:45:25.120Z,1736383525.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262787
2025-01-09T00:45:25.372Z,1736383525.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514934
2025-01-09T00:45:25.383Z,1736383525.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:25.392Z,1736383525.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m.
2025-01-09T00:45:25.394Z,1736383525.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.800003 m,
      nav range: 181.099792 m,
      bearing: 294.819497 deg,
      approach rate: -0.711964 m/s,
      LOS rate: 0.036343 deg/s,
      cmd heading: 291.251451 deg,
      new cmd heading: 291.294813 deg.

2025-01-09T00:45:25.396Z,1736383525.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.084054 target range: 221.800003 and range: 221.80 m.
2025-01-09T00:45:25.626Z,1736383525.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768397
2025-01-09T00:45:25.776Z,1736383525.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:25.808Z,1736383525.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m.
2025-01-09T00:45:25.826Z,1736383525.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.800003 m,
      nav range: 180.819305 m,
      bearing: 294.833340 deg,
      approach rate: -0.682369 m/s,
      LOS rate: 0.033730 deg/s,
      cmd heading: 291.294809 deg,
      new cmd heading: 291.336403 deg.

2025-01-09T00:45:25.834Z,1736383525.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.084779 target range: 221.800003 and range: 221.80 m.
2025-01-09T00:45:25.878Z,1736383525.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020891
2025-01-09T00:45:26.128Z,1736383526.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270859
2025-01-09T00:45:26.211Z,1736383526.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:26.221Z,1736383526.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m.
2025-01-09T00:45:26.240Z,1736383526.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.800003 m,
      nav range: 180.547729 m,
      bearing: 294.844621 deg,
      approach rate: -0.649209 m/s,
      LOS rate: 0.027008 deg/s,
      cmd heading: 291.336391 deg,
      new cmd heading: 291.370285 deg.

2025-01-09T00:45:26.241Z,1736383526.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085371 target range: 221.800003 and range: 221.80 m.
2025-01-09T00:45:26.381Z,1736383526.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523401
2025-01-09T00:45:26.580Z,1736383526.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:26.589Z,1736383526.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m.
2025-01-09T00:45:26.592Z,1736383526.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.800003 m,
      nav range: 180.316681 m,
      bearing: 294.853815 deg,
      approach rate: -0.626559 m/s,
      LOS rate: 0.024965 deg/s,
      cmd heading: 291.370297 deg,
      new cmd heading: 291.397915 deg.

2025-01-09T00:45:26.593Z,1736383526.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085853 target range: 221.800003 and range: 221.80 m.
2025-01-09T00:45:26.633Z,1736383526.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775454
2025-01-09T00:45:26.886Z,1736383526.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028760
2025-01-09T00:45:27.013Z,1736383527.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:27.021Z,1736383527.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:27.023Z,1736383527.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m.
2025-01-09T00:45:27.025Z,1736383527.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.800003 m,
      nav range: 180.071701 m,
      bearing: 294.863177 deg,
      approach rate: -0.565519 m/s,
      LOS rate: 0.021640 deg/s,
      cmd heading: 291.397918 deg,
      new cmd heading: 291.426041 deg.

2025-01-09T00:45:27.026Z,1736383527.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.086344 target range: 221.800003 and range: 221.80 m.
2025-01-09T00:45:27.136Z,1736383527.136 [DAT](INFO): DAT read: Rx Time:00:45:25.7778

2025-01-09T00:45:27.137Z,1736383527.137 [DAT](INFO): Rx dataTimestamp_ set to:1736383527.136442
2025-01-09T00:45:27.137Z,1736383527.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279795
2025-01-09T00:45:27.389Z,1736383527.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531333
2025-01-09T00:45:27.504Z,1736383527.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:27.521Z,1736383527.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.80 m.
2025-01-09T00:45:27.528Z,1736383527.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.800003 m,
      nav range: 179.793991 m,
      bearing: 294.873344 deg,
      approach rate: -0.556648 m/s,
      LOS rate: 0.020411 deg/s,
      cmd heading: 291.426031 deg,
      new cmd heading: 291.456580 deg.

2025-01-09T00:45:27.529Z,1736383527.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.086877 target range: 221.800003 and range: 221.80 m.
2025-01-09T00:45:27.646Z,1736383527.646 [DAT](INFO): DAT read: 00:45:25.7778 LVL= 20256, 28017, 16418, 27203, AGC= 54, IDX= 416,-0.08, 0.672,-0.372, 0.685,-0.227, PHS= 0.987,-0.098, 0.909, RAW= 146.3, -31.3, CAL= 149.8, -36.3, ROT=   0.2,  36.3

2025-01-09T00:45:27.648Z,1736383527.648 [DAT](INFO): got valid direction response:
 00:45:25.7778 LVL= 20256, 28017, 16418, 27203, AGC= 54, IDX= 416,-0.08, 0.672,-0.372, 0.685,-0.227, PHS= 0.987,-0.098, 0.909, RAW= 146.3, -31.3, CAL= 149.8, -36.3, ROT=   0.2,  36.3

2025-01-09T00:45:27.648Z,1736383527.648 [DAT](INFO): DAT read: Bearing   0.2,  36.3 (Local)

2025-01-09T00:45:27.649Z,1736383527.649 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  36.3 (Local)

2025-01-09T00:45:27.650Z,1736383527.650 [DAT](INFO): DAT read: Range 10 to 50 : 220.0 m  (Round-trip  293.4 ms) speed  0.8 m/s

2025-01-09T00:45:27.651Z,1736383527.651 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:27.652Z,1736383527.652 [DAT](INFO): direction in FSK: [0.805923,0.002813,-0.592013]
2025-01-09T00:45:27.653Z,1736383527.653 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:27.658Z,1736383527.658 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:27.658Z,1736383527.658 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:27.659Z,1736383527.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:27.896Z,1736383527.896 [DAT](INFO): DAT read: user:3728>

2025-01-09T00:45:27.900Z,1736383527.900 [DAT](INFO): DAT read: Tx time:00:45:27.1302

2025-01-09T00:45:27.902Z,1736383527.902 [DAT](INFO): Ping request sent.
2025-01-09T00:45:27.902Z,1736383527.902 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:27.903Z,1736383527.903 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:27.908Z,1736383527.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006315
2025-01-09T00:45:28.044Z,1736383528.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:28.073Z,1736383528.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 220.000000 m,
      deltaT: 4.036028 s,
      deltaX: -1.800003 m,
      approachRate: -0.445984 m/s,
      rangeRepo size: 4

2025-01-09T00:45:28.080Z,1736383528.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 220.000000 m,
      bearing: 298.053879 deg,
      lat: 36.904176 deg,
      lon: -122.118926 deg,
      deltaT: 4.036028 s,
      deltaX: -1.800003 m,
      approachRate: -0.445984 m/s,
      posRepo size: 4

2025-01-09T00:45:28.081Z,1736383528.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:28.088Z,1736383528.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 180.363449 m,
      bearing: 297.136271 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020411 deg/s,
      cmd heading: 291.456576 deg,
      new cmd heading: 291.490333 deg.

2025-01-09T00:45:28.089Z,1736383528.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.087466 target range: 220.000000 and range: 220.00 m.
2025-01-09T00:45:28.144Z,1736383528.144 [DAT](INFO): DAT read: TxSync time:00:45:27.1294

2025-01-09T00:45:28.145Z,1736383528.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243769
2025-01-09T00:45:28.396Z,1736383528.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494833
2025-01-09T00:45:28.496Z,1736383528.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:28.526Z,1736383528.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:28.529Z,1736383528.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 180.125732 m,
      bearing: 297.147667 deg,
      approach rate: -0.524429 m/s,
      LOS rate: 0.025173 deg/s,
      cmd heading: 291.490344 deg,
      new cmd heading: 291.524576 deg.

2025-01-09T00:45:28.530Z,1736383528.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088064 target range: 220.000000 and range: 220.00 m.
2025-01-09T00:45:28.649Z,1736383528.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747217
2025-01-09T00:45:28.905Z,1736383528.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002790
2025-01-09T00:45:28.970Z,1736383528.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:28.978Z,1736383528.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:28.998Z,1736383528.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 179.870895 m,
      bearing: 297.159292 deg,
      approach rate: -0.563338 m/s,
      LOS rate: 0.025736 deg/s,
      cmd heading: 291.524577 deg,
      new cmd heading: 291.559503 deg.

2025-01-09T00:45:29.003Z,1736383529.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088673 target range: 220.000000 and range: 220.00 m.
2025-01-09T00:45:29.152Z,1736383529.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250885
2025-01-09T00:45:29.323Z,1736383529.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:29.330Z,1736383529.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:29.333Z,1736383529.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:29.336Z,1736383529.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 179.681046 m,
      bearing: 297.167975 deg,
      approach rate: -0.534889 m/s,
      LOS rate: 0.024489 deg/s,
      cmd heading: 291.559493 deg,
      new cmd heading: 291.585568 deg.

2025-01-09T00:45:29.337Z,1736383529.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.089128 target range: 220.000000 and range: 220.00 m.
2025-01-09T00:45:29.404Z,1736383529.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502946
2025-01-09T00:45:29.657Z,1736383529.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755697
2025-01-09T00:45:29.729Z,1736383529.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:29.739Z,1736383529.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:29.742Z,1736383529.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 179.462296 m,
      bearing: 297.177627 deg,
      approach rate: -0.539669 m/s,
      LOS rate: 0.023842 deg/s,
      cmd heading: 291.585557 deg,
      new cmd heading: 291.614549 deg.

2025-01-09T00:45:29.743Z,1736383529.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.089634 target range: 220.000000 and range: 220.00 m.
2025-01-09T00:45:29.911Z,1736383529.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008858
2025-01-09T00:45:30.137Z,1736383530.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:30.163Z,1736383530.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261481
2025-01-09T00:45:30.169Z,1736383530.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:30.176Z,1736383530.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 179.225754 m,
      bearing: 297.189075 deg,
      approach rate: -0.549687 m/s,
      LOS rate: 0.026638 deg/s,
      cmd heading: 291.614544 deg,
      new cmd heading: 291.648932 deg.

2025-01-09T00:45:30.177Z,1736383530.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.090234 target range: 220.000000 and range: 220.00 m.
2025-01-09T00:45:30.417Z,1736383530.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515256
2025-01-09T00:45:30.526Z,1736383530.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:30.535Z,1736383530.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:30.538Z,1736383530.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 178.999512 m,
      bearing: 297.199844 deg,
      approach rate: -0.618531 m/s,
      LOS rate: 0.029478 deg/s,
      cmd heading: 291.648941 deg,
      new cmd heading: 291.681288 deg.

2025-01-09T00:45:30.539Z,1736383530.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.090799 target range: 220.000000 and range: 220.00 m.
2025-01-09T00:45:30.669Z,1736383530.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767362
2025-01-09T00:45:30.923Z,1736383530.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021138
2025-01-09T00:45:31.017Z,1736383531.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:31.026Z,1736383531.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:31.029Z,1736383531.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 178.678619 m,
      bearing: 297.215850 deg,
      approach rate: -0.653360 m/s,
      LOS rate: 0.032649 deg/s,
      cmd heading: 291.681289 deg,
      new cmd heading: 291.729395 deg.

2025-01-09T00:45:31.030Z,1736383531.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.091639 target range: 220.000000 and range: 220.00 m.
2025-01-09T00:45:31.173Z,1736383531.173 [DAT](INFO): DAT read: Rx Time:00:45:29.8235

2025-01-09T00:45:31.173Z,1736383531.173 [DAT](INFO): Rx dataTimestamp_ set to:1736383531.172700
2025-01-09T00:45:31.173Z,1736383531.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272084
2025-01-09T00:45:31.327Z,1736383531.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:31.335Z,1736383531.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:31.337Z,1736383531.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:31.340Z,1736383531.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 178.476410 m,
      bearing: 297.226020 deg,
      approach rate: -0.649540 m/s,
      LOS rate: 0.032704 deg/s,
      cmd heading: 291.729401 deg,
      new cmd heading: 291.759944 deg.

2025-01-09T00:45:31.341Z,1736383531.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.092172 target range: 220.000000 and range: 220.00 m.
2025-01-09T00:45:31.425Z,1736383531.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523869
2025-01-09T00:45:31.678Z,1736383531.678 [DAT](INFO): DAT read: Range 10 to 50 : 216.7 m  (Round-trip  289.0 ms) speed  0.7 m/s

2025-01-09T00:45:31.679Z,1736383531.679 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T00:45:31.680Z,1736383531.680 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:31.681Z,1736383531.681 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:31.681Z,1736383531.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:31.773Z,1736383531.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:31.783Z,1736383531.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 216.699997 m,
      deltaT: 4.036142 s,
      deltaX: -3.300003 m,
      approachRate: -0.817613 m/s,
      rangeRepo size: 4

2025-01-09T00:45:31.784Z,1736383531.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:31.787Z,1736383531.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 178.185806 m,
      bearing: 297.240754 deg,
      approach rate: -0.653766 m/s,
      LOS rate: 0.033201 deg/s,
      cmd heading: 291.759945 deg,
      new cmd heading: 291.804220 deg.

2025-01-09T00:45:31.788Z,1736383531.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.092945 target range: 220.000000 and range: 216.70 m.
2025-01-09T00:45:31.931Z,1736383531.931 [DAT](INFO): DAT read: user:3729>

2025-01-09T00:45:31.934Z,1736383531.934 [DAT](INFO): DAT read: Tx time:00:45:31.1303

2025-01-09T00:45:31.935Z,1736383531.935 [DAT](INFO): Ping request sent.
2025-01-09T00:45:31.937Z,1736383531.937 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:31.938Z,1736383531.938 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:31.942Z,1736383531.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006244
2025-01-09T00:45:32.181Z,1736383532.181 [DAT](INFO): DAT read: TxSync time:00:45:31.1295

2025-01-09T00:45:32.182Z,1736383532.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247170
2025-01-09T00:45:32.249Z,1736383532.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:32.261Z,1736383532.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:32.268Z,1736383532.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 177.839554 m,
      bearing: 297.259938 deg,
      approach rate: -0.721964 m/s,
      LOS rate: 0.040077 deg/s,
      cmd heading: 291.804232 deg,
      new cmd heading: 291.861894 deg.

2025-01-09T00:45:32.269Z,1736383532.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093951 target range: 220.000000 and range: 216.70 m.
2025-01-09T00:45:32.432Z,1736383532.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497492
2025-01-09T00:45:32.687Z,1736383532.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752512
2025-01-09T00:45:32.750Z,1736383532.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:32.762Z,1736383532.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:32.771Z,1736383532.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 177.467072 m,
      bearing: 297.281370 deg,
      approach rate: -0.743273 m/s,
      LOS rate: 0.042858 deg/s,
      cmd heading: 291.861906 deg,
      new cmd heading: 291.926340 deg.

2025-01-09T00:45:32.776Z,1736383532.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.095076 target range: 220.000000 and range: 216.70 m.
2025-01-09T00:45:32.944Z,1736383532.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008589
2025-01-09T00:45:33.192Z,1736383533.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257469
2025-01-09T00:45:33.234Z,1736383533.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:33.270Z,1736383533.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:33.304Z,1736383533.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 177.075775 m,
      bearing: 297.306760 deg,
      approach rate: -0.770909 m/s,
      LOS rate: 0.050132 deg/s,
      cmd heading: 291.926329 deg,
      new cmd heading: 292.002667 deg.

2025-01-09T00:45:33.305Z,1736383533.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.096408 target range: 220.000000 and range: 216.70 m.
2025-01-09T00:45:33.444Z,1736383533.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509434
2025-01-09T00:45:33.596Z,1736383533.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:33.605Z,1736383533.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:33.607Z,1736383533.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:33.609Z,1736383533.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 176.782944 m,
      bearing: 297.326190 deg,
      approach rate: -0.870131 m/s,
      LOS rate: 0.057831 deg/s,
      cmd heading: 292.002663 deg,
      new cmd heading: 292.061049 deg.

2025-01-09T00:45:33.610Z,1736383533.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.097427 target range: 220.000000 and range: 216.70 m.
2025-01-09T00:45:33.697Z,1736383533.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761726
2025-01-09T00:45:33.951Z,1736383533.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015537
2025-01-09T00:45:34.066Z,1736383534.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:34.074Z,1736383534.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:34.077Z,1736383534.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 176.370956 m,
      bearing: 297.355237 deg,
      approach rate: -0.880687 m/s,
      LOS rate: 0.062236 deg/s,
      cmd heading: 292.061047 deg,
      new cmd heading: 292.148389 deg.

2025-01-09T00:45:34.078Z,1736383534.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.098951 target range: 220.000000 and range: 216.70 m.
2025-01-09T00:45:34.200Z,1736383534.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265566
2025-01-09T00:45:34.405Z,1736383534.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:34.434Z,1736383534.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:34.437Z,1736383534.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 176.073792 m,
      bearing: 297.376569 deg,
      approach rate: -0.873357 m/s,
      LOS rate: 0.062801 deg/s,
      cmd heading: 292.148392 deg,
      new cmd heading: 292.212497 deg.

2025-01-09T00:45:34.438Z,1736383534.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100070 target range: 220.000000 and range: 216.70 m.
2025-01-09T00:45:34.452Z,1736383534.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517710
2025-01-09T00:45:34.705Z,1736383534.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769862
2025-01-09T00:45:34.807Z,1736383534.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:34.817Z,1736383534.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:34.840Z,1736383534.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 175.721970 m,
      bearing: 297.402342 deg,
      approach rate: -0.873879 m/s,
      LOS rate: 0.064145 deg/s,
      cmd heading: 292.212486 deg,
      new cmd heading: 292.289960 deg.

2025-01-09T00:45:34.841Z,1736383534.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101422 target range: 220.000000 and range: 216.70 m.
2025-01-09T00:45:34.960Z,1736383534.960 [DAT](INFO): DAT read: Rx Time:00:45:33.8208

2025-01-09T00:45:34.961Z,1736383534.961 [DAT](INFO): Rx dataTimestamp_ set to:1736383534.960263
2025-01-09T00:45:34.963Z,1736383534.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027674
2025-01-09T00:45:35.209Z,1736383535.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274122
2025-01-09T00:45:35.312Z,1736383535.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:35.338Z,1736383535.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:35.345Z,1736383535.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 175.264114 m,
      bearing: 297.439148 deg,
      approach rate: -0.879611 m/s,
      LOS rate: 0.070896 deg/s,
      cmd heading: 292.289968 deg,
      new cmd heading: 292.400675 deg.

2025-01-09T00:45:35.346Z,1736383535.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.103354 target range: 220.000000 and range: 216.70 m.
2025-01-09T00:45:35.460Z,1736383535.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525603
2025-01-09T00:45:35.718Z,1736383535.718 [DAT](INFO): DAT read: Range 10 to 50 : 214.7 m  (Round-trip  286.3 ms) speed  0.9 m/s

2025-01-09T00:45:35.719Z,1736383535.719 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T00:45:35.719Z,1736383535.719 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:35.719Z,1736383535.719 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:35.720Z,1736383535.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:35.729Z,1736383535.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:35.741Z,1736383535.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:35.749Z,1736383535.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 214.699997 m,
      deltaT: 4.040478 s,
      deltaX: -2.000000 m,
      approachRate: -0.494991 m/s,
      rangeRepo size: 4

2025-01-09T00:45:35.749Z,1736383535.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:35.756Z,1736383535.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 174.886185 m,
      bearing: 297.470024 deg,
      approach rate: -0.932971 m/s,
      LOS rate: 0.076385 deg/s,
      cmd heading: 292.400672 deg,
      new cmd heading: 292.493498 deg.

2025-01-09T00:45:35.757Z,1736383535.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.104975 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:35.972Z,1736383535.972 [DAT](INFO): DAT read: user:3730>

2025-01-09T00:45:35.975Z,1736383535.975 [DAT](INFO): DAT read: Tx time:00:45:35.1803

2025-01-09T00:45:35.976Z,1736383535.976 [DAT](INFO): Ping request sent.
2025-01-09T00:45:35.976Z,1736383535.976 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:35.977Z,1736383535.977 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:35.981Z,1736383535.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003882
2025-01-09T00:45:36.220Z,1736383536.220 [DAT](INFO): DAT read: TxSync time:00:45:35.1795

2025-01-09T00:45:36.221Z,1736383536.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244742
2025-01-09T00:45:36.272Z,1736383536.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:36.282Z,1736383536.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:36.285Z,1736383536.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 174.397263 m,
      bearing: 297.506651 deg,
      approach rate: -0.908439 m/s,
      LOS rate: 0.068247 deg/s,
      cmd heading: 292.493508 deg,
      new cmd heading: 292.603699 deg.

2025-01-09T00:45:36.285Z,1736383536.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.106898 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:36.473Z,1736383536.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496566
2025-01-09T00:45:36.724Z,1736383536.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748126
2025-01-09T00:45:36.735Z,1736383536.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:36.743Z,1736383536.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:36.746Z,1736383536.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 173.980865 m,
      bearing: 297.538770 deg,
      approach rate: -0.900906 m/s,
      LOS rate: 0.069657 deg/s,
      cmd heading: 292.603692 deg,
      new cmd heading: 292.700278 deg.

2025-01-09T00:45:36.748Z,1736383536.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.108583 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:36.784Z,1736383536.784 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:45:36.979Z,1736383536.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002183
2025-01-09T00:45:37.152Z,1736383537.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:37.161Z,1736383537.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:37.180Z,1736383537.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 173.620956 m,
      bearing: 297.568230 deg,
      approach rate: -0.862593 m/s,
      LOS rate: 0.070753 deg/s,
      cmd heading: 292.700271 deg,
      new cmd heading: 292.788834 deg.

2025-01-09T00:45:37.181Z,1736383537.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.110129 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:37.228Z,1736383537.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252253
2025-01-09T00:45:37.481Z,1736383537.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504026
2025-01-09T00:45:37.536Z,1736383537.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:37.545Z,1736383537.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:37.548Z,1736383537.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 173.290070 m,
      bearing: 297.595569 deg,
      approach rate: -0.861453 m/s,
      LOS rate: 0.071312 deg/s,
      cmd heading: 292.788845 deg,
      new cmd heading: 292.871018 deg.

2025-01-09T00:45:37.549Z,1736383537.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.111564 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:37.732Z,1736383537.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756128
2025-01-09T00:45:37.788Z,1736383537.788 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:45:37.936Z,1736383537.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:37.943Z,1736383537.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:37.945Z,1736383537.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:37.948Z,1736383537.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 172.945099 m,
      bearing: 297.623882 deg,
      approach rate: -0.861897 m/s,
      LOS rate: 0.070880 deg/s,
      cmd heading: 292.871026 deg,
      new cmd heading: 292.956134 deg.

2025-01-09T00:45:37.951Z,1736383537.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113049 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:37.989Z,1736383537.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012259
2025-01-09T00:45:38.236Z,1736383538.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260089
2025-01-09T00:45:38.361Z,1736383538.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:38.370Z,1736383538.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:38.373Z,1736383538.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 172.610291 m,
      bearing: 297.651816 deg,
      approach rate: -0.787705 m/s,
      LOS rate: 0.065848 deg/s,
      cmd heading: 292.956130 deg,
      new cmd heading: 293.040094 deg.

2025-01-09T00:45:38.374Z,1736383538.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.114514 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:38.489Z,1736383538.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512458
2025-01-09T00:45:38.740Z,1736383538.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764106
2025-01-09T00:45:38.765Z,1736383538.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:38.779Z,1736383538.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:38.782Z,1736383538.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 172.291153 m,
      bearing: 297.678243 deg,
      approach rate: -0.780809 m/s,
      LOS rate: 0.064776 deg/s,
      cmd heading: 293.040087 deg,
      new cmd heading: 293.119514 deg.

2025-01-09T00:45:38.784Z,1736383538.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.115901 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:38.995Z,1736383538.995 [DAT](INFO): DAT read: Rx Time:00:45:37.8381

2025-01-09T00:45:38.996Z,1736383538.996 [DAT](INFO): Rx dataTimestamp_ set to:1736383538.995767
2025-01-09T00:45:38.998Z,1736383538.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021686
2025-01-09T00:45:39.181Z,1736383539.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:39.189Z,1736383539.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:39.208Z,1736383539.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 171.997238 m,
      bearing: 297.700733 deg,
      approach rate: -0.715759 m/s,
      LOS rate: 0.054864 deg/s,
      cmd heading: 293.119508 deg,
      new cmd heading: 293.187095 deg.

2025-01-09T00:45:39.209Z,1736383539.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.117080 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:39.244Z,1736383539.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268196
2025-01-09T00:45:39.500Z,1736383539.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523157
2025-01-09T00:45:39.584Z,1736383539.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:39.592Z,1736383539.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:39.595Z,1736383539.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 171.711166 m,
      bearing: 297.721954 deg,
      approach rate: -0.709900 m/s,
      LOS rate: 0.052748 deg/s,
      cmd heading: 293.187100 deg,
      new cmd heading: 293.250868 deg.

2025-01-09T00:45:39.612Z,1736383539.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.118193 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:39.755Z,1736383539.755 [DAT](INFO): DAT read: 00:45:37.8381 LVL= 19696, 22689, 15410, 23187, AGC= 63, IDX= 113,-0.04, 3.012, 1.658, 3.100, 2.599, PHS= 0.501,-0.894, 0.498, RAW= 149.9,  -1.5, CAL= 153.6, -10.4, ROT= 356.4,  10.4

2025-01-09T00:45:39.756Z,1736383539.756 [DAT](INFO): got valid direction response:
 00:45:37.8381 LVL= 19696, 22689, 15410, 23187, AGC= 63, IDX= 113,-0.04, 3.012, 1.658, 3.100, 2.599, PHS= 0.501,-0.894, 0.498, RAW= 149.9,  -1.5, CAL= 153.6, -10.4, ROT= 356.4,  10.4

2025-01-09T00:45:39.757Z,1736383539.757 [DAT](INFO): DAT read: Bearing 356.4,  10.4 (Local)

2025-01-09T00:45:39.757Z,1736383539.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,  10.4 (Local)

2025-01-09T00:45:39.759Z,1736383539.759 [DAT](INFO): DAT read: Range 10 to 50 : 190.2 m  (Round-trip  253.6 ms) speed  0.5 m/s

2025-01-09T00:45:39.760Z,1736383539.760 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:39.761Z,1736383539.761 [DAT](INFO): direction in FSK: [0.981631,-0.061759,-0.180519]
2025-01-09T00:45:39.761Z,1736383539.761 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:39.765Z,1736383539.765 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:39.765Z,1736383539.765 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:39.765Z,1736383539.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:39.975Z,1736383539.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:40.004Z,1736383540.004 [DAT](INFO): DAT read: user:3731>

2025-01-09T00:45:40.006Z,1736383540.006 [DAT](INFO): DAT read: Tx time:00:45:39.2304

2025-01-09T00:45:40.006Z,1736383540.006 [DAT](INFO): Ping request sent.
2025-01-09T00:45:40.007Z,1736383540.007 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:40.007Z,1736383540.007 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:40.009Z,1736383540.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001690
2025-01-09T00:45:40.052Z,1736383540.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 190.199997 m,
 deltaT: 4.032034 s,
 deltaX: -24.500000 m,
 approachRate: -6.076338 m/s,
 rangeRepo size: 4
2025-01-09T00:45:40.055Z,1736383540.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:40.086Z,1736383540.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 171.433823 m,
      bearing: 297.742597 deg,
      approach rate: -0.627334 m/s,
      LOS rate: 0.046769 deg/s,
      cmd heading: 293.250866 deg,
      new cmd heading: 293.312896 deg.

2025-01-09T00:45:40.093Z,1736383540.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.119276 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:40.253Z,1736383540.253 [DAT](INFO): DAT read: TxSync time:00:45:39.2296

2025-01-09T00:45:40.253Z,1736383540.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246874
2025-01-09T00:45:40.398Z,1736383540.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:40.405Z,1736383540.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:40.408Z,1736383540.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:40.410Z,1736383540.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 171.160873 m,
      bearing: 297.760928 deg,
      approach rate: -0.732295 m/s,
      LOS rate: 0.049259 deg/s,
      cmd heading: 293.312884 deg,
      new cmd heading: 293.367966 deg.

2025-01-09T00:45:40.411Z,1736383540.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.120237 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:40.505Z,1736383540.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498106
2025-01-09T00:45:40.756Z,1736383540.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749864
2025-01-09T00:45:40.862Z,1736383540.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:40.872Z,1736383540.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:40.875Z,1736383540.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 170.859955 m,
      bearing: 297.780701 deg,
      approach rate: -0.647074 m/s,
      LOS rate: 0.042592 deg/s,
      cmd heading: 293.367963 deg,
      new cmd heading: 293.427385 deg.

2025-01-09T00:45:40.877Z,1736383540.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.121274 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:41.012Z,1736383541.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005137
2025-01-09T00:45:41.260Z,1736383541.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253908
2025-01-09T00:45:41.278Z,1736383541.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:41.304Z,1736383541.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:41.312Z,1736383541.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 170.616257 m,
      bearing: 297.794457 deg,
      approach rate: -0.563782 m/s,
      LOS rate: 0.031871 deg/s,
      cmd heading: 293.427386 deg,
      new cmd heading: 293.468715 deg.

2025-01-09T00:45:41.313Z,1736383541.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.121995 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:41.512Z,1736383541.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505942
2025-01-09T00:45:41.750Z,1736383541.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:41.759Z,1736383541.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:41.762Z,1736383541.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 170.338608 m,
      bearing: 297.809654 deg,
      approach rate: -0.610913 m/s,
      LOS rate: 0.033491 deg/s,
      cmd heading: 293.468722 deg,
      new cmd heading: 293.514385 deg.

2025-01-09T00:45:41.763Z,1736383541.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.122792 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:41.765Z,1736383541.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759006
2025-01-09T00:45:42.018Z,1736383542.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011358
2025-01-09T00:45:42.175Z,1736383542.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:42.184Z,1736383542.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:42.187Z,1736383542.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 170.102676 m,
      bearing: 297.819981 deg,
      approach rate: -0.554463 m/s,
      LOS rate: 0.024303 deg/s,
      cmd heading: 293.514375 deg,
      new cmd heading: 293.545398 deg.

2025-01-09T00:45:42.188Z,1736383542.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.123334 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:42.270Z,1736383542.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263462
2025-01-09T00:45:42.520Z,1736383542.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513910
2025-01-09T00:45:42.555Z,1736383542.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:42.562Z,1736383542.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:42.565Z,1736383542.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:42.568Z,1736383542.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 169.891296 m,
      bearing: 297.828895 deg,
      approach rate: -0.556057 m/s,
      LOS rate: 0.023479 deg/s,
      cmd heading: 293.545411 deg,
      new cmd heading: 293.572187 deg.

2025-01-09T00:45:42.569Z,1736383542.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.123801 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:42.772Z,1736383542.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765871
2025-01-09T00:45:42.951Z,1736383542.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:42.960Z,1736383542.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:42.962Z,1736383542.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 169.670776 m,
      bearing: 297.837903 deg,
      approach rate: -0.558465 m/s,
      LOS rate: 0.022843 deg/s,
      cmd heading: 293.572186 deg,
      new cmd heading: 293.599246 deg.

2025-01-09T00:45:42.964Z,1736383542.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.124273 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:43.025Z,1736383543.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018648
2025-01-09T00:45:43.277Z,1736383543.277 [DAT](INFO): DAT read: Rx Time:00:45:41.8855

2025-01-09T00:45:43.277Z,1736383543.277 [DAT](INFO): Rx dataTimestamp_ set to:1736383543.276771
2025-01-09T00:45:43.278Z,1736383543.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271174
2025-01-09T00:45:43.411Z,1736383543.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:43.420Z,1736383543.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:43.423Z,1736383543.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 169.405411 m,
      bearing: 297.847874 deg,
      approach rate: -0.575765 m/s,
      LOS rate: 0.021667 deg/s,
      cmd heading: 293.599233 deg,
      new cmd heading: 293.629191 deg.

2025-01-09T00:45:43.424Z,1736383543.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.124796 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:43.529Z,1736383543.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522954
2025-01-09T00:45:43.771Z,1736383543.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:43.786Z,1736383543.786 [DAT](INFO): DAT read: 00:45:41.8855 LVL= 21072, 24689, 14418, 24499, AGC= 60, IDX= 422,-0.25, 1.513, 0.631, 1.767, 0.522, PHS= 1.078, 0.156, 1.242, RAW= 158.0, -40.8, CAL= 160.2, -43.8, ROT= 349.8,  43.8

2025-01-09T00:45:43.788Z,1736383543.788 [DAT](INFO): got valid direction response:
 00:45:41.8855 LVL= 21072, 24689, 14418, 24499, AGC= 60, IDX= 422,-0.25, 1.513, 0.631, 1.767, 0.522, PHS= 1.078, 0.156, 1.242, RAW= 158.0, -40.8, CAL= 160.2, -43.8, ROT= 349.8,  43.8

2025-01-09T00:45:43.789Z,1736383543.789 [DAT](INFO): DAT read: Bearing 349.8,  43.8 (Local)

2025-01-09T00:45:43.789Z,1736383543.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.8,  43.8 (Local)

2025-01-09T00:45:43.791Z,1736383543.791 [DAT](INFO): DAT read: Range 10 to 50 : 188.1 m  (Round-trip  250.9 ms) speed  0.8 m/s

2025-01-09T00:45:43.791Z,1736383543.791 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:43.792Z,1736383543.792 [DAT](INFO): direction in FSK: [0.710353,-0.127813,-0.692143]
2025-01-09T00:45:43.793Z,1736383543.793 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:43.795Z,1736383543.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.00 m.
2025-01-09T00:45:43.799Z,1736383543.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.000000 m,
      nav range: 169.197937 m,
      bearing: 297.855232 deg,
      approach rate: -0.578313 m/s,
      LOS rate: 0.020535 deg/s,
      cmd heading: 293.629204 deg,
      new cmd heading: 293.651305 deg.

2025-01-09T00:45:43.808Z,1736383543.808 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:43.809Z,1736383543.809 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:43.809Z,1736383543.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:43.815Z,1736383543.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.125182 target range: 220.000000 and range: 214.70 m.
2025-01-09T00:45:44.032Z,1736383544.032 [DAT](INFO): DAT read: user:3732>

2025-01-09T00:45:44.033Z,1736383544.033 [DAT](INFO): DAT read: Tx time:00:45:43.2804

2025-01-09T00:45:44.033Z,1736383544.033 [DAT](INFO): Ping request sent.
2025-01-09T00:45:44.034Z,1736383544.034 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:44.034Z,1736383544.034 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:44.034Z,1736383544.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-01-09T00:45:44.246Z,1736383544.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:44.273Z,1736383544.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 188.100006 m,
      deltaT: 8.063376 s,
      deltaX: -26.599991 m,
      approachRate: -3.298865 m/s,
      rangeRepo size: 4

2025-01-09T00:45:44.279Z,1736383544.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 188.100006 m,
      bearing: 292.352187 deg,
      lat: 36.904116 deg,
      lon: -122.118799 deg,
      deltaT: 16.139996 s,
      deltaX: -31.899994 m,
      approachRate: -1.976456 m/s,
      posRepo size: 4

2025-01-09T00:45:44.280Z,1736383544.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-01-09T00:45:44.285Z,1736383544.285 [DAT](INFO): DAT read: TxSync time:00:45:43.2796

2025-01-09T00:45:44.285Z,1736383544.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251787
2025-01-09T00:45:44.288Z,1736383544.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.100006 m,
      nav range: 155.831558 m,
      bearing: 297.607195 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020535 deg/s,
      cmd heading: 293.651307 deg,
      new cmd heading: 293.681705 deg.

2025-01-09T00:45:44.289Z,1736383544.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.125713 target range: 188.100006 and range: 188.10 m.
2025-01-09T00:45:44.536Z,1736383544.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502602
2025-01-09T00:45:44.601Z,1736383544.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:44.616Z,1736383544.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:44.618Z,1736383544.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-01-09T00:45:44.625Z,1736383544.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.100006 m,
      nav range: 155.622574 m,
      bearing: 297.613137 deg,
      approach rate: -0.604531 m/s,
      LOS rate: 0.017210 deg/s,
      cmd heading: 293.681715 deg,
      new cmd heading: 293.699563 deg.

2025-01-09T00:45:44.626Z,1736383544.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126024 target range: 188.100006 and range: 188.10 m.
2025-01-09T00:45:44.788Z,1736383544.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754656
2025-01-09T00:45:45.001Z,1736383545.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:45.011Z,1736383545.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-01-09T00:45:45.014Z,1736383545.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.100006 m,
      nav range: 155.387741 m,
      bearing: 297.620061 deg,
      approach rate: -0.597870 m/s,
      LOS rate: 0.017657 deg/s,
      cmd heading: 293.699555 deg,
      new cmd heading: 293.720361 deg.

2025-01-09T00:45:45.015Z,1736383545.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126388 target range: 188.100006 and range: 188.10 m.
2025-01-09T00:45:45.040Z,1736383545.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006796
2025-01-09T00:45:45.292Z,1736383545.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258611
2025-01-09T00:45:45.435Z,1736383545.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:45.444Z,1736383545.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-01-09T00:45:45.446Z,1736383545.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.100006 m,
      nav range: 155.115280 m,
      bearing: 297.629833 deg,
      approach rate: -0.630048 m/s,
      LOS rate: 0.022636 deg/s,
      cmd heading: 293.720373 deg,
      new cmd heading: 293.749740 deg.

2025-01-09T00:45:45.448Z,1736383545.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126900 target range: 188.100006 and range: 188.10 m.
2025-01-09T00:45:45.545Z,1736383545.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511159
2025-01-09T00:45:45.796Z,1736383545.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762790
2025-01-09T00:45:45.816Z,1736383545.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:45.825Z,1736383545.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-01-09T00:45:45.828Z,1736383545.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.100006 m,
      nav range: 154.876663 m,
      bearing: 297.638446 deg,
      approach rate: -0.625792 m/s,
      LOS rate: 0.022622 deg/s,
      cmd heading: 293.749743 deg,
      new cmd heading: 293.775621 deg.

2025-01-09T00:45:45.829Z,1736383545.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.127352 target range: 188.100006 and range: 188.10 m.
2025-01-09T00:45:46.048Z,1736383546.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014714
2025-01-09T00:45:46.249Z,1736383546.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:46.257Z,1736383546.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-01-09T00:45:46.260Z,1736383546.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.100006 m,
      nav range: 154.581711 m,
      bearing: 297.650398 deg,
      approach rate: -0.681876 m/s,
      LOS rate: 0.027685 deg/s,
      cmd heading: 293.775616 deg,
      new cmd heading: 293.811542 deg.

2025-01-09T00:45:46.261Z,1736383546.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.127979 target range: 188.100006 and range: 188.10 m.
2025-01-09T00:45:46.302Z,1736383546.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267826
2025-01-09T00:45:46.552Z,1736383546.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518698
2025-01-09T00:45:46.622Z,1736383546.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:46.629Z,1736383546.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:46.632Z,1736383546.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-01-09T00:45:46.635Z,1736383546.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.100006 m,
      nav range: 154.327881 m,
      bearing: 297.660721 deg,
      approach rate: -0.679236 m/s,
      LOS rate: 0.027668 deg/s,
      cmd heading: 293.811543 deg,
      new cmd heading: 293.842562 deg.

2025-01-09T00:45:46.636Z,1736383546.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128520 target range: 188.100006 and range: 188.10 m.
2025-01-09T00:45:46.804Z,1736383546.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770818
2025-01-09T00:45:47.030Z,1736383547.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:47.042Z,1736383547.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-01-09T00:45:47.045Z,1736383547.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.100006 m,
      nav range: 154.050797 m,
      bearing: 297.672160 deg,
      approach rate: -0.673689 m/s,
      LOS rate: 0.027861 deg/s,
      cmd heading: 293.842552 deg,
      new cmd heading: 293.876929 deg.

2025-01-09T00:45:47.046Z,1736383547.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129120 target range: 188.100006 and range: 188.10 m.
2025-01-09T00:45:47.056Z,1736383547.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022736
2025-01-09T00:45:47.309Z,1736383547.309 [DAT](INFO): DAT read: Rx Time:00:45:45.9325

2025-01-09T00:45:47.310Z,1736383547.310 [DAT](INFO): Rx dataTimestamp_ set to:1736383547.309231
2025-01-09T00:45:47.310Z,1736383547.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276468
2025-01-09T00:45:47.443Z,1736383547.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:47.482Z,1736383547.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.10 m.
2025-01-09T00:45:47.489Z,1736383547.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 188.100006 m,
      nav range: 153.751129 m,
      bearing: 297.687225 deg,
      approach rate: -0.681302 m/s,
      LOS rate: 0.034317 deg/s,
      cmd heading: 293.876921 deg,
      new cmd heading: 293.922204 deg.

2025-01-09T00:45:47.490Z,1736383547.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129910 target range: 188.100006 and range: 188.10 m.
2025-01-09T00:45:47.560Z,1736383547.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526824
2025-01-09T00:45:47.818Z,1736383547.818 [DAT](INFO): DAT read: 00:45:45.9325 LVL= 19872, 28001, 16338, 29331, AGC= 58, IDX= 406, 0.21,-1.381,-2.180,-1.239,-2.370, PHS= 1.078, 0.237, 1.128, RAW= 152.9, -44.9, CAL= 156.3, -45.7, ROT= 353.7,  45.7

2025-01-09T00:45:47.824Z,1736383547.824 [DAT](INFO): got valid direction response:
 00:45:45.9325 LVL= 19872, 28001, 16338, 29331, AGC= 58, IDX= 406, 0.21,-1.381,-2.180,-1.239,-2.370, PHS= 1.078, 0.237, 1.128, RAW= 152.9, -44.9, CAL= 156.3, -45.7, ROT= 353.7,  45.7

2025-01-09T00:45:47.825Z,1736383547.825 [DAT](INFO): DAT read: Bearing 353.7,  45.7 (Local)

2025-01-09T00:45:47.825Z,1736383547.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.7,  45.7 (Local)

2025-01-09T00:45:47.826Z,1736383547.826 [DAT](INFO): DAT read: Range 10 to 50 : 185.9 m  (Round-trip  247.9 ms) speed  0.4 m/s

2025-01-09T00:45:47.828Z,1736383547.828 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:47.829Z,1736383547.829 [DAT](INFO): direction in FSK: [0.694198,-0.076640,-0.715693]
2025-01-09T00:45:47.829Z,1736383547.829 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:47.837Z,1736383547.837 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:47.837Z,1736383547.837 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:47.837Z,1736383547.837 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:47.859Z,1736383547.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:47.928Z,1736383547.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 185.899994 m,
      deltaT: 4.031983 s,
      deltaX: -2.200012 m,
      approachRate: -0.545640 m/s,
      rangeRepo size: 4

2025-01-09T00:45:47.930Z,1736383547.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 185.899994 m,
      bearing: 295.378333 deg,
      lat: 36.904037 deg,
      lon: -122.118757 deg,
      deltaT: 4.031983 s,
      deltaX: -2.200012 m,
      approachRate: -0.545640 m/s,
      posRepo size: 4

2025-01-09T00:45:47.948Z,1736383547.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:47.950Z,1736383547.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 146.177902 m,
      bearing: 295.333662 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034317 deg/s,
      cmd heading: 293.922192 deg,
      new cmd heading: 293.966671 deg.

2025-01-09T00:45:47.956Z,1736383547.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130686 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:48.065Z,1736383548.065 [DAT](INFO): DAT read: user:3733>

2025-01-09T00:45:48.065Z,1736383548.065 [DAT](INFO): DAT read: Tx time:00:45:47.2804

2025-01-09T00:45:48.066Z,1736383548.066 [DAT](INFO): Ping request sent.
2025-01-09T00:45:48.066Z,1736383548.066 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:48.066Z,1736383548.066 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:48.067Z,1736383548.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-01-09T00:45:48.317Z,1736383548.317 [DAT](INFO): DAT read: TxSync time:00:45:47.2797

2025-01-09T00:45:48.319Z,1736383548.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253404
2025-01-09T00:45:48.348Z,1736383548.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:48.365Z,1736383548.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:48.372Z,1736383548.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 145.801117 m,
      bearing: 295.350312 deg,
      approach rate: -0.837063 m/s,
      LOS rate: 0.037087 deg/s,
      cmd heading: 293.966670 deg,
      new cmd heading: 294.016752 deg.

2025-01-09T00:45:48.373Z,1736383548.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.131560 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:48.568Z,1736383548.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502336
2025-01-09T00:45:48.690Z,1736383548.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:48.709Z,1736383548.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:48.711Z,1736383548.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:48.718Z,1736383548.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 145.534256 m,
      bearing: 295.362816 deg,
      approach rate: -0.769915 m/s,
      LOS rate: 0.036139 deg/s,
      cmd heading: 294.016749 deg,
      new cmd heading: 294.054327 deg.

2025-01-09T00:45:48.723Z,1736383548.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.132216 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:48.820Z,1736383548.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754539
2025-01-09T00:45:49.072Z,1736383549.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006311
2025-01-09T00:45:49.087Z,1736383549.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:49.096Z,1736383549.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:49.098Z,1736383549.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 145.228516 m,
      bearing: 295.377282 deg,
      approach rate: -0.795118 m/s,
      LOS rate: 0.037700 deg/s,
      cmd heading: 294.054315 deg,
      new cmd heading: 294.097805 deg.

2025-01-09T00:45:49.099Z,1736383549.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.132975 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:49.324Z,1736383549.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258332
2025-01-09T00:45:49.505Z,1736383549.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:49.513Z,1736383549.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:49.517Z,1736383549.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 144.892319 m,
      bearing: 295.397557 deg,
      approach rate: -0.804659 m/s,
      LOS rate: 0.048641 deg/s,
      cmd heading: 294.097810 deg,
      new cmd heading: 294.158778 deg.

2025-01-09T00:45:49.518Z,1736383549.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.134039 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:49.578Z,1736383549.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512011
2025-01-09T00:45:49.830Z,1736383549.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763656
2025-01-09T00:45:49.905Z,1736383549.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:49.913Z,1736383549.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:49.917Z,1736383549.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 144.570404 m,
      bearing: 295.417061 deg,
      approach rate: -0.805393 m/s,
      LOS rate: 0.048904 deg/s,
      cmd heading: 294.158790 deg,
      new cmd heading: 294.217430 deg.

2025-01-09T00:45:49.918Z,1736383549.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.135063 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:50.082Z,1736383550.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016132
2025-01-09T00:45:50.333Z,1736383550.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266821
2025-01-09T00:45:50.428Z,1736383550.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:50.437Z,1736383550.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:50.440Z,1736383550.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 144.133316 m,
      bearing: 295.444239 deg,
      approach rate: -0.833531 m/s,
      LOS rate: 0.051986 deg/s,
      cmd heading: 294.217420 deg,
      new cmd heading: 294.299201 deg.

2025-01-09T00:45:50.441Z,1736383550.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.136490 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:50.584Z,1736383550.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518441
2025-01-09T00:45:50.801Z,1736383550.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:50.808Z,1736383550.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:50.810Z,1736383550.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:50.813Z,1736383550.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 143.822296 m,
      bearing: 295.464134 deg,
      approach rate: -0.834565 m/s,
      LOS rate: 0.053502 deg/s,
      cmd heading: 294.299191 deg,
      new cmd heading: 294.359007 deg.

2025-01-09T00:45:50.815Z,1736383550.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.137534 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:50.849Z,1736383550.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783544
2025-01-09T00:45:51.100Z,1736383551.100 [DAT](INFO): DAT read: Rx Time:00:45:49.8988

2025-01-09T00:45:51.101Z,1736383551.101 [DAT](INFO): Rx dataTimestamp_ set to:1736383551.100601
2025-01-09T00:45:51.101Z,1736383551.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035582
2025-01-09T00:45:51.307Z,1736383551.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:51.336Z,1736383551.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:51.346Z,1736383551.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 143.405624 m,
      bearing: 295.496573 deg,
      approach rate: -0.791571 m/s,
      LOS rate: 0.061804 deg/s,
      cmd heading: 294.358996 deg,
      new cmd heading: 294.456595 deg.

2025-01-09T00:45:51.347Z,1736383551.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.139237 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:51.352Z,1736383551.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286522
2025-01-09T00:45:51.622Z,1736383551.622 [DAT](INFO): DAT read: 00:45:49.8988 LVL= 23312, 28593, 18402, 20723, AGC= 62, IDX=  92, 0.26,-0.440,-1.854,-0.330,-0.949, PHS= 0.597,-0.858, 0.616, RAW= 150.6,  -4.9, CAL= 155.3, -13.3, ROT= 354.7,  13.3

2025-01-09T00:45:51.623Z,1736383551.623 [DAT](INFO): got valid direction response:
 00:45:49.8988 LVL= 23312, 28593, 18402, 20723, AGC= 62, IDX=  92, 0.26,-0.440,-1.854,-0.330,-0.949, PHS= 0.597,-0.858, 0.616, RAW= 150.6,  -4.9, CAL= 155.3, -13.3, ROT= 354.7,  13.3

2025-01-09T00:45:51.624Z,1736383551.624 [DAT](INFO): DAT read: Bearing 354.7,  13.3 (Local)

2025-01-09T00:45:51.624Z,1736383551.624 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.7,  13.3 (Local)

2025-01-09T00:45:51.626Z,1736383551.626 [DAT](INFO): DAT read: Range 10 to 50 : 160.5 m  (Round-trip  214.1 ms) speed  0.6 m/s

2025-01-09T00:45:51.626Z,1736383551.626 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:51.643Z,1736383551.643 [DAT](INFO): direction in FSK: [0.969018,-0.089893,-0.230050]
2025-01-09T00:45:51.644Z,1736383551.644 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:51.647Z,1736383551.647 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:51.647Z,1736383551.647 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:51.656Z,1736383551.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:51.730Z,1736383551.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:51.777Z,1736383551.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 160.500000 m,
 deltaT: 3.793623 s,
 deltaX: -25.399994 m,
 approachRate: -6.695445 m/s,
 rangeRepo size: 4
2025-01-09T00:45:51.780Z,1736383551.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:51.783Z,1736383551.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 143.057526 m,
      bearing: 295.523877 deg,
      approach rate: -0.790681 m/s,
      LOS rate: 0.062169 deg/s,
      cmd heading: 294.456586 deg,
      new cmd heading: 294.538695 deg.

2025-01-09T00:45:51.784Z,1736383551.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.140670 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:51.857Z,1736383551.857 [DAT](INFO): DAT read: user:3734>

2025-01-09T00:45:51.858Z,1736383551.858 [DAT](INFO): DAT read: Tx time:00:45:51.1305

2025-01-09T00:45:51.859Z,1736383551.859 [DAT](INFO): Ping request sent.
2025-01-09T00:45:51.859Z,1736383551.859 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:51.859Z,1736383551.859 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:51.860Z,1736383551.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001300
2025-01-09T00:45:52.054Z,1736383552.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:52.063Z,1736383552.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:52.066Z,1736383552.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 142.790817 m,
      bearing: 295.545002 deg,
      approach rate: -0.932247 m/s,
      LOS rate: 0.073978 deg/s,
      cmd heading: 294.538685 deg,
      new cmd heading: 294.602178 deg.

2025-01-09T00:45:52.068Z,1736383552.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.141778 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:52.109Z,1736383552.109 [DAT](INFO): DAT read: TxSync time:00:45:51.1297

2025-01-09T00:45:52.109Z,1736383552.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250360
2025-01-09T00:45:52.361Z,1736383552.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501899
2025-01-09T00:45:52.489Z,1736383552.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:52.499Z,1736383552.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:52.502Z,1736383552.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 142.439774 m,
      bearing: 295.572547 deg,
      approach rate: -0.805813 m/s,
      LOS rate: 0.063387 deg/s,
      cmd heading: 294.602178 deg,
      new cmd heading: 294.685019 deg.

2025-01-09T00:45:52.503Z,1736383552.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.143224 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:52.612Z,1736383552.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753392
2025-01-09T00:45:52.860Z,1736383552.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:52.865Z,1736383552.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005948
2025-01-09T00:45:52.888Z,1736383552.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:52.890Z,1736383552.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:52.900Z,1736383552.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 142.140671 m,
      bearing: 295.596223 deg,
      approach rate: -0.763280 m/s,
      LOS rate: 0.060544 deg/s,
      cmd heading: 294.685015 deg,
      new cmd heading: 294.756190 deg.

2025-01-09T00:45:52.901Z,1736383552.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.144466 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:53.117Z,1736383553.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257607
2025-01-09T00:45:53.346Z,1736383553.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:53.355Z,1736383553.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:53.357Z,1736383553.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 141.764908 m,
      bearing: 295.626568 deg,
      approach rate: -0.809328 m/s,
      LOS rate: 0.065532 deg/s,
      cmd heading: 294.756185 deg,
      new cmd heading: 294.847462 deg.

2025-01-09T00:45:53.358Z,1736383553.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.146059 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:53.381Z,1736383553.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520962
2025-01-09T00:45:53.628Z,1736383553.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769310
2025-01-09T00:45:53.690Z,1736383553.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:53.710Z,1736383553.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:53.713Z,1736383553.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 141.498550 m,
      bearing: 295.647845 deg,
      approach rate: -0.749332 m/s,
      LOS rate: 0.059971 deg/s,
      cmd heading: 294.847464 deg,
      new cmd heading: 294.911416 deg.

2025-01-09T00:45:53.715Z,1736383553.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.147175 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:53.880Z,1736383553.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021240
2025-01-09T00:45:54.079Z,1736383554.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:54.089Z,1736383554.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:54.108Z,1736383554.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 141.196564 m,
      bearing: 295.671568 deg,
      approach rate: -0.796574 m/s,
      LOS rate: 0.062710 deg/s,
      cmd heading: 294.911422 deg,
      new cmd heading: 294.982743 deg.

2025-01-09T00:45:54.109Z,1736383554.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.148420 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:54.133Z,1736383554.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274223
2025-01-09T00:45:54.385Z,1736383554.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526328
2025-01-09T00:45:54.500Z,1736383554.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:54.508Z,1736383554.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:54.511Z,1736383554.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 140.894150 m,
      bearing: 295.696124 deg,
      approach rate: -0.721579 m/s,
      LOS rate: 0.058718 deg/s,
      cmd heading: 294.982756 deg,
      new cmd heading: 295.056582 deg.

2025-01-09T00:45:54.533Z,1736383554.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.149709 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:54.636Z,1736383554.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777207
2025-01-09T00:45:54.886Z,1736383554.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:54.888Z,1736383554.888 [DAT](INFO): DAT read: Rx Time:00:45:53.7450

2025-01-09T00:45:54.889Z,1736383554.889 [DAT](INFO): Rx dataTimestamp_ set to:1736383554.888665
2025-01-09T00:45:54.889Z,1736383554.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030493
2025-01-09T00:45:54.896Z,1736383554.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:54.899Z,1736383554.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:54.902Z,1736383554.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 140.616058 m,
      bearing: 295.718525 deg,
      approach rate: -0.711879 m/s,
      LOS rate: 0.057457 deg/s,
      cmd heading: 295.056577 deg,
      new cmd heading: 295.123912 deg.

2025-01-09T00:45:54.903Z,1736383554.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.150884 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:55.140Z,1736383555.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281165
2025-01-09T00:45:55.333Z,1736383555.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:55.357Z,1736383555.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.90 m.
2025-01-09T00:45:55.366Z,1736383555.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.899994 m,
      nav range: 140.309280 m,
      bearing: 295.741403 deg,
      approach rate: -0.668915 m/s,
      LOS rate: 0.049994 deg/s,
      cmd heading: 295.123923 deg,
      new cmd heading: 295.192707 deg.

2025-01-09T00:45:55.367Z,1736383555.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152085 target range: 185.899994 and range: 185.90 m.
2025-01-09T00:45:55.392Z,1736383555.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533315
2025-01-09T00:45:55.650Z,1736383555.650 [DAT](INFO): DAT read: 00:45:53.7450 LVL= 21360, 30609, 16834, 30627, AGC= 58, IDX= 405, 0.40, 2.858, 1.517, 2.989, 2.384, PHS= 0.562,-0.820, 0.602, RAW= 151.4,  -5.0, CAL= 156.1, -13.3, ROT= 353.9,  13.3

2025-01-09T00:45:55.652Z,1736383555.652 [DAT](INFO): got valid direction response:
 00:45:53.7450 LVL= 21360, 30609, 16834, 30627, AGC= 58, IDX= 405, 0.40, 2.858, 1.517, 2.989, 2.384, PHS= 0.562,-0.820, 0.602, RAW= 151.4,  -5.0, CAL= 156.1, -13.3, ROT= 353.9,  13.3

2025-01-09T00:45:55.653Z,1736383555.653 [DAT](INFO): DAT read: Bearing 353.9,  13.3 (Local)

2025-01-09T00:45:55.654Z,1736383555.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,  13.3 (Local)

2025-01-09T00:45:55.656Z,1736383555.656 [DAT](INFO): DAT read: Range 10 to 50 : 157.7 m  (Round-trip  210.3 ms) speed  0.0 m/s

2025-01-09T00:45:55.657Z,1736383555.657 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:55.659Z,1736383555.659 [DAT](INFO): direction in FSK: [0.967669,-0.103414,-0.230050]
2025-01-09T00:45:55.662Z,1736383555.662 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:55.667Z,1736383555.667 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:55.680Z,1736383555.680 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:55.680Z,1736383555.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:55.757Z,1736383555.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:55.811Z,1736383555.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 157.699997 m,
      deltaT: 7.831968 s,
      deltaX: -28.199997 m,
      approachRate: -3.600627 m/s,
      rangeRepo size: 4

2025-01-09T00:45:55.825Z,1736383555.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.699997 m,
      bearing: 290.148012 deg,
      lat: 36.903974 deg,
      lon: -122.118987 deg,
      deltaT: 7.831968 s,
      deltaX: -28.199997 m,
      approachRate: -3.600627 m/s,
      posRepo size: 4

2025-01-09T00:45:55.826Z,1736383555.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:45:55.833Z,1736383555.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 156.161255 m,
      bearing: 290.195478 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.049994 deg/s,
      cmd heading: 295.192716 deg,
      new cmd heading: 295.259277 deg.

2025-01-09T00:45:55.834Z,1736383555.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153246 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:45:55.898Z,1736383555.898 [DAT](INFO): DAT read: user:3735>

2025-01-09T00:45:55.900Z,1736383555.900 [DAT](INFO): DAT read: Tx time:00:45:55.1305

2025-01-09T00:45:55.900Z,1736383555.900 [DAT](INFO): Ping request sent.
2025-01-09T00:45:55.900Z,1736383555.900 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:55.901Z,1736383555.901 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:55.902Z,1736383555.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001093
2025-01-09T00:45:56.149Z,1736383556.149 [DAT](INFO): DAT read: TxSync time:00:45:55.1297

2025-01-09T00:45:56.150Z,1736383556.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249336
2025-01-09T00:45:56.156Z,1736383556.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:56.167Z,1736383556.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:45:56.170Z,1736383556.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 155.883072 m,
      bearing: 290.203852 deg,
      approach rate: -0.760955 m/s,
      LOS rate: 0.022947 deg/s,
      cmd heading: 295.259270 deg,
      new cmd heading: 295.284436 deg.

2025-01-09T00:45:56.171Z,1736383556.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153686 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:45:56.401Z,1736383556.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500129
2025-01-09T00:45:56.566Z,1736383556.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:56.574Z,1736383556.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:45:56.577Z,1736383556.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 155.614029 m,
      bearing: 290.209086 deg,
      approach rate: -0.660186 m/s,
      LOS rate: 0.012865 deg/s,
      cmd heading: 295.284432 deg,
      new cmd heading: 295.300160 deg.

2025-01-09T00:45:56.578Z,1736383556.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153960 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:45:56.653Z,1736383556.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752466
2025-01-09T00:45:56.904Z,1736383556.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003735
2025-01-09T00:45:56.977Z,1736383556.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:56.985Z,1736383556.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:56.988Z,1736383556.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:45:56.990Z,1736383556.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 155.343964 m,
      bearing: 290.214357 deg,
      approach rate: -0.653856 m/s,
      LOS rate: 0.012785 deg/s,
      cmd heading: 295.300169 deg,
      new cmd heading: 295.316011 deg.

2025-01-09T00:45:56.991Z,1736383556.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154237 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:45:57.156Z,1736383557.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255777
2025-01-09T00:45:57.409Z,1736383557.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508124
2025-01-09T00:45:57.419Z,1736383557.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:57.441Z,1736383557.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:45:57.448Z,1736383557.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 155.063416 m,
      bearing: 290.217388 deg,
      approach rate: -0.619120 m/s,
      LOS rate: 0.006700 deg/s,
      cmd heading: 295.316015 deg,
      new cmd heading: 295.325124 deg.

2025-01-09T00:45:57.450Z,1736383557.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154396 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:45:57.664Z,1736383557.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763066
2025-01-09T00:45:57.766Z,1736383557.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:57.795Z,1736383557.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:45:57.802Z,1736383557.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 154.843140 m,
      bearing: 290.219340 deg,
      approach rate: -0.621872 m/s,
      LOS rate: 0.005519 deg/s,
      cmd heading: 295.325113 deg,
      new cmd heading: 295.330977 deg.

2025-01-09T00:45:57.807Z,1736383557.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154498 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:45:57.917Z,1736383557.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016668
2025-01-09T00:45:58.154Z,1736383558.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:58.165Z,1736383558.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:45:58.168Z,1736383558.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267863
2025-01-09T00:45:58.170Z,1736383558.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 154.596664 m,
      bearing: 290.221155 deg,
      approach rate: -0.666605 m/s,
      LOS rate: 0.004916 deg/s,
      cmd heading: 295.330987 deg,
      new cmd heading: 295.336439 deg.

2025-01-09T00:45:58.172Z,1736383558.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154593 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:45:58.420Z,1736383558.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519768
2025-01-09T00:45:58.563Z,1736383558.563 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 128.03, 108.14, 1:WI,-32768,-3278V3768,-32768,V
2025-01-09T00:45:58.572Z,1736383558.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:45:58.572Z,1736383558.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:58.581Z,1736383558.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:45:58.585Z,1736383558.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 154.331589 m,
      bearing: 290.222815 deg,
      approach rate: -0.637146 m/s,
      LOS rate: 0.003998 deg/s,
      cmd heading: 295.336451 deg,
      new cmd heading: 295.341440 deg.

2025-01-09T00:45:58.586Z,1736383558.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154681 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:45:58.674Z,1736383558.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772612
2025-01-09T00:45:58.924Z,1736383558.924 [DAT](INFO): DAT read: Rx Time:00:45:57.7727

2025-01-09T00:45:58.925Z,1736383558.925 [DAT](INFO): Rx dataTimestamp_ set to:1736383558.924431
2025-01-09T00:45:58.925Z,1736383558.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024751
2025-01-09T00:45:58.985Z,1736383558.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:45:58.985Z,1736383558.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:58.992Z,1736383558.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:45:58.994Z,1736383558.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:45:58.998Z,1736383558.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 154.069260 m,
      bearing: 290.224196 deg,
      approach rate: -0.633829 m/s,
      LOS rate: 0.003342 deg/s,
      cmd heading: 295.341451 deg,
      new cmd heading: 295.345600 deg.

2025-01-09T00:45:58.000Z,1736383559.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154753 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:45:59.177Z,1736383559.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276310
2025-01-09T00:45:59.398Z,1736383559.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:59.425Z,1736383559.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:45:59.428Z,1736383559.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527933
2025-01-09T00:45:59.449Z,1736383559.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 153.803436 m,
      bearing: 290.218993 deg,
      approach rate: -0.644450 m/s,
      LOS rate: -0.012636 deg/s,
      cmd heading: 295.345603 deg,
      new cmd heading: 295.329967 deg.

2025-01-09T00:45:59.458Z,1736383559.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154480 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:45:59.690Z,1736383559.690 [DAT](INFO): DAT read: 00:45:57.7728 LVL= 24240, 28913, 18482, 24787, AGC= 61, IDX= 210,-0.39,-2.270,-3.063,-1.919,-3.067, PHS= 0.885, 0.050, 1.144, RAW= 163.1, -36.6, CAL= 164.5, -41.7, ROT= 345.5,  41.7

2025-01-09T00:45:59.694Z,1736383559.694 [DAT](INFO): got valid direction response:
 00:45:57.7728 LVL= 24240, 28913, 18482, 24787, AGC= 61, IDX= 210,-0.39,-2.270,-3.063,-1.919,-3.067, PHS= 0.885, 0.050, 1.144, RAW= 163.1, -36.6, CAL= 164.5, -41.7, ROT= 345.5,  41.7

2025-01-09T00:45:59.698Z,1736383559.698 [DAT](INFO): DAT read: Bearing 345.5,  41.7 (Local)

2025-01-09T00:45:59.698Z,1736383559.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.5,  41.7 (Local)

2025-01-09T00:45:59.706Z,1736383559.706 [DAT](INFO): DAT read: Range 10 to 50 : 178.5 m  (Round-trip  238.0 ms) speed  0.4 m/s

2025-01-09T00:45:59.707Z,1736383559.707 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:45:59.708Z,1736383559.708 [DAT](INFO): direction in FSK: [0.722856,-0.186943,-0.665230]
2025-01-09T00:45:59.709Z,1736383559.709 [DAT](INFO): publishing direction and range info
2025-01-09T00:45:59.712Z,1736383559.712 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:45:59.712Z,1736383559.712 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:45:59.712Z,1736383559.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:45:59.835Z,1736383559.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:45:59.858Z,1736383559.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 178.500000 m,
 deltaT: 4.036219 s,
 deltaX: 20.800003 m,
 approachRate: 5.153338 m/s,
 rangeRepo size: 4
2025-01-09T00:45:59.859Z,1736383559.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:45:59.867Z,1736383559.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 153.525848 m,
      bearing: 290.213474 deg,
      approach rate: -0.616039 m/s,
      LOS rate: -0.012270 deg/s,
      cmd heading: 295.329976 deg,
      new cmd heading: 295.313389 deg.

2025-01-09T00:45:59.877Z,1736383559.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154191 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:45:59.933Z,1736383559.933 [DAT](INFO): DAT read: user:3736>

2025-01-09T00:45:59.934Z,1736383559.934 [DAT](INFO): DAT read: Tx time:00:45:59.1806

2025-01-09T00:45:59.935Z,1736383559.935 [DAT](INFO): Ping request sent.
2025-01-09T00:45:59.935Z,1736383559.935 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:45:59.935Z,1736383559.935 [DAT](INFO): publishing transmit ping time
2025-01-09T00:45:59.936Z,1736383559.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001196
2025-01-09T00:46:00.185Z,1736383560.185 [DAT](INFO): DAT read: TxSync time:00:45:59.1798

2025-01-09T00:46:00.185Z,1736383560.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250451
2025-01-09T00:46:00.194Z,1736383560.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:00.204Z,1736383560.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:46:00.206Z,1736383560.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 153.292038 m,
      bearing: 290.208712 deg,
      approach rate: -0.675723 m/s,
      LOS rate: -0.013783 deg/s,
      cmd heading: 295.313392 deg,
      new cmd heading: 295.299085 deg.

2025-01-09T00:46:00.208Z,1736383560.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153941 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:46:00.438Z,1736383560.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502381
2025-01-09T00:46:00.611Z,1736383560.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:00.637Z,1736383560.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:46:00.644Z,1736383560.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 153.010803 m,
      bearing: 290.202845 deg,
      approach rate: -0.649269 m/s,
      LOS rate: -0.013570 deg/s,
      cmd heading: 295.299076 deg,
      new cmd heading: 295.281442 deg.

2025-01-09T00:46:00.645Z,1736383560.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153634 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:46:00.689Z,1736383560.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753844
2025-01-09T00:46:00.940Z,1736383560.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005466
2025-01-09T00:46:01.008Z,1736383561.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:01.016Z,1736383561.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:01.018Z,1736383561.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:46:01.021Z,1736383561.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 152.742020 m,
      bearing: 290.197450 deg,
      approach rate: -0.705185 m/s,
      LOS rate: -0.014179 deg/s,
      cmd heading: 295.281454 deg,
      new cmd heading: 295.265241 deg.

2025-01-09T00:46:01.022Z,1736383561.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153351 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:46:01.192Z,1736383561.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257313
2025-01-09T00:46:01.446Z,1736383561.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511094
2025-01-09T00:46:01.457Z,1736383561.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:01.466Z,1736383561.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:46:01.469Z,1736383561.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 152.422684 m,
      bearing: 290.190071 deg,
      approach rate: -0.711861 m/s,
      LOS rate: -0.016484 deg/s,
      cmd heading: 295.265253 deg,
      new cmd heading: 295.243069 deg.

2025-01-09T00:46:01.470Z,1736383561.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152964 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:46:01.697Z,1736383561.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761904
2025-01-09T00:46:01.824Z,1736383561.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:01.834Z,1736383561.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:46:01.861Z,1736383561.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 152.161514 m,
      bearing: 290.184012 deg,
      approach rate: -0.710456 m/s,
      LOS rate: -0.016509 deg/s,
      cmd heading: 295.243068 deg,
      new cmd heading: 295.224862 deg.

2025-01-09T00:46:01.862Z,1736383561.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152646 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:46:01.949Z,1736383561.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014164
2025-01-09T00:46:02.201Z,1736383562.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265940
2025-01-09T00:46:02.225Z,1736383562.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:02.249Z,1736383562.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:46:02.252Z,1736383562.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 151.876389 m,
      bearing: 290.177480 deg,
      approach rate: -0.697079 m/s,
      LOS rate: -0.016000 deg/s,
      cmd heading: 295.224873 deg,
      new cmd heading: 295.205240 deg.

2025-01-09T00:46:02.253Z,1736383562.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152303 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:46:02.452Z,1736383562.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517432
2025-01-09T00:46:02.640Z,1736383562.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:02.649Z,1736383562.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:46:02.653Z,1736383562.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 151.565735 m,
      bearing: 290.172635 deg,
      approach rate: -0.764901 m/s,
      LOS rate: -0.011954 deg/s,
      cmd heading: 295.205229 deg,
      new cmd heading: 295.190664 deg.

2025-01-09T00:46:02.654Z,1736383562.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152049 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:46:02.704Z,1736383562.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769436
2025-01-09T00:46:02.956Z,1736383562.956 [DAT](INFO): DAT read: Rx Time:00:46:01.7873

2025-01-09T00:46:02.957Z,1736383562.957 [DAT](INFO): Rx dataTimestamp_ set to:1736383562.956487
2025-01-09T00:46:02.957Z,1736383562.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022476
2025-01-09T00:46:03.041Z,1736383563.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:03.049Z,1736383563.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:03.051Z,1736383563.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:46:03.054Z,1736383563.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 151.265381 m,
      bearing: 290.168057 deg,
      approach rate: -0.748171 m/s,
      LOS rate: -0.011427 deg/s,
      cmd heading: 295.190667 deg,
      new cmd heading: 295.176905 deg.

2025-01-09T00:46:03.055Z,1736383563.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151809 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:46:03.208Z,1736383563.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273436
2025-01-09T00:46:03.464Z,1736383563.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528211
2025-01-09T00:46:03.532Z,1736383563.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:03.551Z,1736383563.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.70 m.
2025-01-09T00:46:03.557Z,1736383563.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.699997 m,
      nav range: 150.889847 m,
      bearing: 290.164394 deg,
      approach rate: -0.751157 m/s,
      LOS rate: -0.007345 deg/s,
      cmd heading: 295.176898 deg,
      new cmd heading: 295.165882 deg.

2025-01-09T00:46:03.558Z,1736383563.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151617 target range: 157.699997 and range: 157.70 m.
2025-01-09T00:46:03.718Z,1736383563.718 [DAT](INFO): DAT read: 00:46:01.7873 LVL= 26768, 26769, 19746, 21971, AGC= 64, IDX=  70, 0.22, 0.512,-0.714, 0.683, 0.022, PHS= 0.578,-0.689, 0.658, RAW= 153.1,  -8.4, CAL= 158.7, -16.1, ROT= 351.3,  16.1

2025-01-09T00:46:03.720Z,1736383563.720 [DAT](INFO): got valid direction response:
 00:46:01.7873 LVL= 26768, 26769, 19746, 21971, AGC= 64, IDX=  70, 0.22, 0.512,-0.714, 0.683, 0.022, PHS= 0.578,-0.689, 0.658, RAW= 153.1,  -8.4, CAL= 158.7, -16.1, ROT= 351.3,  16.1

2025-01-09T00:46:03.720Z,1736383563.720 [DAT](INFO): DAT read: Bearing 351.3,  16.1 (Local)

2025-01-09T00:46:03.721Z,1736383563.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.3,  16.1 (Local)

2025-01-09T00:46:03.722Z,1736383563.722 [DAT](INFO): DAT read: Range 10 to 50 : 151.8 m  (Round-trip  202.5 ms) speed  0.6 m/s

2025-01-09T00:46:03.723Z,1736383563.723 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:46:03.724Z,1736383563.724 [DAT](INFO): direction in FSK: [0.949724,-0.145328,-0.277315]
2025-01-09T00:46:03.724Z,1736383563.724 [DAT](INFO): publishing direction and range info
2025-01-09T00:46:03.728Z,1736383563.728 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:03.728Z,1736383563.728 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:03.728Z,1736383563.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:03.868Z,1736383563.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:03.894Z,1736383563.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 151.800003 m,
      deltaT: 8.067938 s,
      deltaX: -5.899994 m,
      approachRate: -0.731289 m/s,
      rangeRepo size: 4

2025-01-09T00:46:03.901Z,1736383563.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 151.800003 m,
      bearing: 288.926372 deg,
      lat: 36.903968 deg,
      lon: -122.118987 deg,
      deltaT: 8.067938 s,
      deltaX: -5.899994 m,
      approachRate: -0.731289 m/s,
      posRepo size: 4

2025-01-09T00:46:03.901Z,1736383563.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.80 m.
2025-01-09T00:46:03.908Z,1736383563.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.800003 m,
      nav range: 150.385376 m,
      bearing: 289.910569 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007345 deg/s,
      cmd heading: 295.165887 deg,
      new cmd heading: 295.158330 deg.

2025-01-09T00:46:03.909Z,1736383563.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151484 target range: 151.800003 and range: 151.80 m.
2025-01-09T00:46:03.965Z,1736383563.965 [DAT](INFO): DAT read: user:3737>

2025-01-09T00:46:03.967Z,1736383563.967 [DAT](INFO): DAT read: Tx time:00:46:03.1806

2025-01-09T00:46:03.968Z,1736383563.968 [DAT](INFO): Ping request sent.
2025-01-09T00:46:03.968Z,1736383563.968 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:46:03.968Z,1736383563.968 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:03.969Z,1736383563.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001409
2025-01-09T00:46:04.216Z,1736383564.216 [DAT](INFO): DAT read: TxSync time:00:46:03.1798

2025-01-09T00:46:04.217Z,1736383564.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249650
2025-01-09T00:46:04.277Z,1736383564.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:04.293Z,1736383564.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.80 m.
2025-01-09T00:46:04.300Z,1736383564.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.800003 m,
      nav range: 150.069702 m,
      bearing: 289.907547 deg,
      approach rate: -0.790216 m/s,
      LOS rate: -0.007580 deg/s,
      cmd heading: 295.158319 deg,
      new cmd heading: 295.149235 deg.

2025-01-09T00:46:04.301Z,1736383564.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151326 target range: 151.800003 and range: 151.80 m.
2025-01-09T00:46:04.469Z,1736383564.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501504
2025-01-09T00:46:04.704Z,1736383564.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:04.713Z,1736383564.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.80 m.
2025-01-09T00:46:04.716Z,1736383564.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.800003 m,
      nav range: 149.734772 m,
      bearing: 289.908776 deg,
      approach rate: -0.798206 m/s,
      LOS rate: 0.002936 deg/s,
      cmd heading: 295.149222 deg,
      new cmd heading: 295.152918 deg.

2025-01-09T00:46:04.717Z,1736383564.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151390 target range: 151.800003 and range: 151.80 m.
2025-01-09T00:46:04.720Z,1736383564.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752734
2025-01-09T00:46:04.973Z,1736383564.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005195
2025-01-09T00:46:05.074Z,1736383565.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:05.081Z,1736383565.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:05.084Z,1736383565.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.80 m.
2025-01-09T00:46:05.086Z,1736383565.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.800003 m,
      nav range: 149.445877 m,
      bearing: 289.910451 deg,
      approach rate: -0.779305 m/s,
      LOS rate: 0.004526 deg/s,
      cmd heading: 295.152910 deg,
      new cmd heading: 295.157944 deg.

2025-01-09T00:46:05.088Z,1736383565.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151478 target range: 151.800003 and range: 151.80 m.
2025-01-09T00:46:05.225Z,1736383565.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257689
2025-01-09T00:46:05.478Z,1736383565.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510235
2025-01-09T00:46:05.522Z,1736383565.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:05.530Z,1736383565.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.80 m.
2025-01-09T00:46:05.534Z,1736383565.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.800003 m,
      nav range: 149.098373 m,
      bearing: 289.916168 deg,
      approach rate: -0.778008 m/s,
      LOS rate: 0.012829 deg/s,
      cmd heading: 295.157937 deg,
      new cmd heading: 295.175127 deg.

2025-01-09T00:46:05.535Z,1736383565.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151778 target range: 151.800003 and range: 151.80 m.
2025-01-09T00:46:05.728Z,1736383565.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760606
2025-01-09T00:46:05.890Z,1736383565.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:05.899Z,1736383565.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.80 m.
2025-01-09T00:46:05.902Z,1736383565.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.800003 m,
      nav range: 148.812775 m,
      bearing: 289.920886 deg,
      approach rate: -0.775163 m/s,
      LOS rate: 0.012831 deg/s,
      cmd heading: 295.175122 deg,
      new cmd heading: 295.189304 deg.

2025-01-09T00:46:05.904Z,1736383565.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152025 target range: 151.800003 and range: 151.80 m.
2025-01-09T00:46:05.980Z,1736383565.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012798
2025-01-09T00:46:06.233Z,1736383566.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265047
2025-01-09T00:46:06.288Z,1736383566.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:06.297Z,1736383566.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.80 m.
2025-01-09T00:46:06.301Z,1736383566.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.800003 m,
      nav range: 148.503510 m,
      bearing: 289.926451 deg,
      approach rate: -0.776662 m/s,
      LOS rate: 0.014003 deg/s,
      cmd heading: 295.189301 deg,
      new cmd heading: 295.206029 deg.

2025-01-09T00:46:06.301Z,1736383566.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152317 target range: 151.800003 and range: 151.80 m.
2025-01-09T00:46:06.484Z,1736383566.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516719
2025-01-09T00:46:06.716Z,1736383566.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:06.725Z,1736383566.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.80 m.
2025-01-09T00:46:06.728Z,1736383566.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.800003 m,
      nav range: 148.184952 m,
      bearing: 289.936318 deg,
      approach rate: -0.743748 m/s,
      LOS rate: 0.023088 deg/s,
      cmd heading: 295.206022 deg,
      new cmd heading: 295.235688 deg.

2025-01-09T00:46:06.729Z,1736383566.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152835 target range: 151.800003 and range: 151.80 m.
2025-01-09T00:46:06.736Z,1736383566.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768920
2025-01-09T00:46:06.988Z,1736383566.988 [DAT](INFO): DAT read: Rx Time:00:46:05.7835

2025-01-09T00:46:06.989Z,1736383566.989 [DAT](INFO): Rx dataTimestamp_ set to:1736383566.988494
2025-01-09T00:46:06.989Z,1736383566.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021778
2025-01-09T00:46:07.096Z,1736383567.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:07.104Z,1736383567.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:07.105Z,1736383567.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.80 m.
2025-01-09T00:46:07.109Z,1736383567.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.800003 m,
      nav range: 147.901794 m,
      bearing: 289.945303 deg,
      approach rate: -0.744088 m/s,
      LOS rate: 0.023656 deg/s,
      cmd heading: 295.235692 deg,
      new cmd heading: 295.262698 deg.

2025-01-09T00:46:07.110Z,1736383567.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153306 target range: 151.800003 and range: 151.80 m.
2025-01-09T00:46:07.240Z,1736383567.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272723
2025-01-09T00:46:07.502Z,1736383567.502 [DAT](INFO): DAT read: 00:46:05.7835 LVL= 22560, 30257, 18002, 28067, AGC= 62, IDX= 400, 0.03,-1.295,-2.555,-1.172,-1.773, PHS= 0.565,-0.735, 0.598, RAW= 151.2,  -6.6, CAL= 156.4, -14.7, ROT= 353.6,  14.7

2025-01-09T00:46:07.504Z,1736383567.504 [DAT](INFO): got valid direction response:
 00:46:05.7835 LVL= 22560, 30257, 18002, 28067, AGC= 62, IDX= 400, 0.03,-1.295,-2.555,-1.172,-1.773, PHS= 0.565,-0.735, 0.598, RAW= 151.2,  -6.6, CAL= 156.4, -14.7, ROT= 353.6,  14.7

2025-01-09T00:46:07.505Z,1736383567.505 [DAT](INFO): DAT read: Bearing 353.6,  14.7 (Local)

2025-01-09T00:46:07.505Z,1736383567.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,  14.7 (Local)

2025-01-09T00:46:07.506Z,1736383567.506 [DAT](INFO): DAT read: Range 10 to 50 : 149.1 m  (Round-trip  198.8 ms) speed  0.0 m/s

2025-01-09T00:46:07.507Z,1736383567.507 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:46:07.513Z,1736383567.513 [DAT](INFO): direction in FSK: [0.961240,-0.107820,-0.253758]
2025-01-09T00:46:07.513Z,1736383567.513 [DAT](INFO): publishing direction and range info
2025-01-09T00:46:07.521Z,1736383567.521 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:07.521Z,1736383567.521 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:07.521Z,1736383567.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:07.633Z,1736383567.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:07.682Z,1736383567.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 149.100006 m,
      deltaT: 3.782106 s,
      deltaX: -2.699997 m,
      approachRate: -0.713887 m/s,
      rangeRepo size: 4

2025-01-09T00:46:07.689Z,1736383567.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 149.100006 m,
      bearing: 290.085947 deg,
      lat: 36.903968 deg,
      lon: -122.118991 deg,
      deltaT: 3.782106 s,
      deltaX: -2.699997 m,
      approachRate: -0.713887 m/s,
      posRepo size: 4

2025-01-09T00:46:07.690Z,1736383567.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:07.697Z,1736383567.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 147.826416 m,
      bearing: 289.916169 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023656 deg/s,
      cmd heading: 295.262712 deg,
      new cmd heading: 295.303520 deg.

2025-01-09T00:46:07.699Z,1736383567.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154019 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:07.745Z,1736383567.745 [DAT](INFO): DAT read: user:3738>

2025-01-09T00:46:07.746Z,1736383567.746 [DAT](INFO): DAT read: Tx time:00:46:06.9806

2025-01-09T00:46:07.747Z,1736383567.747 [DAT](INFO): Ping request sent.
2025-01-09T00:46:07.747Z,1736383567.747 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:46:07.747Z,1736383567.747 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:07.748Z,1736383567.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001577
2025-01-09T00:46:07.908Z,1736383567.908 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:46:07.996Z,1736383567.996 [DAT](INFO): DAT read: TxSync time:00:46:06.9798

2025-01-09T00:46:07.997Z,1736383567.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250319
2025-01-09T00:46:08.004Z,1736383568.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:08.012Z,1736383568.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:08.016Z,1736383568.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 147.559738 m,
      bearing: 289.926223 deg,
      approach rate: -0.804832 m/s,
      LOS rate: 0.030399 deg/s,
      cmd heading: 295.303529 deg,
      new cmd heading: 295.333747 deg.

2025-01-09T00:46:08.017Z,1736383568.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154546 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:08.250Z,1736383568.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503002
2025-01-09T00:46:08.390Z,1736383568.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:08.398Z,1736383568.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:08.401Z,1736383568.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 147.281372 m,
      bearing: 289.936879 deg,
      approach rate: -0.720812 m/s,
      LOS rate: 0.027643 deg/s,
      cmd heading: 295.333746 deg,
      new cmd heading: 295.365772 deg.

2025-01-09T00:46:08.402Z,1736383568.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.155105 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:08.505Z,1736383568.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757465
2025-01-09T00:46:08.752Z,1736383568.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005497
2025-01-09T00:46:08.822Z,1736383568.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:08.835Z,1736383568.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:08.838Z,1736383568.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 146.988785 m,
      bearing: 289.951227 deg,
      approach rate: -0.669198 m/s,
      LOS rate: 0.032882 deg/s,
      cmd heading: 295.365766 deg,
      new cmd heading: 295.408896 deg.

2025-01-09T00:46:08.840Z,1736383568.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.155858 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:08.912Z,1736383568.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:46:09.004Z,1736383569.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257485
2025-01-09T00:46:09.197Z,1736383569.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:09.205Z,1736383569.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:09.208Z,1736383569.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:09.210Z,1736383569.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 146.736237 m,
      bearing: 289.963570 deg,
      approach rate: -0.678988 m/s,
      LOS rate: 0.033243 deg/s,
      cmd heading: 295.408905 deg,
      new cmd heading: 295.445999 deg.

2025-01-09T00:46:09.211Z,1736383569.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.156506 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:09.258Z,1736383569.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510579
2025-01-09T00:46:09.508Z,1736383569.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761706
2025-01-09T00:46:09.646Z,1736383569.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:09.658Z,1736383569.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:09.666Z,1736383569.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 146.443634 m,
      bearing: 289.976214 deg,
      approach rate: -0.649395 m/s,
      LOS rate: 0.028116 deg/s,
      cmd heading: 295.446007 deg,
      new cmd heading: 295.484013 deg.

2025-01-09T00:46:09.667Z,1736383569.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.157169 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:09.760Z,1736383569.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013619
2025-01-09T00:46:09.989Z,1736383569.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:10.009Z,1736383570.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:10.012Z,1736383570.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265731
2025-01-09T00:46:10.016Z,1736383570.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 146.221344 m,
      bearing: 289.985539 deg,
      approach rate: -0.633291 m/s,
      LOS rate: 0.026607 deg/s,
      cmd heading: 295.484010 deg,
      new cmd heading: 295.512028 deg.

2025-01-09T00:46:10.017Z,1736383570.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.157658 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:10.265Z,1736383570.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517746
2025-01-09T00:46:10.392Z,1736383570.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:10.401Z,1736383570.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:10.405Z,1736383570.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 145.959122 m,
      bearing: 289.996287 deg,
      approach rate: -0.667762 m/s,
      LOS rate: 0.027421 deg/s,
      cmd heading: 295.512041 deg,
      new cmd heading: 295.544345 deg.

2025-01-09T00:46:10.406Z,1736383570.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.158222 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:10.520Z,1736383570.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773412
2025-01-09T00:46:10.768Z,1736383570.768 [DAT](INFO): DAT read: Rx Time:00:46:09.6132

2025-01-09T00:46:10.769Z,1736383570.769 [DAT](INFO): Rx dataTimestamp_ set to:1736383570.768555
2025-01-09T00:46:10.769Z,1736383570.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022686
2025-01-09T00:46:10.848Z,1736383570.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:10.857Z,1736383570.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:10.860Z,1736383570.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 145.667969 m,
      bearing: 290.006056 deg,
      approach rate: -0.639839 m/s,
      LOS rate: 0.021510 deg/s,
      cmd heading: 295.544334 deg,
      new cmd heading: 295.573699 deg.

2025-01-09T00:46:10.861Z,1736383570.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.158734 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:11.020Z,1736383571.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273536
2025-01-09T00:46:11.205Z,1736383571.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:11.211Z,1736383571.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:11.213Z,1736383571.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:11.233Z,1736383571.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 145.438980 m,
      bearing: 290.013538 deg,
      approach rate: -0.641491 m/s,
      LOS rate: 0.020995 deg/s,
      cmd heading: 295.573704 deg,
      new cmd heading: 295.596188 deg.

2025-01-09T00:46:11.234Z,1736383571.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159127 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:11.276Z,1736383571.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528425
2025-01-09T00:46:11.541Z,1736383571.541 [DAT](INFO): DAT read: 00:46:09.6132 LVL= 23008, 27457, 17106, 27315, AGC= 64, IDX= 238, 0.20, 1.588, 0.169, 1.707, 1.026, PHS= 0.650,-0.811, 0.678, RAW= 150.9,  -7.1, CAL= 156.3, -15.2, ROT= 353.7,  15.2

2025-01-09T00:46:11.542Z,1736383571.542 [DAT](INFO): got valid direction response:
 00:46:09.6132 LVL= 23008, 27457, 17106, 27315, AGC= 64, IDX= 238, 0.20, 1.588, 0.169, 1.707, 1.026, PHS= 0.650,-0.811, 0.678, RAW= 150.9,  -7.1, CAL= 156.3, -15.2, ROT= 353.7,  15.2

2025-01-09T00:46:11.543Z,1736383571.543 [DAT](INFO): DAT read: Bearing 353.7,  15.2 (Local)

2025-01-09T00:46:11.543Z,1736383571.543 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.7,  15.2 (Local)

2025-01-09T00:46:11.545Z,1736383571.545 [DAT](INFO): DAT read: Range 10 to 50 : 171.3 m  (Round-trip  228.4 ms) speed  0.6 m/s

2025-01-09T00:46:11.545Z,1736383571.545 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:46:11.546Z,1736383571.546 [DAT](INFO): direction in FSK: [0.959189,-0.105895,-0.262189]
2025-01-09T00:46:11.546Z,1736383571.546 [DAT](INFO): publishing direction and range info
2025-01-09T00:46:11.550Z,1736383571.550 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:11.550Z,1736383571.550 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:11.565Z,1736383571.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:11.713Z,1736383571.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:11.750Z,1736383571.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 171.300003 m,
 deltaT: 4.031118 s,
 deltaX: 22.199997 m,
 approachRate: 5.507156 m/s,
 rangeRepo size: 4
2025-01-09T00:46:11.750Z,1736383571.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:11.757Z,1736383571.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 145.102936 m,
      bearing: 290.020571 deg,
      approach rate: -0.627957 m/s,
      LOS rate: 0.013171 deg/s,
      cmd heading: 295.596189 deg,
      new cmd heading: 295.617335 deg.

2025-01-09T00:46:11.758Z,1736383571.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159496 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:11.776Z,1736383571.776 [DAT](INFO): DAT read: user:3739>

2025-01-09T00:46:11.777Z,1736383571.777 [DAT](INFO): DAT read: Tx time:00:46:11.0307

2025-01-09T00:46:11.777Z,1736383571.777 [DAT](INFO): Ping request sent.
2025-01-09T00:46:11.778Z,1736383571.778 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:46:11.778Z,1736383571.778 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:11.778Z,1736383571.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-01-09T00:46:12.028Z,1736383572.028 [DAT](INFO): DAT read: TxSync time:00:46:11.0299

2025-01-09T00:46:12.029Z,1736383572.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251613
2025-01-09T00:46:12.072Z,1736383572.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:12.085Z,1736383572.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:12.092Z,1736383572.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 144.865723 m,
      bearing: 290.025372 deg,
      approach rate: -0.705230 m/s,
      LOS rate: 0.014299 deg/s,
      cmd heading: 295.617336 deg,
      new cmd heading: 295.631764 deg.

2025-01-09T00:46:12.093Z,1736383572.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159748 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:12.283Z,1736383572.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505358
2025-01-09T00:46:12.453Z,1736383572.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:12.464Z,1736383572.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:12.466Z,1736383572.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 144.614212 m,
      bearing: 290.030582 deg,
      approach rate: -0.664753 m/s,
      LOS rate: 0.013793 deg/s,
      cmd heading: 295.631761 deg,
      new cmd heading: 295.647417 deg.

2025-01-09T00:46:12.467Z,1736383572.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160021 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:12.539Z,1736383572.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761107
2025-01-09T00:46:12.788Z,1736383572.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010908
2025-01-09T00:46:12.886Z,1736383572.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:12.894Z,1736383572.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:12.898Z,1736383572.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 144.317657 m,
      bearing: 290.032298 deg,
      approach rate: -0.688154 m/s,
      LOS rate: 0.003990 deg/s,
      cmd heading: 295.647416 deg,
      new cmd heading: 295.652575 deg.

2025-01-09T00:46:12.899Z,1736383572.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160111 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:13.040Z,1736383573.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262693
2025-01-09T00:46:13.259Z,1736383573.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:13.267Z,1736383573.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:13.269Z,1736383573.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:13.272Z,1736383573.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 144.061417 m,
      bearing: 290.033650 deg,
      approach rate: -0.683779 m/s,
      LOS rate: 0.003615 deg/s,
      cmd heading: 295.652579 deg,
      new cmd heading: 295.656643 deg.

2025-01-09T00:46:13.273Z,1736383573.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160182 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:13.315Z,1736383573.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.536723
2025-01-09T00:46:13.563Z,1736383573.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.784774
2025-01-09T00:46:13.707Z,1736383573.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:13.730Z,1736383573.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:13.734Z,1736383573.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 143.733994 m,
      bearing: 290.033057 deg,
      approach rate: -0.709593 m/s,
      LOS rate: -0.001288 deg/s,
      cmd heading: 295.656650 deg,
      new cmd heading: 295.654867 deg.

2025-01-09T00:46:13.735Z,1736383573.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160151 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:13.813Z,1736383573.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.034926
2025-01-09T00:46:14.065Z,1736383574.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.286867
2025-01-09T00:46:14.091Z,1736383574.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:14.100Z,1736383574.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:14.103Z,1736383574.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 143.453079 m,
      bearing: 290.032546 deg,
      approach rate: -0.759544 m/s,
      LOS rate: -0.001384 deg/s,
      cmd heading: 295.654874 deg,
      new cmd heading: 295.653338 deg.

2025-01-09T00:46:14.104Z,1736383574.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160124 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:14.316Z,1736383574.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.538887
2025-01-09T00:46:14.476Z,1736383574.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:14.485Z,1736383574.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:14.490Z,1736383574.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 143.171906 m,
      bearing: 290.031848 deg,
      approach rate: -0.730714 m/s,
      LOS rate: -0.001817 deg/s,
      cmd heading: 295.653344 deg,
      new cmd heading: 295.651247 deg.

2025-01-09T00:46:14.491Z,1736383574.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160088 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:14.573Z,1736383574.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.795340
2025-01-09T00:46:14.820Z,1736383574.820 [DAT](INFO): DAT read: Rx Time:00:46:13.6594

2025-01-09T00:46:14.821Z,1736383574.821 [DAT](INFO): Rx dataTimestamp_ set to:1736383574.820479
2025-01-09T00:46:14.821Z,1736383574.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.043705
2025-01-09T00:46:14.921Z,1736383574.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:14.929Z,1736383574.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:14.933Z,1736383574.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 142.824814 m,
      bearing: 290.030453 deg,
      approach rate: -0.781650 m/s,
      LOS rate: -0.003149 deg/s,
      cmd heading: 295.651241 deg,
      new cmd heading: 295.647045 deg.

2025-01-09T00:46:14.934Z,1736383574.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160014 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:15.073Z,1736383575.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.295005
2025-01-09T00:46:15.275Z,1736383575.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:15.282Z,1736383575.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:15.285Z,1736383575.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-01-09T00:46:15.287Z,1736383575.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.100006 m,
      nav range: 142.549072 m,
      bearing: 290.029510 deg,
      approach rate: -0.775686 m/s,
      LOS rate: -0.002659 deg/s,
      cmd heading: 295.647033 deg,
      new cmd heading: 295.644197 deg.

2025-01-09T00:46:15.288Z,1736383575.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159965 target range: 149.100006 and range: 149.10 m.
2025-01-09T00:46:15.328Z,1736383575.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.549796
2025-01-09T00:46:15.604Z,1736383575.604 [DAT](INFO): DAT read: 00:46:13.6594 LVL= 23008, 30161, 19442, 32163, AGC= 62, IDX= 408,-0.47, 1.353, 0.005, 1.530, 0.842, PHS= 0.599,-0.790, 0.685, RAW= 153.0,  -6.9, CAL= 158.1, -14.9, ROT= 351.9,  14.9

2025-01-09T00:46:15.605Z,1736383575.605 [DAT](INFO): got valid direction response:
 00:46:13.6594 LVL= 23008, 30161, 19442, 32163, AGC= 62, IDX= 408,-0.47, 1.353, 0.005, 1.530, 0.842, PHS= 0.599,-0.790, 0.685, RAW= 153.0,  -6.9, CAL= 158.1, -14.9, ROT= 351.9,  14.9

2025-01-09T00:46:15.606Z,1736383575.606 [DAT](INFO): DAT read: Bearing 351.9,  14.9 (Local)

2025-01-09T00:46:15.606Z,1736383575.606 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9,  14.9 (Local)

2025-01-09T00:46:15.609Z,1736383575.609 [DAT](INFO): DAT read: Range 10 to 50 : 168.4 m  (Round-trip  224.6 ms) speed  0.5 m/s

2025-01-09T00:46:15.610Z,1736383575.610 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:46:15.611Z,1736383575.611 [DAT](INFO): direction in FSK: [0.956735,-0.136163,-0.257133]
2025-01-09T00:46:15.611Z,1736383575.611 [DAT](INFO): publishing direction and range info
2025-01-09T00:46:15.614Z,1736383575.614 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:15.614Z,1736383575.614 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:15.614Z,1736383575.614 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:15.809Z,1736383575.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:15.828Z,1736383575.828 [DAT](INFO): DAT read: user:3740>

2025-01-09T00:46:15.829Z,1736383575.829 [DAT](INFO): DAT read: Tx time:00:46:15.0807

2025-01-09T00:46:15.829Z,1736383575.829 [DAT](INFO): Ping request sent.
2025-01-09T00:46:15.829Z,1736383575.829 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:46:15.830Z,1736383575.830 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:15.830Z,1736383575.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719
2025-01-09T00:46:15.840Z,1736383575.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 168.399994 m,
      deltaT: 8.083675 s,
      deltaX: 19.299988 m,
      approachRate: 2.387527 m/s,
      rangeRepo size: 4

2025-01-09T00:46:15.842Z,1736383575.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 168.399994 m,
      bearing: 289.428569 deg,
      lat: 36.903972 deg,
      lon: -122.118992 deg,
      deltaT: 8.083675 s,
      deltaX: 19.299988 m,
      approachRate: 2.387527 m/s,
      posRepo size: 4

2025-01-09T00:46:15.848Z,1736383575.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:15.851Z,1736383575.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 142.361008 m,
      bearing: 290.193569 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002659 deg/s,
      cmd heading: 295.644192 deg,
      new cmd heading: 295.639798 deg.

2025-01-09T00:46:15.861Z,1736383575.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159888 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:16.088Z,1736383576.088 [DAT](INFO): DAT read: TxSync time:00:46:15.0799

2025-01-09T00:46:16.089Z,1736383576.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.259464
2025-01-09T00:46:16.170Z,1736383576.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:16.178Z,1736383576.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:16.182Z,1736383576.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 142.071411 m,
      bearing: 290.193404 deg,
      approach rate: -0.844561 m/s,
      LOS rate: -0.000482 deg/s,
      cmd heading: 295.639793 deg,
      new cmd heading: 295.639298 deg.

2025-01-09T00:46:16.183Z,1736383576.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159879 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:16.336Z,1736383576.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506986
2025-01-09T00:46:16.593Z,1736383576.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762221
2025-01-09T00:46:16.637Z,1736383576.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:16.675Z,1736383576.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:16.684Z,1736383576.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 141.697113 m,
      bearing: 290.193633 deg,
      approach rate: -0.761918 m/s,
      LOS rate: 0.000468 deg/s,
      cmd heading: 295.639301 deg,
      new cmd heading: 295.639991 deg.

2025-01-09T00:46:16.686Z,1736383576.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159891 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:16.840Z,1736383576.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010750
2025-01-09T00:46:17.093Z,1736383577.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263384
2025-01-09T00:46:17.184Z,1736383577.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:17.192Z,1736383577.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:17.195Z,1736383577.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 141.258255 m,
      bearing: 290.196609 deg,
      approach rate: -0.839863 m/s,
      LOS rate: 0.005711 deg/s,
      cmd heading: 295.639984 deg,
      new cmd heading: 295.648938 deg.

2025-01-09T00:46:17.196Z,1736383577.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160048 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:17.345Z,1736383577.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515943
2025-01-09T00:46:17.595Z,1736383577.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:17.600Z,1736383577.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769401
2025-01-09T00:46:17.641Z,1736383577.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:17.643Z,1736383577.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:17.669Z,1736383577.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 140.929108 m,
      bearing: 290.199162 deg,
      approach rate: -0.730128 m/s,
      LOS rate: 0.005677 deg/s,
      cmd heading: 295.648946 deg,
      new cmd heading: 295.656623 deg.

2025-01-09T00:46:17.670Z,1736383577.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160182 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:17.850Z,1736383577.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019581
2025-01-09T00:46:18.101Z,1736383578.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271024
2025-01-09T00:46:18.162Z,1736383578.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:18.185Z,1736383578.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:18.192Z,1736383578.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 140.473526 m,
      bearing: 290.203286 deg,
      approach rate: -0.840692 m/s,
      LOS rate: 0.007636 deg/s,
      cmd heading: 295.656623 deg,
      new cmd heading: 295.669036 deg.

2025-01-09T00:46:18.193Z,1736383578.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160398 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:18.354Z,1736383578.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524411
2025-01-09T00:46:18.516Z,1736383578.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:18.524Z,1736383578.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:18.527Z,1736383578.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 140.190598 m,
      bearing: 290.206098 deg,
      approach rate: -0.833221 m/s,
      LOS rate: 0.008299 deg/s,
      cmd heading: 295.669026 deg,
      new cmd heading: 295.677480 deg.

2025-01-09T00:46:18.528Z,1736383578.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160545 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:18.607Z,1736383578.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777227
2025-01-09T00:46:18.856Z,1736383578.856 [DAT](INFO): DAT read: Rx Time:00:46:17.6718

2025-01-09T00:46:18.857Z,1736383578.857 [DAT](INFO): Rx dataTimestamp_ set to:1736383578.856630
2025-01-09T00:46:18.857Z,1736383578.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027969
2025-01-09T00:46:18.940Z,1736383578.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:18.949Z,1736383578.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:18.953Z,1736383578.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 139.867676 m,
      bearing: 290.213431 deg,
      approach rate: -0.760134 m/s,
      LOS rate: 0.017300 deg/s,
      cmd heading: 295.677468 deg,
      new cmd heading: 295.699517 deg.

2025-01-09T00:46:18.954Z,1736383578.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160930 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:19.108Z,1736383579.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278808
2025-01-09T00:46:19.308Z,1736383579.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:19.370Z,1736383579.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540603
2025-01-09T00:46:19.373Z,1736383579.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:19.388Z,1736383579.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 139.587692 m,
      bearing: 290.219922 deg,
      approach rate: -0.686391 m/s,
      LOS rate: 0.015944 deg/s,
      cmd heading: 295.699516 deg,
      new cmd heading: 295.719028 deg.

2025-01-09T00:46:19.390Z,1736383579.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.161271 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:19.667Z,1736383579.667 [DAT](INFO): DAT read: 00:46:17.6718 LVL= 30944, 32753, 22002, 25299, AGC= 62, IDX=  53, 0.35, 0.457,-0.879, 0.581,-0.101, PHS= 0.646,-0.731, 0.679, RAW= 151.2,  -8.6, CAL= 157.0, -16.5, ROT= 353.0,  16.5

2025-01-09T00:46:19.673Z,1736383579.673 [DAT](INFO): got valid direction response:
 00:46:17.6718 LVL= 30944, 32753, 22002, 25299, AGC= 62, IDX=  53, 0.35, 0.457,-0.879, 0.581,-0.101, PHS= 0.646,-0.731, 0.679, RAW= 151.2,  -8.6, CAL= 157.0, -16.5, ROT= 353.0,  16.5

2025-01-09T00:46:19.674Z,1736383579.674 [DAT](INFO): DAT read: Bearing 353.0,  16.5 (Local)

2025-01-09T00:46:19.675Z,1736383579.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.0,  16.5 (Local)

2025-01-09T00:46:19.681Z,1736383579.681 [DAT](INFO): DAT read: Range 10 to 50 : 140.1 m  (Round-trip  186.9 ms) speed  0.7 m/s

2025-01-09T00:46:19.682Z,1736383579.682 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:46:19.696Z,1736383579.696 [DAT](INFO): direction in FSK: [0.951673,-0.116851,-0.284015]
2025-01-09T00:46:19.696Z,1736383579.696 [DAT](INFO): publishing direction and range info
2025-01-09T00:46:19.703Z,1736383579.703 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:19.703Z,1736383579.703 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:19.704Z,1736383579.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:19.813Z,1736383579.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:19.846Z,1736383579.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 140.100006 m,
 deltaT: 4.036375 s,
 deltaX: -28.299988 m,
 approachRate: -7.011239 m/s,
 rangeRepo size: 4
2025-01-09T00:46:19.847Z,1736383579.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:19.854Z,1736383579.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 139.230881 m,
      bearing: 290.231207 deg,
      approach rate: -0.730314 m/s,
      LOS rate: 0.023158 deg/s,
      cmd heading: 295.719023 deg,
      new cmd heading: 295.752966 deg.

2025-01-09T00:46:19.855Z,1736383579.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.161863 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:19.865Z,1736383579.865 [DAT](INFO): DAT read: user:3741>

2025-01-09T00:46:19.866Z,1736383579.866 [DAT](INFO): DAT read: Tx time:00:46:19.1808

2025-01-09T00:46:19.866Z,1736383579.866 [DAT](INFO): Ping request sent.
2025-01-09T00:46:19.866Z,1736383579.866 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:46:19.867Z,1736383579.867 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:19.867Z,1736383579.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000846
2025-01-09T00:46:20.117Z,1736383580.117 [DAT](INFO): DAT read: TxSync time:00:46:19.1800

2025-01-09T00:46:20.118Z,1736383580.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251493
2025-01-09T00:46:20.192Z,1736383580.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:20.200Z,1736383580.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:20.202Z,1736383580.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:20.205Z,1736383580.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 138.962250 m,
      bearing: 290.239742 deg,
      approach rate: -0.754096 m/s,
      LOS rate: 0.024004 deg/s,
      cmd heading: 295.752956 deg,
      new cmd heading: 295.778608 deg.

2025-01-09T00:46:20.206Z,1736383580.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.162311 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:20.369Z,1736383580.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502131
2025-01-09T00:46:20.565Z,1736383580.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:20.574Z,1736383580.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:20.577Z,1736383580.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 138.698807 m,
      bearing: 290.248015 deg,
      approach rate: -0.708332 m/s,
      LOS rate: 0.022288 deg/s,
      cmd heading: 295.778610 deg,
      new cmd heading: 295.803478 deg.

2025-01-09T00:46:20.578Z,1736383580.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.162745 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:20.625Z,1736383580.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757881
2025-01-09T00:46:20.882Z,1736383580.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015458
2025-01-09T00:46:20.988Z,1736383580.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:21.023Z,1736383581.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:21.030Z,1736383581.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 138.420013 m,
      bearing: 290.260216 deg,
      approach rate: -0.620874 m/s,
      LOS rate: 0.027226 deg/s,
      cmd heading: 295.803472 deg,
      new cmd heading: 295.840148 deg.

2025-01-09T00:46:21.036Z,1736383581.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163384 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:21.132Z,1736383581.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266028
2025-01-09T00:46:21.370Z,1736383581.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:21.385Z,1736383581.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518180
2025-01-09T00:46:21.388Z,1736383581.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:21.391Z,1736383581.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 138.168350 m,
      bearing: 290.271161 deg,
      approach rate: -0.691768 m/s,
      LOS rate: 0.030141 deg/s,
      cmd heading: 295.840136 deg,
      new cmd heading: 295.873031 deg.

2025-01-09T00:46:21.393Z,1736383581.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163959 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:21.639Z,1736383581.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772124
2025-01-09T00:46:21.825Z,1736383581.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:21.834Z,1736383581.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:21.837Z,1736383581.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 137.886810 m,
      bearing: 290.280839 deg,
      approach rate: -0.628801 m/s,
      LOS rate: 0.021659 deg/s,
      cmd heading: 295.873030 deg,
      new cmd heading: 295.902124 deg.

2025-01-09T00:46:21.838Z,1736383581.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.164466 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:21.889Z,1736383581.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022879
2025-01-09T00:46:22.140Z,1736383582.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273855
2025-01-09T00:46:22.208Z,1736383582.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:22.216Z,1736383582.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:22.218Z,1736383582.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:22.221Z,1736383582.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 137.649384 m,
      bearing: 290.288666 deg,
      approach rate: -0.618185 m/s,
      LOS rate: 0.020415 deg/s,
      cmd heading: 295.902127 deg,
      new cmd heading: 295.925649 deg.

2025-01-09T00:46:22.222Z,1736383582.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.164877 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:22.393Z,1736383582.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525923
2025-01-09T00:46:22.644Z,1736383582.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777813
2025-01-09T00:46:22.725Z,1736383582.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:22.772Z,1736383582.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:22.775Z,1736383582.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 137.329620 m,
      bearing: 290.298249 deg,
      approach rate: -0.577290 m/s,
      LOS rate: 0.017341 deg/s,
      cmd heading: 295.925650 deg,
      new cmd heading: 295.954466 deg.

2025-01-09T00:46:22.784Z,1736383582.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.165380 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:22.896Z,1736383582.896 [DAT](INFO): DAT read: Rx Time:00:46:21.7686

2025-01-09T00:46:22.897Z,1736383582.897 [DAT](INFO): Rx dataTimestamp_ set to:1736383582.896513
2025-01-09T00:46:22.898Z,1736383582.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030873
2025-01-09T00:46:23.149Z,1736383583.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282510
2025-01-09T00:46:23.256Z,1736383583.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:23.265Z,1736383583.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T00:46:23.288Z,1736383583.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 137.019409 m,
      bearing: 290.305847 deg,
      approach rate: -0.630771 m/s,
      LOS rate: 0.015483 deg/s,
      cmd heading: 295.954474 deg,
      new cmd heading: 295.977317 deg.

2025-01-09T00:46:23.289Z,1736383583.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.165779 target range: 168.399994 and range: 168.40 m.
2025-01-09T00:46:23.400Z,1736383583.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533989
2025-01-09T00:46:23.707Z,1736383583.707 [DAT](INFO): DAT read: 00:46:21.7686 LVL= 27632, 29665, 22194, 31395, AGC= 60, IDX= 405, 0.10, 2.063, 0.815, 2.276, 1.541, PHS= 0.610,-0.679, 0.732, RAW= 154.5,  -9.8, CAL= 160.3, -17.2, ROT= 349.7,  17.2

2025-01-09T00:46:23.715Z,1736383583.715 [DAT](INFO): got valid direction response:
 00:46:21.7686 LVL= 27632, 29665, 22194, 31395, AGC= 60, IDX= 405, 0.10, 2.063, 0.815, 2.276, 1.541, PHS= 0.610,-0.679, 0.732, RAW= 154.5,  -9.8, CAL= 160.3, -17.2, ROT= 349.7,  17.2

2025-01-09T00:46:23.732Z,1736383583.732 [DAT](INFO): DAT read: Bearing 349.7,  17.2 (Local)

2025-01-09T00:46:23.732Z,1736383583.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.7,  17.2 (Local)

2025-01-09T00:46:23.734Z,1736383583.734 [DAT](INFO): DAT read: Range 10 to 50 : 137.7 m  (Round-trip  183.6 ms) speed  0.2 m/s

2025-01-09T00:46:23.734Z,1736383583.734 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:46:23.749Z,1736383583.749 [DAT](INFO): direction in FSK: [0.939884,-0.170806,-0.295708]
2025-01-09T00:46:23.750Z,1736383583.750 [DAT](INFO): publishing direction and range info
2025-01-09T00:46:23.762Z,1736383583.762 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:23.762Z,1736383583.762 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:23.762Z,1736383583.762 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:23.873Z,1736383583.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:23.904Z,1736383583.904 [DAT](INFO): DAT read: user:3742>

2025-01-09T00:46:23.905Z,1736383583.905 [DAT](INFO): DAT read: Tx time:00:46:23.2324

2025-01-09T00:46:23.905Z,1736383583.905 [DAT](INFO): Ping request sent.
2025-01-09T00:46:23.905Z,1736383583.905 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:46:23.906Z,1736383583.906 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:23.906Z,1736383583.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-01-09T00:46:23.928Z,1736383583.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 137.699997 m,
      deltaT: 8.075859 s,
      deltaX: -30.699997 m,
      approachRate: -3.801453 m/s,
      rangeRepo size: 4

2025-01-09T00:46:23.930Z,1736383583.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.699997 m,
      bearing: 288.192909 deg,
      lat: 36.903972 deg,
      lon: -122.119007 deg,
      deltaT: 8.075859 s,
      deltaX: -30.699997 m,
      approachRate: -3.801453 m/s,
      posRepo size: 4

2025-01-09T00:46:23.930Z,1736383583.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-09T00:46:23.938Z,1736383583.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 137.867706 m,
      bearing: 290.126681 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015483 deg/s,
      cmd heading: 295.977314 deg,
      new cmd heading: 296.007903 deg.

2025-01-09T00:46:23.939Z,1736383583.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166313 target range: 137.699997 and range: 137.70 m.
2025-01-09T00:46:24.160Z,1736383584.160 [DAT](INFO): DAT read: TxSync time:00:46:23.2316

2025-01-09T00:46:24.161Z,1736383584.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255147
2025-01-09T00:46:24.254Z,1736383584.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:24.269Z,1736383584.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:24.271Z,1736383584.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-09T00:46:24.278Z,1736383584.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 137.640808 m,
      bearing: 290.130704 deg,
      approach rate: -0.651527 m/s,
      LOS rate: 0.011572 deg/s,
      cmd heading: 296.007913 deg,
      new cmd heading: 296.020003 deg.

2025-01-09T00:46:24.279Z,1736383584.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166524 target range: 137.699997 and range: 137.70 m.
2025-01-09T00:46:24.408Z,1736383584.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502857
2025-01-09T00:46:24.644Z,1736383584.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:24.663Z,1736383584.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757253
2025-01-09T00:46:24.709Z,1736383584.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-09T00:46:24.734Z,1736383584.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 137.408432 m,
      bearing: 290.135183 deg,
      approach rate: -0.537275 m/s,
      LOS rate: 0.010373 deg/s,
      cmd heading: 296.020016 deg,
      new cmd heading: 296.033475 deg.

2025-01-09T00:46:24.742Z,1736383584.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166759 target range: 137.699997 and range: 137.70 m.
2025-01-09T00:46:24.912Z,1736383584.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006732
2025-01-09T00:46:25.074Z,1736383585.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:25.107Z,1736383585.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-09T00:46:25.121Z,1736383585.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 137.148621 m,
      bearing: 290.136739 deg,
      approach rate: -0.645812 m/s,
      LOS rate: 0.003877 deg/s,
      cmd heading: 296.033485 deg,
      new cmd heading: 296.038164 deg.

2025-01-09T00:46:25.123Z,1736383585.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166841 target range: 137.699997 and range: 137.70 m.
2025-01-09T00:46:25.165Z,1736383585.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259389
2025-01-09T00:46:25.416Z,1736383585.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510831
2025-01-09T00:46:25.466Z,1736383585.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:25.475Z,1736383585.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-09T00:46:25.478Z,1736383585.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 136.911545 m,
      bearing: 290.137974 deg,
      approach rate: -0.642567 m/s,
      LOS rate: 0.003352 deg/s,
      cmd heading: 296.038157 deg,
      new cmd heading: 296.041867 deg.

2025-01-09T00:46:25.478Z,1736383585.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166905 target range: 137.699997 and range: 137.70 m.
2025-01-09T00:46:25.669Z,1736383585.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763286
2025-01-09T00:46:25.903Z,1736383585.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:25.912Z,1736383585.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-09T00:46:25.916Z,1736383585.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 136.632294 m,
      bearing: 290.138272 deg,
      approach rate: -0.639340 m/s,
      LOS rate: 0.000685 deg/s,
      cmd heading: 296.041873 deg,
      new cmd heading: 296.042771 deg.

2025-01-09T00:46:25.917Z,1736383585.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166921 target range: 137.699997 and range: 137.70 m.
2025-01-09T00:46:25.920Z,1736383585.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015014
2025-01-09T00:46:26.172Z,1736383586.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266737
2025-01-09T00:46:26.278Z,1736383586.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:26.286Z,1736383586.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:26.288Z,1736383586.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-09T00:46:26.291Z,1736383586.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 136.392593 m,
      bearing: 290.138321 deg,
      approach rate: -0.637384 m/s,
      LOS rate: 0.000129 deg/s,
      cmd heading: 296.042774 deg,
      new cmd heading: 296.042920 deg.

2025-01-09T00:46:26.292Z,1736383586.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166924 target range: 137.699997 and range: 137.70 m.
2025-01-09T00:46:26.425Z,1736383586.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519163
2025-01-09T00:46:26.680Z,1736383586.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774003
2025-01-09T00:46:26.737Z,1736383586.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:26.783Z,1736383586.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-09T00:46:26.790Z,1736383586.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 136.099731 m,
      bearing: 290.138177 deg,
      approach rate: -0.591400 m/s,
      LOS rate: -0.000291 deg/s,
      cmd heading: 296.042911 deg,
      new cmd heading: 296.042479 deg.

2025-01-09T00:46:26.791Z,1736383586.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166916 target range: 137.699997 and range: 137.70 m.
2025-01-09T00:46:26.935Z,1736383586.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029959
2025-01-09T00:46:27.144Z,1736383587.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:27.153Z,1736383587.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-09T00:46:27.156Z,1736383587.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 135.822998 m,
      bearing: 290.137222 deg,
      approach rate: -0.747024 m/s,
      LOS rate: -0.002584 deg/s,
      cmd heading: 296.042474 deg,
      new cmd heading: 296.039602 deg.

2025-01-09T00:46:27.157Z,1736383587.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166866 target range: 137.699997 and range: 137.70 m.
2025-01-09T00:46:27.184Z,1736383587.184 [DAT](INFO): DAT read: Rx Time:00:46:25.8167

2025-01-09T00:46:27.185Z,1736383587.185 [DAT](INFO): Rx dataTimestamp_ set to:1736383587.184390
2025-01-09T00:46:27.185Z,1736383587.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279761
2025-01-09T00:46:27.436Z,1736383587.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530836
2025-01-09T00:46:27.546Z,1736383587.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:27.556Z,1736383587.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-09T00:46:27.558Z,1736383587.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 135.549377 m,
      bearing: 290.136094 deg,
      approach rate: -0.679408 m/s,
      LOS rate: -0.002806 deg/s,
      cmd heading: 296.039605 deg,
      new cmd heading: 296.036215 deg.

2025-01-09T00:46:27.560Z,1736383587.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166807 target range: 137.699997 and range: 137.70 m.
2025-01-09T00:46:27.705Z,1736383587.705 [DAT](INFO): DAT read: 00:46:25.8167 LVL= 26928, 32753, 20914, 30291, AGC= 64, IDX= 402,-0.20, 2.145, 0.895, 2.400, 1.596, PHS= 0.638,-0.654, 0.802, RAW= 155.9, -11.4, CAL= 161.9, -18.3, ROT= 348.1,  18.3

2025-01-09T00:46:27.707Z,1736383587.707 [DAT](INFO): got valid direction response:
 00:46:25.8167 LVL= 26928, 32753, 20914, 30291, AGC= 64, IDX= 402,-0.20, 2.145, 0.895, 2.400, 1.596, PHS= 0.638,-0.654, 0.802, RAW= 155.9, -11.4, CAL= 161.9, -18.3, ROT= 348.1,  18.3

2025-01-09T00:46:27.718Z,1736383587.718 [DAT](INFO): DAT read: Bearing 348.1,  18.3 (Local)

2025-01-09T00:46:27.721Z,1736383587.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.1,  18.3 (Local)

2025-01-09T00:46:27.726Z,1736383587.726 [DAT](INFO): DAT read: Range 10 to 50 : 135.1 m  (Round-trip  180.2 ms) speed  0.4 m/s

2025-01-09T00:46:27.728Z,1736383587.728 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:46:27.733Z,1736383587.733 [DAT](INFO): direction in FSK: [0.929021,-0.195775,-0.313992]
2025-01-09T00:46:27.734Z,1736383587.734 [DAT](INFO): publishing direction and range info
2025-01-09T00:46:27.805Z,1736383587.805 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:27.805Z,1736383587.805 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:27.806Z,1736383587.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:27.940Z,1736383587.940 [DAT](INFO): DAT read: user:3743>

2025-01-09T00:46:27.941Z,1736383587.941 [DAT](INFO): DAT read: Tx time:00:46:27.2808

2025-01-09T00:46:27.941Z,1736383587.941 [DAT](INFO): Ping request sent.
2025-01-09T00:46:27.941Z,1736383587.941 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:46:27.942Z,1736383587.942 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:27.942Z,1736383587.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-01-09T00:46:27.949Z,1736383587.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:27.963Z,1736383587.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.100006 m,
      deltaT: 4.034813 s,
      deltaX: -2.599991 m,
      approachRate: -0.644389 m/s,
      rangeRepo size: 4

2025-01-09T00:46:27.966Z,1736383587.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.100006 m,
      bearing: 287.377653 deg,
      lat: 36.903964 deg,
      lon: -122.119009 deg,
      deltaT: 4.034813 s,
      deltaX: -2.599991 m,
      approachRate: -0.644389 m/s,
      posRepo size: 4

2025-01-09T00:46:27.991Z,1736383587.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-01-09T00:46:27.994Z,1736383587.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.100006 m,
      nav range: 135.180984 m,
      bearing: 289.738877 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002806 deg/s,
      cmd heading: 296.036217 deg,
      new cmd heading: 296.032794 deg.

2025-01-09T00:46:27.995Z,1736383587.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166747 target range: 135.100006 and range: 135.10 m.
2025-01-09T00:46:28.192Z,1736383588.192 [DAT](INFO): DAT read: TxSync time:00:46:27.2800

2025-01-09T00:46:28.193Z,1736383588.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251714
2025-01-09T00:46:28.313Z,1736383588.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:28.345Z,1736383588.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:28.347Z,1736383588.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-01-09T00:46:28.350Z,1736383588.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.100006 m,
      nav range: 134.914490 m,
      bearing: 289.739137 deg,
      approach rate: -0.693278 m/s,
      LOS rate: 0.000678 deg/s,
      cmd heading: 296.032802 deg,
      new cmd heading: 296.033584 deg.

2025-01-09T00:46:28.376Z,1736383588.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166761 target range: 135.100006 and range: 135.10 m.
2025-01-09T00:46:28.445Z,1736383588.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503598
2025-01-09T00:46:28.697Z,1736383588.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755168
2025-01-09T00:46:28.724Z,1736383588.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:28.733Z,1736383588.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-01-09T00:46:28.758Z,1736383588.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.100006 m,
      nav range: 134.613602 m,
      bearing: 289.739691 deg,
      approach rate: -0.779279 m/s,
      LOS rate: 0.001437 deg/s,
      cmd heading: 296.033595 deg,
      new cmd heading: 296.035259 deg.

2025-01-09T00:46:28.766Z,1736383588.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166790 target range: 135.100006 and range: 135.10 m.
2025-01-09T00:46:28.949Z,1736383588.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007468
2025-01-09T00:46:29.150Z,1736383589.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:29.158Z,1736383589.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-01-09T00:46:29.179Z,1736383589.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.100006 m,
      nav range: 134.287109 m,
      bearing: 289.742408 deg,
      approach rate: -0.768024 m/s,
      LOS rate: 0.006407 deg/s,
      cmd heading: 296.035261 deg,
      new cmd heading: 296.043432 deg.

2025-01-09T00:46:29.184Z,1736383589.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166933 target range: 135.100006 and range: 135.10 m.
2025-01-09T00:46:29.201Z,1736383589.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259274
2025-01-09T00:46:29.452Z,1736383589.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865
2025-01-09T00:46:29.537Z,1736383589.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:29.545Z,1736383589.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-01-09T00:46:29.549Z,1736383589.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.100006 m,
      nav range: 133.990906 m,
      bearing: 289.744884 deg,
      approach rate: -0.765475 m/s,
      LOS rate: 0.006414 deg/s,
      cmd heading: 296.043430 deg,
      new cmd heading: 296.050876 deg.

2025-01-09T00:46:29.550Z,1736383589.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167063 target range: 135.100006 and range: 135.10 m.
2025-01-09T00:46:29.704Z,1736383589.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762827
2025-01-09T00:46:29.956Z,1736383589.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014855
2025-01-09T00:46:29.965Z,1736383589.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:29.974Z,1736383589.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-01-09T00:46:29.977Z,1736383589.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.100006 m,
      nav range: 133.648224 m,
      bearing: 289.751499 deg,
      approach rate: -0.798865 m/s,
      LOS rate: 0.015459 deg/s,
      cmd heading: 296.050889 deg,
      new cmd heading: 296.070782 deg.

2025-01-09T00:46:29.978Z,1736383589.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167410 target range: 135.100006 and range: 135.10 m.
2025-01-09T00:46:30.208Z,1736383590.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266915
2025-01-09T00:46:30.337Z,1736383590.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:30.345Z,1736383590.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-01-09T00:46:30.349Z,1736383590.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.100006 m,
      nav range: 133.351349 m,
      bearing: 289.757418 deg,
      approach rate: -0.800237 m/s,
      LOS rate: 0.015990 deg/s,
      cmd heading: 296.070778 deg,
      new cmd heading: 296.088575 deg.

2025-01-09T00:46:30.350Z,1736383590.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167720 target range: 135.100006 and range: 135.10 m.
2025-01-09T00:46:30.460Z,1736383590.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519063
2025-01-09T00:46:30.713Z,1736383590.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771746
2025-01-09T00:46:30.734Z,1736383590.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:30.749Z,1736383590.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:30.785Z,1736383590.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-01-09T00:46:30.803Z,1736383590.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.100006 m,
      nav range: 133.033829 m,
      bearing: 289.763844 deg,
      approach rate: -0.729863 m/s,
      LOS rate: 0.014807 deg/s,
      cmd heading: 296.088564 deg,
      new cmd heading: 296.107889 deg.

2025-01-09T00:46:30.807Z,1736383590.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.168057 target range: 135.100006 and range: 135.10 m.
2025-01-09T00:46:30.966Z,1736383590.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024183
2025-01-09T00:46:31.168Z,1736383591.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:31.177Z,1736383591.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-01-09T00:46:31.182Z,1736383591.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.100006 m,
      nav range: 132.692551 m,
      bearing: 289.772630 deg,
      approach rate: -0.858868 m/s,
      LOS rate: 0.022168 deg/s,
      cmd heading: 296.107880 deg,
      new cmd heading: 296.134306 deg.

2025-01-09T00:46:31.183Z,1736383591.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.168519 target range: 135.100006 and range: 135.10 m.
2025-01-09T00:46:31.217Z,1736383591.217 [DAT](INFO): DAT read: Rx Time:00:46:29.8607

2025-01-09T00:46:31.218Z,1736383591.218 [DAT](INFO): Rx dataTimestamp_ set to:1736383591.217256
2025-01-09T00:46:31.218Z,1736383591.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276967
2025-01-09T00:46:31.476Z,1736383591.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534779
2025-01-09T00:46:31.585Z,1736383591.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:31.613Z,1736383591.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-01-09T00:46:31.616Z,1736383591.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.100006 m,
      nav range: 132.357117 m,
      bearing: 289.781475 deg,
      approach rate: -0.770774 m/s,
      LOS rate: 0.020375 deg/s,
      cmd heading: 296.134299 deg,
      new cmd heading: 296.160900 deg.

2025-01-09T00:46:31.617Z,1736383591.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.168983 target range: 135.100006 and range: 135.10 m.
2025-01-09T00:46:31.735Z,1736383591.735 [DAT](INFO): DAT read: 00:46:29.8607 LVL= 24560, 24865, 19266, 29395, AGC= 60, IDX= 386, 0.18,-2.216, 2.685,-2.035,-2.808, PHS= 0.680,-0.743, 0.769, RAW= 153.0,  -9.6, CAL= 159.0, -17.2, ROT= 351.0,  17.2

2025-01-09T00:46:31.736Z,1736383591.736 [DAT](INFO): got valid direction response:
 00:46:29.8607 LVL= 24560, 24865, 19266, 29395, AGC= 60, IDX= 386, 0.18,-2.216, 2.685,-2.035,-2.808, PHS= 0.680,-0.743, 0.769, RAW= 153.0,  -9.6, CAL= 159.0, -17.2, ROT= 351.0,  17.2

2025-01-09T00:46:31.737Z,1736383591.737 [DAT](INFO): DAT read: Bearing 351.0,  17.2 (Local)

2025-01-09T00:46:31.737Z,1736383591.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.0,  17.2 (Local)

2025-01-09T00:46:31.739Z,1736383591.739 [DAT](INFO): DAT read: Range 10 to 50 : 131.7 m  (Round-trip  175.6 ms) speed  0.7 m/s

2025-01-09T00:46:31.740Z,1736383591.740 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:46:31.741Z,1736383591.741 [DAT](INFO): direction in FSK: [0.943517,-0.149438,-0.295708]
2025-01-09T00:46:31.741Z,1736383591.741 [DAT](INFO): publishing direction and range info
2025-01-09T00:46:31.744Z,1736383591.744 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:31.744Z,1736383591.744 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:31.745Z,1736383591.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:31.981Z,1736383591.981 [DAT](INFO): DAT read: user:3744>

2025-01-09T00:46:31.984Z,1736383591.984 [DAT](INFO): DAT read: Tx time:00:46:31.1809

2025-01-09T00:46:31.985Z,1736383591.985 [DAT](INFO): Ping request sent.
2025-01-09T00:46:31.986Z,1736383591.986 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:46:31.986Z,1736383591.986 [DAT](INFO): DAT read: TxSync time:00:46:31.1801

2025-01-09T00:46:31.987Z,1736383591.987 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:31.988Z,1736383591.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002715
2025-01-09T00:46:32.022Z,1736383592.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:32.050Z,1736383592.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 131.699997 m,
      deltaT: 4.039563 s,
      deltaX: -3.400009 m,
      approachRate: -0.841677 m/s,
      rangeRepo size: 4

2025-01-09T00:46:32.076Z,1736383592.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 131.699997 m,
      bearing: 289.243020 deg,
      lat: 36.903949 deg,
      lon: -122.119007 deg,
      deltaT: 4.039563 s,
      deltaX: -3.400009 m,
      approachRate: -0.841677 m/s,
      posRepo size: 4

2025-01-09T00:46:32.076Z,1736383592.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.70 m.
2025-01-09T00:46:32.079Z,1736383592.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.699997 m,
      nav range: 131.222610 m,
      bearing: 289.143809 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020375 deg/s,
      cmd heading: 296.160909 deg,
      new cmd heading: 296.187579 deg.

2025-01-09T00:46:32.084Z,1736383592.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.169448 target range: 131.699997 and range: 131.70 m.
2025-01-09T00:46:32.233Z,1736383592.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248040
2025-01-09T00:46:32.372Z,1736383592.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:32.390Z,1736383592.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.70 m.
2025-01-09T00:46:32.412Z,1736383592.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.699997 m,
      nav range: 130.951096 m,
      bearing: 289.153597 deg,
      approach rate: -0.796956 m/s,
      LOS rate: 0.028787 deg/s,
      cmd heading: 296.187574 deg,
      new cmd heading: 296.216997 deg.

2025-01-09T00:46:32.413Z,1736383592.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.169962 target range: 131.699997 and range: 131.70 m.
2025-01-09T00:46:32.485Z,1736383592.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500365
2025-01-09T00:46:32.737Z,1736383592.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752287
2025-01-09T00:46:32.778Z,1736383592.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:32.792Z,1736383592.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:32.794Z,1736383592.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.70 m.
2025-01-09T00:46:32.797Z,1736383592.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.699997 m,
      nav range: 130.637238 m,
      bearing: 289.165420 deg,
      approach rate: -0.776405 m/s,
      LOS rate: 0.029319 deg/s,
      cmd heading: 296.216999 deg,
      new cmd heading: 296.252555 deg.

2025-01-09T00:46:32.800Z,1736383592.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.170582 target range: 131.699997 and range: 131.70 m.
2025-01-09T00:46:32.988Z,1736383592.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003070
2025-01-09T00:46:33.241Z,1736383593.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255611
2025-01-09T00:46:33.350Z,1736383593.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:33.358Z,1736383593.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.70 m.
2025-01-09T00:46:33.383Z,1736383593.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.699997 m,
      nav range: 130.218292 m,
      bearing: 289.182636 deg,
      approach rate: -0.742175 m/s,
      LOS rate: 0.030597 deg/s,
      cmd heading: 296.252543 deg,
      new cmd heading: 296.304357 deg.

2025-01-09T00:46:33.388Z,1736383593.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.171486 target range: 131.699997 and range: 131.70 m.
2025-01-09T00:46:33.494Z,1736383593.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508438
2025-01-09T00:46:33.722Z,1736383593.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:33.731Z,1736383593.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.70 m.
2025-01-09T00:46:33.735Z,1736383593.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.699997 m,
      nav range: 129.945496 m,
      bearing: 289.193600 deg,
      approach rate: -0.732997 m/s,
      LOS rate: 0.029521 deg/s,
      cmd heading: 296.304343 deg,
      new cmd heading: 296.337304 deg.

2025-01-09T00:46:33.744Z,1736383593.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759227
2025-01-09T00:46:33.752Z,1736383593.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.172061 target range: 131.699997 and range: 131.70 m.
2025-01-09T00:46:33.998Z,1736383593.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012220
2025-01-09T00:46:34.205Z,1736383594.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:34.218Z,1736383594.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.70 m.
2025-01-09T00:46:34.221Z,1736383594.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.699997 m,
      nav range: 129.615417 m,
      bearing: 289.206032 deg,
      approach rate: -0.676568 m/s,
      LOS rate: 0.025546 deg/s,
      cmd heading: 296.337292 deg,
      new cmd heading: 296.374682 deg.

2025-01-09T00:46:34.222Z,1736383594.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.172714 target range: 131.699997 and range: 131.70 m.
2025-01-09T00:46:34.250Z,1736383594.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264652
2025-01-09T00:46:34.501Z,1736383594.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515459
2025-01-09T00:46:34.570Z,1736383594.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:34.586Z,1736383594.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.70 m.
2025-01-09T00:46:34.594Z,1736383594.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.699997 m,
      nav range: 129.365509 m,
      bearing: 289.214963 deg,
      approach rate: -0.679092 m/s,
      LOS rate: 0.024316 deg/s,
      cmd heading: 296.374694 deg,
      new cmd heading: 296.401539 deg.

2025-01-09T00:46:34.594Z,1736383594.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.173183 target range: 131.699997 and range: 131.70 m.
2025-01-09T00:46:34.752Z,1736383594.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767398
2025-01-09T00:46:35.006Z,1736383595.006 [DAT](INFO): DAT read: Rx Time:00:46:33.7570

2025-01-09T00:46:35.007Z,1736383595.007 [DAT](INFO): Rx dataTimestamp_ set to:1736383595.006200
2025-01-09T00:46:35.008Z,1736383595.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022964
2025-01-09T00:46:35.049Z,1736383595.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:35.064Z,1736383595.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:35.071Z,1736383595.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.70 m.
2025-01-09T00:46:35.074Z,1736383595.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.699997 m,
      nav range: 129.058411 m,
      bearing: 289.225887 deg,
      approach rate: -0.638889 m/s,
      LOS rate: 0.022782 deg/s,
      cmd heading: 296.401551 deg,
      new cmd heading: 296.434403 deg.

2025-01-09T00:46:35.079Z,1736383595.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.173756 target range: 131.699997 and range: 131.70 m.
2025-01-09T00:46:35.257Z,1736383595.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271937
2025-01-09T00:46:35.375Z,1736383595.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:35.385Z,1736383595.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.70 m.
2025-01-09T00:46:35.388Z,1736383595.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.699997 m,
      nav range: 128.849854 m,
      bearing: 289.232920 deg,
      approach rate: -0.656612 m/s,
      LOS rate: 0.022177 deg/s,
      cmd heading: 296.434390 deg,
      new cmd heading: 296.455522 deg.

2025-01-09T00:46:35.389Z,1736383595.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.174125 target range: 131.699997 and range: 131.70 m.
2025-01-09T00:46:35.515Z,1736383595.515 [DAT](INFO): DAT read: 00:46:33.7570 LVL= 24176, 27265, 19730, 27203, AGC= 60, IDX= 397, 0.16,-0.053,-1.448, 0.129,-0.668, PHS= 0.704,-0.733, 0.794, RAW= 153.0, -10.3, CAL= 159.3, -17.8, ROT= 350.7,  17.8

2025-01-09T00:46:35.516Z,1736383595.516 [DAT](INFO): got valid direction response:
 00:46:33.7570 LVL= 24176, 27265, 19730, 27203, AGC= 60, IDX= 397, 0.16,-0.053,-1.448, 0.129,-0.668, PHS= 0.704,-0.733, 0.794, RAW= 153.0, -10.3, CAL= 159.3, -17.8, ROT= 350.7,  17.8

2025-01-09T00:46:35.517Z,1736383595.517 [DAT](INFO): DAT read: Bearing 350.7,  17.8 (Local)

2025-01-09T00:46:35.517Z,1736383595.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.7,  17.8 (Local)

2025-01-09T00:46:35.519Z,1736383595.519 [DAT](INFO): DAT read: Range 10 to 50 : 128.9 m  (Round-trip  171.9 ms) speed  0.6 m/s

2025-01-09T00:46:35.520Z,1736383595.520 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:46:35.521Z,1736383595.521 [DAT](INFO): direction in FSK: [0.939614,-0.153867,-0.305695]
2025-01-09T00:46:35.521Z,1736383595.521 [DAT](INFO): publishing direction and range info
2025-01-09T00:46:35.524Z,1736383595.524 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:35.524Z,1736383595.524 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:35.525Z,1736383595.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:35.760Z,1736383595.760 [DAT](INFO): DAT read: user:3745>

2025-01-09T00:46:35.761Z,1736383595.761 [DAT](INFO): DAT read: Tx time:00:46:34.9809

2025-01-09T00:46:35.761Z,1736383595.761 [DAT](INFO): Ping request sent.
2025-01-09T00:46:35.761Z,1736383595.761 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:46:35.762Z,1736383595.762 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:35.762Z,1736383595.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-01-09T00:46:35.788Z,1736383595.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:35.908Z,1736383595.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.899994 m,
      deltaT: 3.780522 s,
      deltaX: -2.800003 m,
      approachRate: -0.740639 m/s,
      rangeRepo size: 4

2025-01-09T00:46:35.915Z,1736383595.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 128.899994 m,
      bearing: 289.799061 deg,
      lat: 36.903949 deg,
      lon: -122.118999 deg,
      deltaT: 3.780522 s,
      deltaX: -2.800003 m,
      approachRate: -0.740639 m/s,
      posRepo size: 4

2025-01-09T00:46:35.917Z,1736383595.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:35.925Z,1736383595.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 127.930717 m,
      bearing: 289.343837 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022177 deg/s,
      cmd heading: 296.455509 deg,
      new cmd heading: 296.489828 deg.

2025-01-09T00:46:35.926Z,1736383595.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.174724 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:36.016Z,1736383596.016 [DAT](INFO): DAT read: TxSync time:00:46:34.9801

2025-01-09T00:46:36.018Z,1736383596.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256551
2025-01-09T00:46:36.268Z,1736383596.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506886
2025-01-09T00:46:36.277Z,1736383596.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:36.287Z,1736383596.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:36.290Z,1736383596.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 127.638863 m,
      bearing: 289.352834 deg,
      approach rate: -0.756067 m/s,
      LOS rate: 0.023360 deg/s,
      cmd heading: 296.489824 deg,
      new cmd heading: 296.516876 deg.

2025-01-09T00:46:36.312Z,1736383596.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.175196 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:36.521Z,1736383596.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759382
2025-01-09T00:46:36.736Z,1736383596.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:36.745Z,1736383596.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:36.748Z,1736383596.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 127.364586 m,
      bearing: 289.361311 deg,
      approach rate: -0.598685 m/s,
      LOS rate: 0.018542 deg/s,
      cmd heading: 296.516871 deg,
      new cmd heading: 296.542355 deg.

2025-01-09T00:46:36.750Z,1736383596.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.175641 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:36.772Z,1736383596.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010634
2025-01-09T00:46:37.025Z,1736383597.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263236
2025-01-09T00:46:37.147Z,1736383597.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:37.175Z,1736383597.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:37.182Z,1736383597.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:37.189Z,1736383597.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 127.125374 m,
      bearing: 289.366387 deg,
      approach rate: -0.548263 m/s,
      LOS rate: 0.011658 deg/s,
      cmd heading: 296.542362 deg,
      new cmd heading: 296.557621 deg.

2025-01-09T00:46:37.190Z,1736383597.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.175907 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:37.276Z,1736383597.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514865
2025-01-09T00:46:37.530Z,1736383597.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768092
2025-01-09T00:46:37.637Z,1736383597.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:37.646Z,1736383597.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:37.650Z,1736383597.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 126.839455 m,
      bearing: 289.371605 deg,
      approach rate: -0.615433 m/s,
      LOS rate: 0.011256 deg/s,
      cmd heading: 296.557634 deg,
      new cmd heading: 296.573321 deg.

2025-01-09T00:46:37.651Z,1736383597.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176181 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:37.781Z,1736383597.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019068
2025-01-09T00:46:38.033Z,1736383598.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271425
2025-01-09T00:46:38.113Z,1736383598.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:38.123Z,1736383598.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:38.125Z,1736383598.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 126.561432 m,
      bearing: 289.373795 deg,
      approach rate: -0.582952 m/s,
      LOS rate: 0.004603 deg/s,
      cmd heading: 296.573316 deg,
      new cmd heading: 296.579902 deg.

2025-01-09T00:46:38.126Z,1736383598.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176296 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:38.284Z,1736383598.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522759
2025-01-09T00:46:38.473Z,1736383598.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:38.497Z,1736383598.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:38.505Z,1736383598.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 126.350731 m,
      bearing: 289.375164 deg,
      approach rate: -0.562382 m/s,
      LOS rate: 0.003661 deg/s,
      cmd heading: 296.579900 deg,
      new cmd heading: 296.584015 deg.

2025-01-09T00:46:38.506Z,1736383598.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176368 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:38.536Z,1736383598.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774901
2025-01-09T00:46:38.788Z,1736383598.788 [DAT](INFO): DAT read: Rx Time:00:46:37.5922

2025-01-09T00:46:38.789Z,1736383598.789 [DAT](INFO): Rx dataTimestamp_ set to:1736383598.788572
2025-01-09T00:46:38.789Z,1736383598.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027926
2025-01-09T00:46:38.899Z,1736383598.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:38.964Z,1736383598.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:38.972Z,1736383598.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 126.102234 m,
      bearing: 289.376584 deg,
      approach rate: -0.545138 m/s,
      LOS rate: 0.003120 deg/s,
      cmd heading: 296.584026 deg,
      new cmd heading: 296.588292 deg.

2025-01-09T00:46:38.973Z,1736383598.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176442 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:39.033Z,1736383599.033 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:46:39.042Z,1736383599.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280159
2025-01-09T00:46:39.314Z,1736383599.314 [DAT](INFO): DAT read: 00:46:37.5922 LVL= 26704, 27121, 21106, 27891, AGC= 62, IDX= 293, 0.05, 0.312,-0.094, 0.508,-0.879, PHS= 1.279, 0.832, 1.383, RAW= 160.3, -67.7, CAL= 164.0, -58.6, ROT= 346.0,  58.6

2025-01-09T00:46:39.316Z,1736383599.316 [DAT](INFO): got valid direction response:
 00:46:37.5922 LVL= 26704, 27121, 21106, 27891, AGC= 62, IDX= 293, 0.05, 0.312,-0.094, 0.508,-0.879, PHS= 1.279, 0.832, 1.383, RAW= 160.3, -67.7, CAL= 164.0, -58.6, ROT= 346.0,  58.6

2025-01-09T00:46:39.317Z,1736383599.317 [DAT](INFO): DAT read: Bearing 346.0,  58.6 (Local)

2025-01-09T00:46:39.317Z,1736383599.317 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.0,  58.6 (Local)

2025-01-09T00:46:39.318Z,1736383599.318 [DAT](INFO): DAT read: Range 10 to 50 : 155.4 m  (Round-trip  207.2 ms) speed  0.3 m/s

2025-01-09T00:46:39.323Z,1736383599.323 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:46:39.324Z,1736383599.324 [DAT](INFO): direction in FSK: [0.505533,-0.126044,-0.853551]
2025-01-09T00:46:39.325Z,1736383599.325 [DAT](INFO): publishing direction and range info
2025-01-09T00:46:39.336Z,1736383599.336 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:39.337Z,1736383599.337 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:39.337Z,1736383599.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:39.404Z,1736383599.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:39.436Z,1736383599.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 155.399994 m,
 deltaT: 3.785480 s,
 deltaX: 26.500000 m,
 approachRate: 7.000433 m/s,
 rangeRepo size: 4
2025-01-09T00:46:39.437Z,1736383599.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:39.444Z,1736383599.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 125.818871 m,
      bearing: 289.377299 deg,
      approach rate: -0.593081 m/s,
      LOS rate: 0.001501 deg/s,
      cmd heading: 296.588288 deg,
      new cmd heading: 296.590439 deg.

2025-01-09T00:46:39.445Z,1736383599.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176480 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:39.545Z,1736383599.545 [DAT](INFO): DAT read: user:3746>

2025-01-09T00:46:39.546Z,1736383599.546 [DAT](INFO): DAT read: Tx time:00:46:38.7809

2025-01-09T00:46:39.546Z,1736383599.546 [DAT](INFO): Ping request sent.
2025-01-09T00:46:39.547Z,1736383599.547 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:46:39.547Z,1736383599.547 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:39.548Z,1736383599.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001600
2025-01-09T00:46:39.729Z,1736383599.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:39.736Z,1736383599.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:39.738Z,1736383599.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:39.741Z,1736383599.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 125.596138 m,
      bearing: 289.377789 deg,
      approach rate: -0.724968 m/s,
      LOS rate: 0.001598 deg/s,
      cmd heading: 296.590446 deg,
      new cmd heading: 296.591919 deg.

2025-01-09T00:46:39.742Z,1736383599.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176506 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:39.797Z,1736383599.797 [DAT](INFO): DAT read: TxSync time:00:46:38.7801

2025-01-09T00:46:39.799Z,1736383599.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252024
2025-01-09T00:46:40.036Z,1736383600.036 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:46:40.049Z,1736383600.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501713
2025-01-09T00:46:40.149Z,1736383600.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:40.157Z,1736383600.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:40.160Z,1736383600.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 125.324471 m,
      bearing: 289.377770 deg,
      approach rate: -0.647777 m/s,
      LOS rate: -0.000046 deg/s,
      cmd heading: 296.591922 deg,
      new cmd heading: 296.591864 deg.

2025-01-09T00:46:40.161Z,1736383600.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176505 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:40.300Z,1736383600.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753761
2025-01-09T00:46:40.532Z,1736383600.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:40.540Z,1736383600.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:40.543Z,1736383600.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 125.077080 m,
      bearing: 289.377827 deg,
      approach rate: -0.646249 m/s,
      LOS rate: 0.000150 deg/s,
      cmd heading: 296.591867 deg,
      new cmd heading: 296.592039 deg.

2025-01-09T00:46:40.544Z,1736383600.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176507 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:40.552Z,1736383600.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005796
2025-01-09T00:46:40.804Z,1736383600.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257612
2025-01-09T00:46:41.032Z,1736383601.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:41.056Z,1736383601.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509816
2025-01-09T00:46:41.063Z,1736383601.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:41.070Z,1736383601.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 124.736282 m,
      bearing: 289.378853 deg,
      approach rate: -0.653252 m/s,
      LOS rate: 0.001971 deg/s,
      cmd heading: 296.592031 deg,
      new cmd heading: 296.595116 deg.

2025-01-09T00:46:41.071Z,1736383601.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176561 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:41.308Z,1736383601.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761601
2025-01-09T00:46:41.412Z,1736383601.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:41.436Z,1736383601.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:41.439Z,1736383601.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 124.477715 m,
      bearing: 289.379635 deg,
      approach rate: -0.690876 m/s,
      LOS rate: 0.002093 deg/s,
      cmd heading: 296.595118 deg,
      new cmd heading: 296.597469 deg.

2025-01-09T00:46:41.440Z,1736383601.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176602 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:41.560Z,1736383601.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013654
2025-01-09T00:46:41.796Z,1736383601.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:41.804Z,1736383601.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:41.806Z,1736383601.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:41.809Z,1736383601.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 124.217018 m,
      bearing: 289.380289 deg,
      approach rate: -0.704153 m/s,
      LOS rate: 0.001771 deg/s,
      cmd heading: 296.597468 deg,
      new cmd heading: 296.599434 deg.

2025-01-09T00:46:41.810Z,1736383601.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176637 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:41.812Z,1736383601.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265861
2025-01-09T00:46:42.064Z,1736383602.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517634
2025-01-09T00:46:42.239Z,1736383602.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:42.248Z,1736383602.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:42.251Z,1736383602.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 123.906052 m,
      bearing: 289.381833 deg,
      approach rate: -0.705231 m/s,
      LOS rate: 0.003511 deg/s,
      cmd heading: 296.599435 deg,
      new cmd heading: 296.604079 deg.

2025-01-09T00:46:42.252Z,1736383602.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176718 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:42.322Z,1736383602.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775251
2025-01-09T00:46:42.572Z,1736383602.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025889
2025-01-09T00:46:42.604Z,1736383602.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:42.613Z,1736383602.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:42.640Z,1736383602.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 123.649940 m,
      bearing: 289.383274 deg,
      approach rate: -0.701305 m/s,
      LOS rate: 0.003953 deg/s,
      cmd heading: 296.604079 deg,
      new cmd heading: 296.608410 deg.

2025-01-09T00:46:42.641Z,1736383602.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176794 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:42.824Z,1736383602.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277813
2025-01-09T00:46:43.066Z,1736383603.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:43.077Z,1736383603.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530053
2025-01-09T00:46:43.104Z,1736383603.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:43.106Z,1736383603.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 123.307259 m,
      bearing: 289.384804 deg,
      approach rate: -0.701421 m/s,
      LOS rate: 0.003141 deg/s,
      cmd heading: 296.608423 deg,
      new cmd heading: 296.613026 deg.

2025-01-09T00:46:43.107Z,1736383603.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176874 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:43.335Z,1736383603.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787224
2025-01-09T00:46:43.435Z,1736383603.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:43.444Z,1736383603.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:43.446Z,1736383603.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 123.033424 m,
      bearing: 289.386152 deg,
      approach rate: -0.799838 m/s,
      LOS rate: 0.003946 deg/s,
      cmd heading: 296.613013 deg,
      new cmd heading: 296.617066 deg.

2025-01-09T00:46:43.449Z,1736383603.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176944 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:43.580Z,1736383603.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033676
2025-01-09T00:46:43.834Z,1736383603.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287142
2025-01-09T00:46:43.840Z,1736383603.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:43.847Z,1736383603.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:43.851Z,1736383603.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:43.874Z,1736383603.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 122.732529 m,
      bearing: 289.387822 deg,
      approach rate: -0.738797 m/s,
      LOS rate: 0.004111 deg/s,
      cmd heading: 296.617057 deg,
      new cmd heading: 296.622080 deg.

2025-01-09T00:46:43.875Z,1736383603.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.177032 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:44.086Z,1736383604.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539208
2025-01-09T00:46:44.260Z,1736383604.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:44.272Z,1736383604.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:44.294Z,1736383604.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 122.412048 m,
      bearing: 289.390475 deg,
      approach rate: -0.763799 m/s,
      LOS rate: 0.006340 deg/s,
      cmd heading: 296.622084 deg,
      new cmd heading: 296.630065 deg.

2025-01-09T00:46:44.301Z,1736383604.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.177171 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:44.336Z,1736383604.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789711
2025-01-09T00:46:44.589Z,1736383604.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042119
2025-01-09T00:46:44.644Z,1736383604.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:44.683Z,1736383604.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:44.693Z,1736383604.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 122.118629 m,
      bearing: 289.393074 deg,
      approach rate: -0.718646 m/s,
      LOS rate: 0.006379 deg/s,
      cmd heading: 296.630061 deg,
      new cmd heading: 296.637874 deg.

2025-01-09T00:46:44.700Z,1736383604.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.177308 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:44.840Z,1736383604.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293837
2025-01-09T00:46:45.093Z,1736383605.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546300
2025-01-09T00:46:45.110Z,1736383605.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:45.118Z,1736383605.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:45.142Z,1736383605.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 121.777641 m,
      bearing: 289.399539 deg,
      approach rate: -0.775447 m/s,
      LOS rate: 0.014746 deg/s,
      cmd heading: 296.637875 deg,
      new cmd heading: 296.657327 deg.

2025-01-09T00:46:45.143Z,1736383605.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.177647 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:45.344Z,1736383605.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797642
2025-01-09T00:46:45.466Z,1736383605.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:45.475Z,1736383605.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:45.478Z,1736383605.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 121.516739 m,
      bearing: 289.404639 deg,
      approach rate: -0.732101 m/s,
      LOS rate: 0.014341 deg/s,
      cmd heading: 296.657327 deg,
      new cmd heading: 296.672660 deg.

2025-01-09T00:46:45.479Z,1736383605.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.177915 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:45.596Z,1736383605.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049699
2025-01-09T00:46:45.849Z,1736383605.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302399
2025-01-09T00:46:45.887Z,1736383605.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:45.894Z,1736383605.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:45.897Z,1736383605.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:45.900Z,1736383605.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 121.208435 m,
      bearing: 289.410705 deg,
      approach rate: -0.730734 m/s,
      LOS rate: 0.014414 deg/s,
      cmd heading: 296.672654 deg,
      new cmd heading: 296.690899 deg.

2025-01-09T00:46:45.901Z,1736383605.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.178233 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:46.103Z,1736383606.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556876
2025-01-09T00:46:46.290Z,1736383606.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:46.299Z,1736383606.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:46.302Z,1736383606.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 120.920937 m,
      bearing: 289.416609 deg,
      approach rate: -0.715549 m/s,
      LOS rate: 0.014728 deg/s,
      cmd heading: 296.690905 deg,
      new cmd heading: 296.708658 deg.

2025-01-09T00:46:46.303Z,1736383606.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.178543 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:46.354Z,1736383606.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807533
2025-01-09T00:46:46.604Z,1736383606.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057673
2025-01-09T00:46:46.691Z,1736383606.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:46.701Z,1736383606.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:46.720Z,1736383606.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 120.634064 m,
      bearing: 289.422442 deg,
      approach rate: -0.712494 m/s,
      LOS rate: 0.014521 deg/s,
      cmd heading: 296.708663 deg,
      new cmd heading: 296.726203 deg.

2025-01-09T00:46:46.721Z,1736383606.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.178849 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:46.857Z,1736383606.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310661
2025-01-09T00:46:47.110Z,1736383607.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563305
2025-01-09T00:46:47.157Z,1736383607.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:47.165Z,1736383607.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:47.168Z,1736383607.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 120.316681 m,
      bearing: 289.429771 deg,
      approach rate: -0.684111 m/s,
      LOS rate: 0.015840 deg/s,
      cmd heading: 296.726203 deg,
      new cmd heading: 296.748249 deg.

2025-01-09T00:46:47.169Z,1736383607.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.179234 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:47.361Z,1736383607.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813973
2025-01-09T00:46:47.501Z,1736383607.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:47.510Z,1736383607.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:47.513Z,1736383607.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 120.081406 m,
      bearing: 289.435069 deg,
      approach rate: -0.682727 m/s,
      LOS rate: 0.015404 deg/s,
      cmd heading: 296.748251 deg,
      new cmd heading: 296.764176 deg.

2025-01-09T00:46:47.513Z,1736383607.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.179512 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:47.612Z,1736383607.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065714
2025-01-09T00:46:47.865Z,1736383607.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318069
2025-01-09T00:46:47.904Z,1736383607.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:47.930Z,1736383607.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:47.936Z,1736383607.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:47.944Z,1736383607.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 119.807030 m,
      bearing: 289.441122 deg,
      approach rate: -0.642789 m/s,
      LOS rate: 0.014214 deg/s,
      cmd heading: 296.764179 deg,
      new cmd heading: 296.782381 deg.

2025-01-09T00:46:47.945Z,1736383607.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.179830 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:48.118Z,1736383608.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571083
2025-01-09T00:46:48.369Z,1736383608.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822052
2025-01-09T00:46:48.385Z,1736383608.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:48.394Z,1736383608.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:48.397Z,1736383608.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 119.492294 m,
      bearing: 289.447009 deg,
      approach rate: -0.688194 m/s,
      LOS rate: 0.012905 deg/s,
      cmd heading: 296.782375 deg,
      new cmd heading: 296.800080 deg.

2025-01-09T00:46:48.398Z,1736383608.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180139 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:48.622Z,1736383608.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075149
2025-01-09T00:46:48.713Z,1736383608.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:48.723Z,1736383608.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:48.725Z,1736383608.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 119.278229 m,
      bearing: 289.450735 deg,
      approach rate: -0.651035 m/s,
      LOS rate: 0.011354 deg/s,
      cmd heading: 296.800078 deg,
      new cmd heading: 296.811278 deg.

2025-01-09T00:46:48.726Z,1736383608.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180334 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:48.872Z,1736383608.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325606
2025-01-09T00:46:49.124Z,1736383609.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577717
2025-01-09T00:46:49.174Z,1736383609.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:49.196Z,1736383609.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:49.202Z,1736383609.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 118.988327 m,
      bearing: 289.453451 deg,
      approach rate: -0.612183 m/s,
      LOS rate: 0.005750 deg/s,
      cmd heading: 296.811280 deg,
      new cmd heading: 296.819448 deg.

2025-01-09T00:46:49.203Z,1736383609.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180477 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:49.377Z,1736383609.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830039
2025-01-09T00:46:49.519Z,1736383609.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:49.527Z,1736383609.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:49.530Z,1736383609.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 118.771393 m,
      bearing: 289.455356 deg,
      approach rate: -0.655733 m/s,
      LOS rate: 0.005769 deg/s,
      cmd heading: 296.819449 deg,
      new cmd heading: 296.825175 deg.

2025-01-09T00:46:49.532Z,1736383609.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180577 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:49.628Z,1736383609.628 [DAT](INFO): Reached modem response timeout
2025-01-09T00:46:49.628Z,1736383609.628 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:46:49.629Z,1736383609.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:49.880Z,1736383609.880 [DAT](INFO): Reached modem response timeout
2025-01-09T00:46:49.880Z,1736383609.880 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:46:49.880Z,1736383609.880 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:49.950Z,1736383609.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:49.973Z,1736383609.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:49.974Z,1736383609.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:49.978Z,1736383609.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 118.499573 m,
      bearing: 289.457496 deg,
      approach rate: -0.607434 m/s,
      LOS rate: 0.004792 deg/s,
      cmd heading: 296.825186 deg,
      new cmd heading: 296.831620 deg.

2025-01-09T00:46:49.979Z,1736383609.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180689 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:50.132Z,1736383610.132 [DAT](INFO): Reached modem response timeout
2025-01-09T00:46:50.132Z,1736383610.132 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:46:50.132Z,1736383610.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:50.357Z,1736383610.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:50.366Z,1736383610.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:50.369Z,1736383610.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 118.254379 m,
      bearing: 289.458046 deg,
      approach rate: -0.627854 m/s,
      LOS rate: 0.001412 deg/s,
      cmd heading: 296.831607 deg,
      new cmd heading: 296.833260 deg.

2025-01-09T00:46:50.370Z,1736383610.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180718 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:50.384Z,1736383610.384 [DAT](INFO): DAT read: Response Not Received

2025-01-09T00:46:50.385Z,1736383610.385 [DAT](INFO): response not received
2025-01-09T00:46:50.385Z,1736383610.385 [DAT](INFO): DAT read: user:3747>

2025-01-09T00:46:50.386Z,1736383610.386 [DAT](INFO): DAT read: Tx time:00:46:49.7311

2025-01-09T00:46:50.386Z,1736383610.386 [DAT](INFO): Ping request sent.
2025-01-09T00:46:50.386Z,1736383610.386 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:46:50.386Z,1736383610.386 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:50.388Z,1736383610.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000711
2025-01-09T00:46:50.637Z,1736383610.637 [DAT](INFO): DAT read: TxSync time:00:46:49.7303

2025-01-09T00:46:50.638Z,1736383610.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251298
2025-01-09T00:46:50.737Z,1736383610.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:50.746Z,1736383610.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:50.749Z,1736383610.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 118.024757 m,
      bearing: 289.458310 deg,
      approach rate: -0.603236 m/s,
      LOS rate: 0.000694 deg/s,
      cmd heading: 296.833273 deg,
      new cmd heading: 296.834066 deg.

2025-01-09T00:46:50.750Z,1736383610.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180732 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:50.889Z,1736383610.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502202
2025-01-09T00:46:51.143Z,1736383611.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756244
2025-01-09T00:46:51.227Z,1736383611.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:51.236Z,1736383611.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:51.239Z,1736383611.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 117.731972 m,
      bearing: 289.459350 deg,
      approach rate: -0.597460 m/s,
      LOS rate: 0.002127 deg/s,
      cmd heading: 296.834065 deg,
      new cmd heading: 296.837192 deg.

2025-01-09T00:46:51.251Z,1736383611.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180786 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:51.392Z,1736383611.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005963
2025-01-09T00:46:51.588Z,1736383611.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:51.597Z,1736383611.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:51.601Z,1736383611.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 117.516235 m,
      bearing: 289.460061 deg,
      approach rate: -0.597288 m/s,
      LOS rate: 0.001973 deg/s,
      cmd heading: 296.837180 deg,
      new cmd heading: 296.839317 deg.

2025-01-09T00:46:51.602Z,1736383611.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180823 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:51.645Z,1736383611.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258498
2025-01-09T00:46:51.896Z,1736383611.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509867
2025-01-09T00:46:52.149Z,1736383612.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762775
2025-01-09T00:46:52.160Z,1736383612.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:52.167Z,1736383612.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:52.188Z,1736383612.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:52.204Z,1736383612.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 117.174545 m,
      bearing: 289.461010 deg,
      approach rate: -0.583124 m/s,
      LOS rate: 0.001625 deg/s,
      cmd heading: 296.839311 deg,
      new cmd heading: 296.842168 deg.

2025-01-09T00:46:52.205Z,1736383612.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180873 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:52.400Z,1736383612.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014010
2025-01-09T00:46:52.521Z,1736383612.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:52.533Z,1736383612.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:52.536Z,1736383612.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 116.954643 m,
      bearing: 289.462666 deg,
      approach rate: -0.628442 m/s,
      LOS rate: 0.004740 deg/s,
      cmd heading: 296.842180 deg,
      new cmd heading: 296.847155 deg.

2025-01-09T00:46:52.537Z,1736383612.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180960 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:52.653Z,1736383612.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266242
2025-01-09T00:46:52.900Z,1736383612.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:52.905Z,1736383612.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518488
2025-01-09T00:46:52.910Z,1736383612.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:52.913Z,1736383612.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 116.723701 m,
      bearing: 289.464087 deg,
      approach rate: -0.611574 m/s,
      LOS rate: 0.003770 deg/s,
      cmd heading: 296.847152 deg,
      new cmd heading: 296.851423 deg.

2025-01-09T00:46:52.915Z,1736383612.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181035 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:53.159Z,1736383613.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772328
2025-01-09T00:46:53.384Z,1736383613.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:53.408Z,1736383613.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021859
2025-01-09T00:46:53.410Z,1736383613.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:53.417Z,1736383613.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 116.413628 m,
      bearing: 289.464651 deg,
      approach rate: -0.620996 m/s,
      LOS rate: 0.001133 deg/s,
      cmd heading: 296.851414 deg,
      new cmd heading: 296.853112 deg.

2025-01-09T00:46:53.418Z,1736383613.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181064 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:53.661Z,1736383613.661 [DAT](INFO): DAT read: Rx Time:00:46:52.3322

2025-01-09T00:46:53.661Z,1736383613.661 [DAT](INFO): Rx dataTimestamp_ set to:1736383613.661138
2025-01-09T00:46:53.662Z,1736383613.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276046
2025-01-09T00:46:53.729Z,1736383613.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:53.738Z,1736383613.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.90 m.
2025-01-09T00:46:53.742Z,1736383613.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.899994 m,
      nav range: 116.192513 m,
      bearing: 289.464771 deg,
      approach rate: -0.672636 m/s,
      LOS rate: 0.000367 deg/s,
      cmd heading: 296.853108 deg,
      new cmd heading: 296.853470 deg.

2025-01-09T00:46:53.742Z,1736383613.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181070 target range: 128.899994 and range: 128.90 m.
2025-01-09T00:46:53.912Z,1736383613.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525995
2025-01-09T00:46:54.185Z,1736383614.185 [DAT](INFO): DAT read: 00:46:52.3322 LVL= 27296, 32753, 22706, 32755, AGC= 65, IDX= 301,-0.10,-2.811, 2.217,-2.536, 3.128, PHS= 0.432,-0.865, 0.615, RAW= 156.5,  -2.6, CAL= 159.9, -11.0, ROT= 350.1,  11.0

2025-01-09T00:46:54.186Z,1736383614.186 [DAT](INFO): got valid direction response:
 00:46:52.3322 LVL= 27296, 32753, 22706, 32755, AGC= 65, IDX= 301,-0.10,-2.811, 2.217,-2.536, 3.128, PHS= 0.432,-0.865, 0.615, RAW= 156.5,  -2.6, CAL= 159.9, -11.0, ROT= 350.1,  11.0

2025-01-09T00:46:54.187Z,1736383614.187 [DAT](INFO): DAT read: Bearing 350.1,  11.0 (Local)

2025-01-09T00:46:54.204Z,1736383614.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.1,  11.0 (Local)

2025-01-09T00:46:54.206Z,1736383614.206 [DAT](INFO): DAT read: Range 10 to 50 : 147.6 m  (Round-trip  196.9 ms) speed  0.8 m/s

2025-01-09T00:46:54.207Z,1736383614.207 [DAT](INFO): DAT read: user:3748>

2025-01-09T00:46:54.212Z,1736383614.212 [DAT](INFO): DAT read: Tx time:00:46:53.4311

2025-01-09T00:46:54.212Z,1736383614.212 [DAT](INFO): Ping request sent.
2025-01-09T00:46:54.212Z,1736383614.212 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:46:54.212Z,1736383614.212 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:46:54.213Z,1736383614.213 [DAT](INFO): direction in FSK: [0.967010,-0.168770,-0.190809]
2025-01-09T00:46:54.214Z,1736383614.214 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:54.214Z,1736383614.214 [DAT](INFO): publishing direction and range info
2025-01-09T00:46:54.241Z,1736383614.241 [DAT](INFO): publishing transmit ping time
2025-01-09T00:46:54.242Z,1736383614.242 [DAT](INFO): publishing direction and range info
2025-01-09T00:46:54.283Z,1736383614.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:54.345Z,1736383614.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.600006 m,
      deltaT: 18.657468 s,
      deltaX: 18.700012 m,
      approachRate: 1.002280 m/s,
      rangeRepo size: 4

2025-01-09T00:46:54.347Z,1736383614.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.600006 m,
      bearing: 289.959664 deg,
      lat: 36.903956 deg,
      lon: -122.118999 deg,
      deltaT: 18.657468 s,
      deltaX: 18.700012 m,
      approachRate: 1.002280 m/s,
      posRepo size: 4

2025-01-09T00:46:54.352Z,1736383614.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:54.354Z,1736383614.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 116.080025 m,
      bearing: 289.845685 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000367 deg/s,
      cmd heading: 296.853463 deg,
      new cmd heading: 296.854124 deg.

2025-01-09T00:46:54.368Z,1736383614.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181082 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:54.417Z,1736383614.417 [DAT](INFO): DAT read: TxSync time:00:46:53.4303

2025-01-09T00:46:54.641Z,1736383614.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:54.647Z,1736383614.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:54.650Z,1736383614.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:54.654Z,1736383614.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 115.831558 m,
      bearing: 289.849713 deg,
      approach rate: -0.798381 m/s,
      LOS rate: 0.012971 deg/s,
      cmd heading: 296.854119 deg,
      new cmd heading: 296.866229 deg.

2025-01-09T00:46:54.656Z,1736383614.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181293 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:54.669Z,1736383614.669 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:54.669Z,1736383614.669 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:54.669Z,1736383614.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:46:54.921Z,1736383614.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.708230
2025-01-09T00:46:55.049Z,1736383615.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:55.058Z,1736383615.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:55.061Z,1736383615.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 115.547913 m,
      bearing: 289.854703 deg,
      approach rate: -0.696275 m/s,
      LOS rate: 0.012280 deg/s,
      cmd heading: 296.866222 deg,
      new cmd heading: 296.881230 deg.

2025-01-09T00:46:55.062Z,1736383615.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181555 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:55.175Z,1736383615.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.961981
2025-01-09T00:46:55.424Z,1736383615.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.212123
2025-01-09T00:46:55.476Z,1736383615.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:55.486Z,1736383615.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:55.489Z,1736383615.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 115.230415 m,
      bearing: 289.863031 deg,
      approach rate: -0.742038 m/s,
      LOS rate: 0.019518 deg/s,
      cmd heading: 296.881221 deg,
      new cmd heading: 296.906274 deg.

2025-01-09T00:46:55.490Z,1736383615.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181992 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:55.677Z,1736383615.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464956
2025-01-09T00:46:55.853Z,1736383615.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:55.861Z,1736383615.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:55.865Z,1736383615.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 114.950310 m,
      bearing: 289.870515 deg,
      approach rate: -0.745680 m/s,
      LOS rate: 0.019972 deg/s,
      cmd heading: 296.906274 deg,
      new cmd heading: 296.928781 deg.

2025-01-09T00:46:55.866Z,1736383615.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.182385 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:55.928Z,1736383615.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716243
2025-01-09T00:46:56.192Z,1736383616.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979275
2025-01-09T00:46:56.293Z,1736383616.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:56.306Z,1736383616.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:56.310Z,1736383616.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 114.603210 m,
      bearing: 289.878434 deg,
      approach rate: -0.780842 m/s,
      LOS rate: 0.017868 deg/s,
      cmd heading: 296.928786 deg,
      new cmd heading: 296.952614 deg.

2025-01-09T00:46:56.311Z,1736383616.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.182801 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:56.440Z,1736383616.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227988
2025-01-09T00:46:56.680Z,1736383616.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:56.694Z,1736383616.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481129
2025-01-09T00:46:56.712Z,1736383616.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:56.714Z,1736383616.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:56.722Z,1736383616.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 114.302177 m,
      bearing: 289.885402 deg,
      approach rate: -0.737573 m/s,
      LOS rate: 0.017118 deg/s,
      cmd heading: 296.952610 deg,
      new cmd heading: 296.973569 deg.

2025-01-09T00:46:56.722Z,1736383616.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.183167 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:56.944Z,1736383616.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732080
2025-01-09T00:46:57.070Z,1736383617.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:57.079Z,1736383617.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:57.082Z,1736383617.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 113.991089 m,
      bearing: 289.892664 deg,
      approach rate: -0.853261 m/s,
      LOS rate: 0.019971 deg/s,
      cmd heading: 296.973565 deg,
      new cmd heading: 296.995409 deg.

2025-01-09T00:46:57.084Z,1736383617.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.183548 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:57.201Z,1736383617.201 [DAT](INFO): DAT read: Rx Time:00:46:55.9875

2025-01-09T00:46:57.202Z,1736383617.202 [DAT](INFO): Rx dataTimestamp_ set to:1736383617.201254
2025-01-09T00:46:57.209Z,1736383617.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996281
2025-01-09T00:46:57.449Z,1736383617.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236737
2025-01-09T00:46:57.504Z,1736383617.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:57.516Z,1736383617.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:57.519Z,1736383617.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 113.640701 m,
      bearing: 289.903505 deg,
      approach rate: -0.800924 m/s,
      LOS rate: 0.024859 deg/s,
      cmd heading: 296.995422 deg,
      new cmd heading: 297.028047 deg.

2025-01-09T00:46:57.520Z,1736383617.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.184117 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:57.726Z,1736383617.726 [DAT](INFO): DAT read: 00:46:55.9875 LVL= 25360, 32753, 18930, 30067, AGC= 65, IDX= 500,-0.48,-1.174,-2.265,-0.883,-1.514, PHS= 0.428,-0.704, 0.628, RAW= 158.0,  -5.7, CAL= 162.0, -13.5, ROT= 348.0,  13.5

2025-01-09T00:46:57.727Z,1736383617.727 [DAT](INFO): got valid direction response:
 00:46:55.9875 LVL= 25360, 32753, 18930, 30067, AGC= 65, IDX= 500,-0.48,-1.174,-2.265,-0.883,-1.514, PHS= 0.428,-0.704, 0.628, RAW= 158.0,  -5.7, CAL= 162.0, -13.5, ROT= 348.0,  13.5

2025-01-09T00:46:57.728Z,1736383617.728 [DAT](INFO): DAT read: $Error in header

2025-01-09T00:46:57.728Z,1736383617.728 [DAT](INFO): Received a bad header
2025-01-09T00:46:57.744Z,1736383617.744 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T00:46:57.745Z,1736383617.745 [DAT](INFO): direction in FSK: [0.951121,-0.202167,-0.233445]
2025-01-09T00:46:57.749Z,1736383617.749 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:57.749Z,1736383617.749 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:57.749Z,1736383617.749 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:46:57.900Z,1736383617.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:57.916Z,1736383617.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:57.924Z,1736383617.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 113.320297 m,
      bearing: 289.913592 deg,
      approach rate: -0.800174 m/s,
      LOS rate: 0.025262 deg/s,
      cmd heading: 297.028043 deg,
      new cmd heading: 297.058389 deg.

2025-01-09T00:46:57.925Z,1736383617.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.184647 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:57.952Z,1736383617.952 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:57.952Z,1736383617.952 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:57.953Z,1736383617.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:46:58.206Z,1736383618.206 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:58.206Z,1736383618.206 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:58.206Z,1736383618.206 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:46:58.304Z,1736383618.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:58.333Z,1736383618.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:58.370Z,1736383618.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 112.990677 m,
      bearing: 289.924995 deg,
      approach rate: -0.791740 m/s,
      LOS rate: 0.027470 deg/s,
      cmd heading: 297.058396 deg,
      new cmd heading: 297.092705 deg.

2025-01-09T00:46:58.376Z,1736383618.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185246 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:58.457Z,1736383618.457 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:58.457Z,1736383618.457 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:58.457Z,1736383618.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:46:58.693Z,1736383618.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:58.708Z,1736383618.708 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:58.708Z,1736383618.708 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:58.709Z,1736383618.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:46:58.720Z,1736383618.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:46:58.722Z,1736383618.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:58.729Z,1736383618.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 112.674011 m,
      bearing: 289.936242 deg,
      approach rate: -0.812907 m/s,
      LOS rate: 0.028952 deg/s,
      cmd heading: 297.092711 deg,
      new cmd heading: 297.126545 deg.

2025-01-09T00:46:58.730Z,1736383618.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185836 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:58.963Z,1736383618.963 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:58.963Z,1736383618.963 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:58.963Z,1736383618.963 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:46:59.094Z,1736383619.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:59.104Z,1736383619.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:59.107Z,1736383619.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 112.346603 m,
      bearing: 289.948217 deg,
      approach rate: -0.856721 m/s,
      LOS rate: 0.031426 deg/s,
      cmd heading: 297.126534 deg,
      new cmd heading: 297.162563 deg.

2025-01-09T00:46:59.108Z,1736383619.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.186465 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:59.214Z,1736383619.214 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:59.215Z,1736383619.215 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:59.215Z,1736383619.215 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:46:59.464Z,1736383619.464 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:59.464Z,1736383619.464 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:59.464Z,1736383619.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:46:59.528Z,1736383619.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:59.549Z,1736383619.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:59.556Z,1736383619.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 112.006424 m,
      bearing: 289.959458 deg,
      approach rate: -0.764959 m/s,
      LOS rate: 0.025356 deg/s,
      cmd heading: 297.162570 deg,
      new cmd heading: 297.196398 deg.

2025-01-09T00:46:59.557Z,1736383619.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.187056 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:59.717Z,1736383619.717 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:59.717Z,1736383619.717 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:59.717Z,1736383619.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:46:59.893Z,1736383619.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:46:59.902Z,1736383619.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:46:59.905Z,1736383619.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 111.719833 m,
      bearing: 289.969088 deg,
      approach rate: -0.812205 m/s,
      LOS rate: 0.027362 deg/s,
      cmd heading: 297.196393 deg,
      new cmd heading: 297.225357 deg.

2025-01-09T00:46:59.906Z,1736383619.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.187561 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:46:59.969Z,1736383619.969 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:46:59.969Z,1736383619.969 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:46:59.969Z,1736383619.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:00.222Z,1736383620.222 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:00.222Z,1736383620.222 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:00.223Z,1736383620.223 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:00.441Z,1736383620.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:00.469Z,1736383620.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:00.472Z,1736383620.472 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:00.473Z,1736383620.473 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:00.473Z,1736383620.473 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:00.477Z,1736383620.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 111.323372 m,
      bearing: 289.978715 deg,
      approach rate: -0.698852 m/s,
      LOS rate: 0.017029 deg/s,
      cmd heading: 297.225353 deg,
      new cmd heading: 297.254336 deg.

2025-01-09T00:47:00.477Z,1736383620.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188067 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:00.724Z,1736383620.724 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:00.724Z,1736383620.724 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:00.724Z,1736383620.724 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:00.783Z,1736383620.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:00.790Z,1736383620.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:00.792Z,1736383620.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:00.796Z,1736383620.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 111.075882 m,
      bearing: 289.984642 deg,
      approach rate: -0.768230 m/s,
      LOS rate: 0.018440 deg/s,
      cmd heading: 297.254341 deg,
      new cmd heading: 297.272162 deg.

2025-01-09T00:47:00.797Z,1736383620.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188378 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:00.976Z,1736383620.976 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:00.976Z,1736383620.976 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:00.976Z,1736383620.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:01.175Z,1736383621.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:01.185Z,1736383621.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:01.188Z,1736383621.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 110.792358 m,
      bearing: 289.991385 deg,
      approach rate: -0.721252 m/s,
      LOS rate: 0.017196 deg/s,
      cmd heading: 297.272154 deg,
      new cmd heading: 297.292433 deg.

2025-01-09T00:47:01.189Z,1736383621.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188732 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:01.229Z,1736383621.229 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:01.230Z,1736383621.230 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:01.230Z,1736383621.230 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:01.480Z,1736383621.480 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:01.481Z,1736383621.481 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:01.481Z,1736383621.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:01.603Z,1736383621.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:01.612Z,1736383621.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:01.636Z,1736383621.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 110.517693 m,
      bearing: 289.994770 deg,
      approach rate: -0.643355 m/s,
      LOS rate: 0.007948 deg/s,
      cmd heading: 297.292426 deg,
      new cmd heading: 297.302605 deg.

2025-01-09T00:47:01.637Z,1736383621.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188910 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:01.733Z,1736383621.733 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:01.733Z,1736383621.733 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:01.733Z,1736383621.733 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:01.984Z,1736383621.984 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:01.984Z,1736383621.984 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:01.985Z,1736383621.985 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:01.988Z,1736383621.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:01.997Z,1736383621.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:02.029Z,1736383622.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 110.270523 m,
      bearing: 289.997514 deg,
      approach rate: -0.641687 m/s,
      LOS rate: 0.007139 deg/s,
      cmd heading: 297.302616 deg,
      new cmd heading: 297.310866 deg.

2025-01-09T00:47:02.030Z,1736383622.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189054 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:02.239Z,1736383622.239 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:02.239Z,1736383622.239 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:02.239Z,1736383622.239 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:02.488Z,1736383622.488 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:02.488Z,1736383622.488 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:02.488Z,1736383622.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:02.549Z,1736383622.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:02.572Z,1736383622.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:02.575Z,1736383622.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 109.949860 m,
      bearing: 289.997311 deg,
      approach rate: -0.557229 m/s,
      LOS rate: -0.000352 deg/s,
      cmd heading: 297.310867 deg,
      new cmd heading: 297.310259 deg.

2025-01-09T00:47:02.577Z,1736383622.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189043 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:02.740Z,1736383622.740 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:02.740Z,1736383622.740 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:02.740Z,1736383622.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:02.916Z,1736383622.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:02.922Z,1736383622.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:02.925Z,1736383622.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:02.928Z,1736383622.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 109.740250 m,
      bearing: 289.996994 deg,
      approach rate: -0.594604 m/s,
      LOS rate: -0.000901 deg/s,
      cmd heading: 297.310266 deg,
      new cmd heading: 297.309313 deg.

2025-01-09T00:47:02.929Z,1736383622.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189026 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:02.992Z,1736383622.992 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:02.992Z,1736383622.992 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:02.992Z,1736383622.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:03.248Z,1736383623.248 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:03.248Z,1736383623.248 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:03.249Z,1736383623.249 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:03.420Z,1736383623.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:03.430Z,1736383623.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:03.433Z,1736383623.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 109.482368 m,
      bearing: 289.990468 deg,
      approach rate: -0.510208 m/s,
      LOS rate: -0.012943 deg/s,
      cmd heading: 297.309310 deg,
      new cmd heading: 297.289684 deg.

2025-01-09T00:47:03.434Z,1736383623.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188684 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:03.497Z,1736383623.497 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:03.497Z,1736383623.497 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:03.497Z,1736383623.497 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:03.749Z,1736383623.749 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:03.749Z,1736383623.749 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:03.749Z,1736383623.749 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:03.784Z,1736383623.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:03.800Z,1736383623.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:03.808Z,1736383623.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 109.306190 m,
      bearing: 289.985818 deg,
      approach rate: -0.475955 m/s,
      LOS rate: -0.012582 deg/s,
      cmd heading: 297.289694 deg,
      new cmd heading: 297.275722 deg.

2025-01-09T00:47:03.809Z,1736383623.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188440 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:04.001Z,1736383624.001 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:04.001Z,1736383624.001 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:04.001Z,1736383624.001 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:04.164Z,1736383624.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:04.173Z,1736383624.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:04.177Z,1736383624.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 109.100853 m,
      bearing: 289.980123 deg,
      approach rate: -0.550572 m/s,
      LOS rate: -0.015298 deg/s,
      cmd heading: 297.275733 deg,
      new cmd heading: 297.258617 deg.

2025-01-09T00:47:04.178Z,1736383624.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188142 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:04.254Z,1736383624.254 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:04.254Z,1736383624.254 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:04.254Z,1736383624.254 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:04.505Z,1736383624.505 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:04.505Z,1736383624.505 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:04.506Z,1736383624.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:04.613Z,1736383624.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:04.623Z,1736383624.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:04.626Z,1736383624.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 108.877159 m,
      bearing: 289.971633 deg,
      approach rate: -0.497803 m/s,
      LOS rate: -0.018932 deg/s,
      cmd heading: 297.258630 deg,
      new cmd heading: 297.233108 deg.

2025-01-09T00:47:04.626Z,1736383624.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.187696 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:04.756Z,1736383624.756 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:04.756Z,1736383624.756 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:04.756Z,1736383624.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:04.972Z,1736383624.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:04.999Z,1736383624.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:05.001Z,1736383625.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:05.006Z,1736383625.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 108.698296 m,
      bearing: 289.964568 deg,
      approach rate: -0.472158 m/s,
      LOS rate: -0.018681 deg/s,
      cmd heading: 297.233112 deg,
      new cmd heading: 297.211882 deg.

2025-01-09T00:47:05.009Z,1736383625.009 [DAT](INFO): DAT read: Response Not Received

2025-01-09T00:47:05.009Z,1736383625.009 [DAT](INFO): response not received
2025-01-09T00:47:05.009Z,1736383625.009 [DAT](INFO): DAT read: user:3750>

2025-01-09T00:47:05.010Z,1736383625.010 [DAT](INFO): DAT read: Tx time:00:47:04.3812

2025-01-09T00:47:05.010Z,1736383625.010 [DAT](INFO): Ping request sent.
2025-01-09T00:47:05.010Z,1736383625.010 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:47:05.010Z,1736383625.010 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:05.011Z,1736383625.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000713
2025-01-09T00:47:05.020Z,1736383625.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.187326 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:05.260Z,1736383625.260 [DAT](INFO): DAT read: TxSync time:00:47:04.3804

2025-01-09T00:47:05.262Z,1736383625.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251250
2025-01-09T00:47:05.414Z,1736383625.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:05.446Z,1736383625.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:05.454Z,1736383625.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 108.464432 m,
      bearing: 289.956427 deg,
      approach rate: -0.526482 m/s,
      LOS rate: -0.018368 deg/s,
      cmd heading: 297.211884 deg,
      new cmd heading: 297.187407 deg.

2025-01-09T00:47:05.460Z,1736383625.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.186899 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:05.514Z,1736383625.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503019
2025-01-09T00:47:05.765Z,1736383625.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754967
2025-01-09T00:47:05.800Z,1736383625.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:05.808Z,1736383625.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:05.811Z,1736383625.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 108.260178 m,
      bearing: 289.949708 deg,
      approach rate: -0.563402 m/s,
      LOS rate: -0.018569 deg/s,
      cmd heading: 297.187405 deg,
      new cmd heading: 297.167209 deg.

2025-01-09T00:47:05.812Z,1736383625.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.186546 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:06.016Z,1736383626.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006104
2025-01-09T00:47:06.185Z,1736383626.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:06.194Z,1736383626.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:06.197Z,1736383626.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 108.056030 m,
      bearing: 289.943015 deg,
      approach rate: -0.529093 m/s,
      LOS rate: -0.017379 deg/s,
      cmd heading: 297.167215 deg,
      new cmd heading: 297.147098 deg.

2025-01-09T00:47:06.199Z,1736383626.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.186195 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:06.270Z,1736383626.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258849
2025-01-09T00:47:06.520Z,1736383626.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509901
2025-01-09T00:47:06.625Z,1736383626.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:06.634Z,1736383626.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:06.637Z,1736383626.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 107.799080 m,
      bearing: 289.935317 deg,
      approach rate: -0.583466 m/s,
      LOS rate: -0.017522 deg/s,
      cmd heading: 297.147107 deg,
      new cmd heading: 297.123958 deg.

2025-01-09T00:47:06.638Z,1736383626.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185791 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:06.772Z,1736383626.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761996
2025-01-09T00:47:06.992Z,1736383626.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:07.021Z,1736383627.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:07.023Z,1736383627.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:07.025Z,1736383627.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014250
2025-01-09T00:47:07.030Z,1736383627.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 107.584717 m,
      bearing: 289.928791 deg,
      approach rate: -0.552048 m/s,
      LOS rate: -0.016840 deg/s,
      cmd heading: 297.123966 deg,
      new cmd heading: 297.104349 deg.

2025-01-09T00:47:07.031Z,1736383627.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185449 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:07.277Z,1736383627.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266755
2025-01-09T00:47:07.446Z,1736383627.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:07.458Z,1736383627.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:07.461Z,1736383627.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 107.277824 m,
      bearing: 289.926865 deg,
      approach rate: -0.705253 m/s,
      LOS rate: -0.004439 deg/s,
      cmd heading: 297.104350 deg,
      new cmd heading: 297.098555 deg.

2025-01-09T00:47:07.462Z,1736383627.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185348 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:07.529Z,1736383627.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518886
2025-01-09T00:47:07.780Z,1736383627.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769895
2025-01-09T00:47:07.814Z,1736383627.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:07.829Z,1736383627.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:07.832Z,1736383627.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 107.028625 m,
      bearing: 289.925150 deg,
      approach rate: -0.671686 m/s,
      LOS rate: -0.004632 deg/s,
      cmd heading: 297.098558 deg,
      new cmd heading: 297.093402 deg.

2025-01-09T00:47:07.833Z,1736383627.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185258 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:08.033Z,1736383628.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022930
2025-01-09T00:47:08.230Z,1736383628.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:08.239Z,1736383628.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:08.242Z,1736383628.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 106.747063 m,
      bearing: 289.923203 deg,
      approach rate: -0.686653 m/s,
      LOS rate: -0.004760 deg/s,
      cmd heading: 297.093394 deg,
      new cmd heading: 297.087538 deg.

2025-01-09T00:47:08.243Z,1736383628.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185156 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:08.285Z,1736383628.285 [DAT](INFO): DAT read: Rx Time:00:47:06.9721

2025-01-09T00:47:08.285Z,1736383628.285 [DAT](INFO): Rx dataTimestamp_ set to:1736383628.285138
2025-01-09T00:47:08.286Z,1736383628.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275976
2025-01-09T00:47:08.536Z,1736383628.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525952
2025-01-09T00:47:08.619Z,1736383628.619 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +9.38+78.50,   78,  20.00,395.88
2025-01-09T00:47:08.627Z,1736383628.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:47:08.627Z,1736383628.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:08.660Z,1736383628.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-01-09T00:47:08.703Z,1736383628.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 106.479240 m,
      bearing: 289.921256 deg,
      approach rate: -0.638756 m/s,
      LOS rate: -0.004657 deg/s,
      cmd heading: 297.087547 deg,
      new cmd heading: 297.081689 deg.

2025-01-09T00:47:08.710Z,1736383628.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185054 target range: 147.600006 and range: 147.60 m.
2025-01-09T00:47:08.797Z,1736383628.797 [DAT](INFO): DAT read: 00:47:06.9721 LVL= 25520, 30353, 19538, 31459, AGC= 66, IDX= 277, 0.21,-1.559,-2.871,-1.315,-1.857, PHS= 0.386,-0.967, 0.539, RAW= 155.3,   0.6, CAL= 157.8,  -8.2, ROT= 352.2,   8.2

2025-01-09T00:47:08.799Z,1736383628.799 [DAT](INFO): got valid direction response:
 00:47:06.9721 LVL= 25520, 30353, 19538, 31459, AGC= 66, IDX= 277, 0.21,-1.559,-2.871,-1.315,-1.857, PHS= 0.386,-0.967, 0.539, RAW= 155.3,   0.6, CAL= 157.8,  -8.2, ROT= 352.2,   8.2

2025-01-09T00:47:08.800Z,1736383628.800 [DAT](INFO): DAT read: Bearing 352.2,   8.2 (Local)

2025-01-09T00:47:08.800Z,1736383628.800 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.2,   8.2 (Local)

2025-01-09T00:47:08.802Z,1736383628.802 [DAT](INFO): DAT read: Range 10 to 50 : 140.1 m  (Round-trip  186.8 ms) speed  0.3 m/s

2025-01-09T00:47:08.803Z,1736383628.803 [DAT](INFO): DAT read: user:3751>

2025-01-09T00:47:08.803Z,1736383628.803 [DAT](INFO): DAT read: Tx time:00:47:08.0812

2025-01-09T00:47:08.804Z,1736383628.804 [DAT](INFO): Ping request sent.
2025-01-09T00:47:08.804Z,1736383628.804 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:47:08.804Z,1736383628.804 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:47:08.805Z,1736383628.805 [DAT](INFO): direction in FSK: [0.980619,-0.134328,-0.142629]
2025-01-09T00:47:08.805Z,1736383628.805 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:08.805Z,1736383628.805 [DAT](INFO): publishing direction and range info
2025-01-09T00:47:08.814Z,1736383628.814 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:08.814Z,1736383628.814 [DAT](INFO): publishing direction and range info
2025-01-09T00:47:09.014Z,1736383629.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:47:09.014Z,1736383629.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:09.030Z,1736383629.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 140.100006 m,
      deltaT: 14.622139 s,
      deltaX: -7.500000 m,
      approachRate: -0.512921 m/s,
      rangeRepo size: 4

2025-01-09T00:47:09.038Z,1736383629.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 140.100006 m,
      bearing: 291.707927 deg,
      lat: 36.903973 deg,
      lon: -122.118999 deg,
      deltaT: 14.622139 s,
      deltaX: -7.500000 m,
      approachRate: -0.512921 m/s,
      posRepo size: 4

2025-01-09T00:47:09.041Z,1736383629.041 [DAT](INFO): DAT read: TxSync time:00:47:08.0804

2025-01-09T00:47:09.041Z,1736383629.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:09.045Z,1736383629.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 106.873756 m,
      bearing: 290.869137 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004657 deg/s,
      cmd heading: 297.081701 deg,
      new cmd heading: 297.076515 deg.

2025-01-09T00:47:09.046Z,1736383629.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.184963 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:09.476Z,1736383629.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:09.500Z,1736383629.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:09.502Z,1736383629.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:09.509Z,1736383629.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 106.482971 m,
      bearing: 290.882121 deg,
      approach rate: -0.826630 m/s,
      LOS rate: 0.027564 deg/s,
      cmd heading: 297.076510 deg,
      new cmd heading: 297.115603 deg.

2025-01-09T00:47:09.510Z,1736383629.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185646 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:09.546Z,1736383629.546 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:09.546Z,1736383629.546 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:09.546Z,1736383629.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:09.797Z,1736383629.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993215
2025-01-09T00:47:09.854Z,1736383629.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:09.863Z,1736383629.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:09.867Z,1736383629.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 106.162910 m,
      bearing: 290.893556 deg,
      approach rate: -0.887783 m/s,
      LOS rate: 0.031816 deg/s,
      cmd heading: 297.115606 deg,
      new cmd heading: 297.150016 deg.

2025-01-09T00:47:09.884Z,1736383629.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.186246 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:10.051Z,1736383630.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246749
2025-01-09T00:47:10.184Z,1736383630.184 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:47:10.300Z,1736383630.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496518
2025-01-09T00:47:10.326Z,1736383630.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:10.339Z,1736383630.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:10.342Z,1736383630.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 105.764229 m,
      bearing: 290.908920 deg,
      approach rate: -0.836999 m/s,
      LOS rate: 0.032376 deg/s,
      cmd heading: 297.150030 deg,
      new cmd heading: 297.196295 deg.

2025-01-09T00:47:10.344Z,1736383630.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.187054 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:10.552Z,1736383630.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748637
2025-01-09T00:47:10.760Z,1736383630.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:10.770Z,1736383630.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:10.772Z,1736383630.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 105.379395 m,
      bearing: 290.927443 deg,
      approach rate: -0.893731 m/s,
      LOS rate: 0.043176 deg/s,
      cmd heading: 297.196284 deg,
      new cmd heading: 297.252057 deg.

2025-01-09T00:47:10.773Z,1736383630.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188027 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:10.804Z,1736383630.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000529
2025-01-09T00:47:11.056Z,1736383631.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252583
2025-01-09T00:47:11.183Z,1736383631.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:11.188Z,1736383631.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:47:11.193Z,1736383631.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:11.196Z,1736383631.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 105.005714 m,
      bearing: 290.946794 deg,
      approach rate: -0.883131 m/s,
      LOS rate: 0.045894 deg/s,
      cmd heading: 297.252046 deg,
      new cmd heading: 297.310304 deg.

2025-01-09T00:47:11.197Z,1736383631.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189044 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:11.309Z,1736383631.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505333
2025-01-09T00:47:11.560Z,1736383631.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756586
2025-01-09T00:47:11.627Z,1736383631.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:11.634Z,1736383631.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:11.636Z,1736383631.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:11.639Z,1736383631.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 104.614525 m,
      bearing: 290.967969 deg,
      approach rate: -0.881868 m/s,
      LOS rate: 0.047914 deg/s,
      cmd heading: 297.310294 deg,
      new cmd heading: 297.374056 deg.

2025-01-09T00:47:11.640Z,1736383631.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.190156 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:11.812Z,1736383631.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008420
2025-01-09T00:47:11.988Z,1736383631.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:11.997Z,1736383631.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:12.000Z,1736383632.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 104.296288 m,
      bearing: 290.985645 deg,
      approach rate: -0.882918 m/s,
      LOS rate: 0.049191 deg/s,
      cmd heading: 297.374060 deg,
      new cmd heading: 297.427251 deg.

2025-01-09T00:47:12.001Z,1736383632.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.191085 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:12.066Z,1736383632.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261847
2025-01-09T00:47:12.316Z,1736383632.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512682
2025-01-09T00:47:12.452Z,1736383632.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:12.463Z,1736383632.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:12.466Z,1736383632.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 103.888016 m,
      bearing: 291.008767 deg,
      approach rate: -0.876460 m/s,
      LOS rate: 0.049832 deg/s,
      cmd heading: 297.427254 deg,
      new cmd heading: 297.496892 deg.

2025-01-09T00:47:12.467Z,1736383632.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.192300 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:12.570Z,1736383632.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766383
2025-01-09T00:47:12.816Z,1736383632.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:12.820Z,1736383632.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016599
2025-01-09T00:47:12.826Z,1736383632.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:12.830Z,1736383632.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 103.582588 m,
      bearing: 291.026730 deg,
      approach rate: -0.839449 m/s,
      LOS rate: 0.049517 deg/s,
      cmd heading: 297.496894 deg,
      new cmd heading: 297.550944 deg.

2025-01-09T00:47:12.831Z,1736383632.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.193244 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:13.072Z,1736383633.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.268409
2025-01-09T00:47:13.199Z,1736383633.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:13.207Z,1736383633.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:13.212Z,1736383633.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 103.262741 m,
      bearing: 291.045579 deg,
      approach rate: -0.840475 m/s,
      LOS rate: 0.049682 deg/s,
      cmd heading: 297.550935 deg,
      new cmd heading: 297.607655 deg.

2025-01-09T00:47:13.213Z,1736383633.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.194233 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:13.324Z,1736383633.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.520519
2025-01-09T00:47:13.576Z,1736383633.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.772476
2025-01-09T00:47:13.663Z,1736383633.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:13.690Z,1736383633.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:13.697Z,1736383633.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:13.705Z,1736383633.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 102.902161 m,
      bearing: 291.064314 deg,
      approach rate: -0.736156 m/s,
      LOS rate: 0.038384 deg/s,
      cmd heading: 297.607653 deg,
      new cmd heading: 297.664056 deg.

2025-01-09T00:47:13.706Z,1736383633.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195218 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:13.828Z,1736383633.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.024411
2025-01-09T00:47:14.007Z,1736383634.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:14.016Z,1736383634.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:14.020Z,1736383634.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 102.635048 m,
      bearing: 291.078094 deg,
      approach rate: -0.835490 m/s,
      LOS rate: 0.043214 deg/s,
      cmd heading: 297.664043 deg,
      new cmd heading: 297.705491 deg.

2025-01-09T00:47:14.021Z,1736383634.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195941 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:14.080Z,1736383634.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.276729
2025-01-09T00:47:14.335Z,1736383634.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531624
2025-01-09T00:47:14.476Z,1736383634.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:14.500Z,1736383634.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:14.503Z,1736383634.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 102.288055 m,
      bearing: 291.095523 deg,
      approach rate: -0.717423 m/s,
      LOS rate: 0.036158 deg/s,
      cmd heading: 297.705488 deg,
      new cmd heading: 297.757953 deg.

2025-01-09T00:47:14.508Z,1736383634.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196856 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:14.585Z,1736383634.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.781299
2025-01-09T00:47:14.836Z,1736383634.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.032592
2025-01-09T00:47:14.863Z,1736383634.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:14.874Z,1736383634.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:14.877Z,1736383634.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 102.002586 m,
      bearing: 291.107164 deg,
      approach rate: -0.763488 m/s,
      LOS rate: 0.031219 deg/s,
      cmd heading: 297.757944 deg,
      new cmd heading: 297.792963 deg.

2025-01-09T00:47:14.878Z,1736383634.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.197468 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:15.095Z,1736383635.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.290978
2025-01-09T00:47:15.340Z,1736383635.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.536560
2025-01-09T00:47:15.341Z,1736383635.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:15.351Z,1736383635.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:15.354Z,1736383635.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 101.668617 m,
      bearing: 291.120305 deg,
      approach rate: -0.700038 m/s,
      LOS rate: 0.027637 deg/s,
      cmd heading: 297.792969 deg,
      new cmd heading: 297.832524 deg.

2025-01-09T00:47:15.356Z,1736383635.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198158 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:15.592Z,1736383635.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.788397
2025-01-09T00:47:15.776Z,1736383635.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:15.800Z,1736383635.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:15.802Z,1736383635.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:15.809Z,1736383635.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 101.392807 m,
      bearing: 291.126473 deg,
      approach rate: -0.611905 m/s,
      LOS rate: 0.013722 deg/s,
      cmd heading: 297.832530 deg,
      new cmd heading: 297.851085 deg.

2025-01-09T00:47:15.810Z,1736383635.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198482 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:15.856Z,1736383635.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052254
2025-01-09T00:47:16.096Z,1736383636.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.292529
2025-01-09T00:47:16.172Z,1736383636.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:16.182Z,1736383636.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:16.197Z,1736383636.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 101.141090 m,
      bearing: 291.131211 deg,
      approach rate: -0.663673 m/s,
      LOS rate: 0.012522 deg/s,
      cmd heading: 297.851081 deg,
      new cmd heading: 297.865329 deg.

2025-01-09T00:47:16.198Z,1736383636.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198731 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:16.352Z,1736383636.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547799
2025-01-09T00:47:16.591Z,1736383636.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:16.605Z,1736383636.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.801203
2025-01-09T00:47:16.606Z,1736383636.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:16.629Z,1736383636.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 100.894325 m,
      bearing: 291.131698 deg,
      approach rate: -0.580240 m/s,
      LOS rate: 0.001148 deg/s,
      cmd heading: 297.865342 deg,
      new cmd heading: 297.866807 deg.

2025-01-09T00:47:16.630Z,1736383636.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198757 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:16.856Z,1736383636.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052513
2025-01-09T00:47:17.004Z,1736383637.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:17.038Z,1736383637.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:17.041Z,1736383637.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 100.650162 m,
      bearing: 291.131314 deg,
      approach rate: -0.569617 m/s,
      LOS rate: -0.000898 deg/s,
      cmd heading: 297.866817 deg,
      new cmd heading: 297.865662 deg.

2025-01-09T00:47:17.042Z,1736383637.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198737 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:17.110Z,1736383637.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.306493
2025-01-09T00:47:17.365Z,1736383637.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560664
2025-01-09T00:47:17.411Z,1736383637.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:17.421Z,1736383637.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:17.424Z,1736383637.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 100.409744 m,
      bearing: 291.130580 deg,
      approach rate: -0.623609 m/s,
      LOS rate: -0.001908 deg/s,
      cmd heading: 297.865670 deg,
      new cmd heading: 297.863463 deg.

2025-01-09T00:47:17.425Z,1736383637.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198698 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:17.618Z,1736383637.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.814224
2025-01-09T00:47:17.824Z,1736383637.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:17.831Z,1736383637.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:17.834Z,1736383637.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:17.837Z,1736383637.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 100.172699 m,
      bearing: 291.124613 deg,
      approach rate: -0.573778 m/s,
      LOS rate: -0.014478 deg/s,
      cmd heading: 297.863457 deg,
      new cmd heading: 297.845513 deg.

2025-01-09T00:47:17.838Z,1736383637.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198385 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:17.868Z,1736383637.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064431
2025-01-09T00:47:18.122Z,1736383638.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.317999
2025-01-09T00:47:18.205Z,1736383638.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:18.216Z,1736383638.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:18.219Z,1736383638.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 99.954689 m,
      bearing: 291.118847 deg,
      approach rate: -0.572241 m/s,
      LOS rate: -0.015169 deg/s,
      cmd heading: 297.845507 deg,
      new cmd heading: 297.828170 deg.

2025-01-09T00:47:18.221Z,1736383638.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198082 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:18.372Z,1736383638.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.568623
2025-01-09T00:47:18.626Z,1736383638.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.821878
2025-01-09T00:47:18.692Z,1736383638.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:18.704Z,1736383638.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:18.707Z,1736383638.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 99.675964 m,
      bearing: 291.109213 deg,
      approach rate: -0.569716 m/s,
      LOS rate: -0.019747 deg/s,
      cmd heading: 297.828158 deg,
      new cmd heading: 297.799175 deg.

2025-01-09T00:47:18.710Z,1736383638.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.197576 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:18.876Z,1736383638.876 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:18.876Z,1736383638.876 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:18.877Z,1736383638.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:19.044Z,1736383639.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:19.053Z,1736383639.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:19.056Z,1736383639.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 99.473709 m,
      bearing: 291.102029 deg,
      approach rate: -0.579415 m/s,
      LOS rate: -0.020621 deg/s,
      cmd heading: 297.799171 deg,
      new cmd heading: 297.777576 deg.

2025-01-09T00:47:19.057Z,1736383639.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.197199 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:19.128Z,1736383639.128 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:19.128Z,1736383639.128 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:19.129Z,1736383639.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:19.381Z,1736383639.381 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:19.381Z,1736383639.381 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:19.381Z,1736383639.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:19.466Z,1736383639.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:19.475Z,1736383639.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:19.478Z,1736383639.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 99.231735 m,
      bearing: 291.093338 deg,
      approach rate: -0.573897 m/s,
      LOS rate: -0.020663 deg/s,
      cmd heading: 297.777588 deg,
      new cmd heading: 297.751451 deg.

2025-01-09T00:47:19.479Z,1736383639.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196743 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:19.637Z,1736383639.637 [DAT](INFO): DAT read: Response Not Received

2025-01-09T00:47:19.637Z,1736383639.637 [DAT](INFO): response not received
2025-01-09T00:47:19.638Z,1736383639.638 [DAT](INFO): DAT read: user:3752>

2025-01-09T00:47:19.641Z,1736383639.641 [DAT](INFO): DAT read: Tx time:00:47:19.0314

2025-01-09T00:47:19.642Z,1736383639.642 [DAT](INFO): Ping request sent.
2025-01-09T00:47:19.642Z,1736383639.642 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:47:19.642Z,1736383639.642 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:19.644Z,1736383639.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001786
2025-01-09T00:47:19.885Z,1736383639.885 [DAT](INFO): DAT read: TxSync time:00:47:19.0306

2025-01-09T00:47:19.885Z,1736383639.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243488
2025-01-09T00:47:19.918Z,1736383639.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:19.926Z,1736383639.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:19.928Z,1736383639.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:19.931Z,1736383639.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 98.963821 m,
      bearing: 291.086192 deg,
      approach rate: -0.591141 m/s,
      LOS rate: -0.015809 deg/s,
      cmd heading: 297.751442 deg,
      new cmd heading: 297.729947 deg.

2025-01-09T00:47:19.932Z,1736383639.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196368 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:20.136Z,1736383640.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494475
2025-01-09T00:47:20.272Z,1736383640.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:20.301Z,1736383640.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:20.311Z,1736383640.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 98.754196 m,
      bearing: 291.081232 deg,
      approach rate: -0.562315 m/s,
      LOS rate: -0.013334 deg/s,
      cmd heading: 297.729940 deg,
      new cmd heading: 297.715028 deg.

2025-01-09T00:47:20.312Z,1736383640.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196107 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:20.389Z,1736383640.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746991
2025-01-09T00:47:20.640Z,1736383640.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998483
2025-01-09T00:47:20.737Z,1736383640.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:20.745Z,1736383640.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:20.750Z,1736383640.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 98.461945 m,
      bearing: 291.073616 deg,
      approach rate: -0.657286 m/s,
      LOS rate: -0.017179 deg/s,
      cmd heading: 297.715023 deg,
      new cmd heading: 297.692108 deg.

2025-01-09T00:47:20.772Z,1736383640.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195707 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:20.892Z,1736383640.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250395
2025-01-09T00:47:21.079Z,1736383641.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:21.089Z,1736383641.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:21.092Z,1736383641.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 98.246651 m,
      bearing: 291.068028 deg,
      approach rate: -0.626875 m/s,
      LOS rate: -0.016307 deg/s,
      cmd heading: 297.692101 deg,
      new cmd heading: 297.675300 deg.

2025-01-09T00:47:21.092Z,1736383641.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195414 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:21.145Z,1736383641.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503237
2025-01-09T00:47:21.396Z,1736383641.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754459
2025-01-09T00:47:21.485Z,1736383641.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:21.496Z,1736383641.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:21.502Z,1736383641.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 97.991379 m,
      bearing: 291.061444 deg,
      approach rate: -0.628335 m/s,
      LOS rate: -0.016249 deg/s,
      cmd heading: 297.675299 deg,
      new cmd heading: 297.655495 deg.

2025-01-09T00:47:21.523Z,1736383641.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195068 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:21.649Z,1736383641.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007399
2025-01-09T00:47:21.900Z,1736383641.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258543
2025-01-09T00:47:21.911Z,1736383641.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:21.921Z,1736383641.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:21.924Z,1736383641.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 97.709831 m,
      bearing: 291.061651 deg,
      approach rate: -0.661233 m/s,
      LOS rate: 0.000488 deg/s,
      cmd heading: 297.655491 deg,
      new cmd heading: 297.656115 deg.

2025-01-09T00:47:21.925Z,1736383641.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195079 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:22.153Z,1736383642.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510806
2025-01-09T00:47:22.295Z,1736383642.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:22.303Z,1736383642.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:22.305Z,1736383642.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:22.308Z,1736383642.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 97.455414 m,
      bearing: 291.061749 deg,
      approach rate: -0.661419 m/s,
      LOS rate: 0.000255 deg/s,
      cmd heading: 297.656120 deg,
      new cmd heading: 297.656414 deg.

2025-01-09T00:47:22.309Z,1736383642.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195085 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:22.404Z,1736383642.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762585
2025-01-09T00:47:22.657Z,1736383642.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014831
2025-01-09T00:47:22.720Z,1736383642.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:22.740Z,1736383642.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:22.743Z,1736383642.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 97.174614 m,
      bearing: 291.061876 deg,
      approach rate: -0.645630 m/s,
      LOS rate: 0.000292 deg/s,
      cmd heading: 297.656420 deg,
      new cmd heading: 297.656802 deg.

2025-01-09T00:47:22.748Z,1736383642.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195091 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:22.908Z,1736383642.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266547
2025-01-09T00:47:23.105Z,1736383643.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:23.113Z,1736383643.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:23.117Z,1736383643.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 96.920189 m,
      bearing: 291.061960 deg,
      approach rate: -0.682606 m/s,
      LOS rate: 0.000226 deg/s,
      cmd heading: 297.656803 deg,
      new cmd heading: 297.657056 deg.

2025-01-09T00:47:23.118Z,1736383643.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195096 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:23.161Z,1736383643.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519032
2025-01-09T00:47:23.412Z,1736383643.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770636
2025-01-09T00:47:23.520Z,1736383643.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:23.546Z,1736383643.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:23.554Z,1736383643.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 96.645561 m,
      bearing: 291.062051 deg,
      approach rate: -0.633801 m/s,
      LOS rate: 0.000211 deg/s,
      cmd heading: 297.657049 deg,
      new cmd heading: 297.657323 deg.

2025-01-09T00:47:23.561Z,1736383643.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195100 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:23.667Z,1736383643.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024926
2025-01-09T00:47:23.917Z,1736383643.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274756
2025-01-09T00:47:23.961Z,1736383643.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:47:23.961Z,1736383643.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:23.970Z,1736383643.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:23.974Z,1736383643.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 96.354218 m,
      bearing: 291.062229 deg,
      approach rate: -0.686851 m/s,
      LOS rate: 0.000420 deg/s,
      cmd heading: 297.657322 deg,
      new cmd heading: 297.657856 deg.

2025-01-09T00:47:23.975Z,1736383643.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195110 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:24.171Z,1736383644.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.528811
2025-01-09T00:47:24.327Z,1736383644.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:47:24.327Z,1736383644.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:24.334Z,1736383644.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:24.337Z,1736383644.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:24.340Z,1736383644.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 96.112762 m,
      bearing: 291.062442 deg,
      approach rate: -0.659357 m/s,
      LOS rate: 0.000582 deg/s,
      cmd heading: 297.657868 deg,
      new cmd heading: 297.658507 deg.

2025-01-09T00:47:24.341Z,1736383644.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195121 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:24.421Z,1736383644.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779580
2025-01-09T00:47:24.673Z,1736383644.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030699
2025-01-09T00:47:24.776Z,1736383644.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:24.785Z,1736383644.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:24.795Z,1736383644.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 95.780128 m,
      bearing: 291.063594 deg,
      approach rate: -0.742672 m/s,
      LOS rate: 0.002581 deg/s,
      cmd heading: 297.658497 deg,
      new cmd heading: 297.661965 deg.

2025-01-09T00:47:24.797Z,1736383644.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195181 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:24.925Z,1736383644.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282938
2025-01-09T00:47:25.123Z,1736383645.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:25.155Z,1736383645.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:25.158Z,1736383645.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 95.523949 m,
      bearing: 291.064602 deg,
      approach rate: -0.739197 m/s,
      LOS rate: 0.002917 deg/s,
      cmd heading: 297.661966 deg,
      new cmd heading: 297.664999 deg.

2025-01-09T00:47:25.159Z,1736383645.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195234 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:25.176Z,1736383645.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.534556
2025-01-09T00:47:25.428Z,1736383645.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.786397
2025-01-09T00:47:25.536Z,1736383645.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:25.544Z,1736383645.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:25.547Z,1736383645.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 95.218872 m,
      bearing: 291.065854 deg,
      approach rate: -0.738706 m/s,
      LOS rate: 0.003041 deg/s,
      cmd heading: 297.664999 deg,
      new cmd heading: 297.668766 deg.

2025-01-09T00:47:25.549Z,1736383645.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195300 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:25.681Z,1736383645.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.038829
2025-01-09T00:47:25.933Z,1736383645.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291441
2025-01-09T00:47:25.979Z,1736383645.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:25.988Z,1736383645.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:25.992Z,1736383645.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 94.887672 m,
      bearing: 291.070198 deg,
      approach rate: -0.745520 m/s,
      LOS rate: 0.009812 deg/s,
      cmd heading: 297.668769 deg,
      new cmd heading: 297.681846 deg.

2025-01-09T00:47:25.993Z,1736383645.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195529 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:26.184Z,1736383646.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.542383
2025-01-09T00:47:26.339Z,1736383646.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:26.346Z,1736383646.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:26.348Z,1736383646.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:26.352Z,1736383646.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 94.619011 m,
      bearing: 291.074057 deg,
      approach rate: -0.747328 m/s,
      LOS rate: 0.010766 deg/s,
      cmd heading: 297.681856 deg,
      new cmd heading: 297.693467 deg.

2025-01-09T00:47:26.353Z,1736383646.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195731 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:26.437Z,1736383646.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795360
2025-01-09T00:47:26.689Z,1736383646.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.047280
2025-01-09T00:47:26.790Z,1736383646.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:26.798Z,1736383646.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:26.804Z,1736383646.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 94.274925 m,
      bearing: 291.082169 deg,
      approach rate: -0.764383 m/s,
      LOS rate: 0.018085 deg/s,
      cmd heading: 297.693467 deg,
      new cmd heading: 297.717890 deg.

2025-01-09T00:47:26.807Z,1736383646.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196157 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:26.940Z,1736383646.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.298461
2025-01-09T00:47:27.164Z,1736383647.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:27.193Z,1736383647.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.550714
2025-01-09T00:47:27.199Z,1736383647.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:27.202Z,1736383647.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 93.990219 m,
      bearing: 291.089230 deg,
      approach rate: -0.716846 m/s,
      LOS rate: 0.017834 deg/s,
      cmd heading: 297.717892 deg,
      new cmd heading: 297.739142 deg.

2025-01-09T00:47:27.207Z,1736383647.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196528 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:27.446Z,1736383647.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.804372
2025-01-09T00:47:27.557Z,1736383647.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:27.567Z,1736383647.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:27.570Z,1736383647.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 93.689575 m,
      bearing: 291.096898 deg,
      approach rate: -0.809272 m/s,
      LOS rate: 0.020706 deg/s,
      cmd heading: 297.739147 deg,
      new cmd heading: 297.762224 deg.

2025-01-09T00:47:27.571Z,1736383647.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196931 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:27.696Z,1736383647.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.054645
2025-01-09T00:47:27.949Z,1736383647.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307067
2025-01-09T00:47:27.999Z,1736383647.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:28.008Z,1736383648.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:28.011Z,1736383648.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 93.342560 m,
      bearing: 291.104987 deg,
      approach rate: -0.786573 m/s,
      LOS rate: 0.018403 deg/s,
      cmd heading: 297.762233 deg,
      new cmd heading: 297.786590 deg.

2025-01-09T00:47:28.012Z,1736383648.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.197357 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:28.201Z,1736383648.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559007
2025-01-09T00:47:28.357Z,1736383648.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:28.364Z,1736383648.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:28.406Z,1736383648.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:28.413Z,1736383648.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 93.060410 m,
      bearing: 291.112088 deg,
      approach rate: -0.708765 m/s,
      LOS rate: 0.017893 deg/s,
      cmd heading: 297.786604 deg,
      new cmd heading: 297.807972 deg.

2025-01-09T00:47:28.414Z,1736383648.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.197730 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:28.452Z,1736383648.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810671
2025-01-09T00:47:28.704Z,1736383648.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.062660
2025-01-09T00:47:28.788Z,1736383648.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:28.805Z,1736383648.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:28.824Z,1736383648.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 92.716515 m,
      bearing: 291.122416 deg,
      approach rate: -0.866998 m/s,
      LOS rate: 0.026133 deg/s,
      cmd heading: 297.807968 deg,
      new cmd heading: 297.839065 deg.

2025-01-09T00:47:28.825Z,1736383648.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198272 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:28.956Z,1736383648.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314443
2025-01-09T00:47:29.178Z,1736383649.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:29.188Z,1736383649.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:29.191Z,1736383649.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 92.404205 m,
      bearing: 291.132221 deg,
      approach rate: -0.811513 m/s,
      LOS rate: 0.025563 deg/s,
      cmd heading: 297.839059 deg,
      new cmd heading: 297.868573 deg.

2025-01-09T00:47:29.192Z,1736383649.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198787 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:29.210Z,1736383649.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.567871
2025-01-09T00:47:29.460Z,1736383649.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.818635
2025-01-09T00:47:29.603Z,1736383649.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:29.612Z,1736383649.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:29.614Z,1736383649.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 92.064484 m,
      bearing: 291.143146 deg,
      approach rate: -0.801270 m/s,
      LOS rate: 0.025864 deg/s,
      cmd heading: 297.868566 deg,
      new cmd heading: 297.901463 deg.

2025-01-09T00:47:29.617Z,1736383649.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.199361 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:29.719Z,1736383649.719 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:29.719Z,1736383649.719 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:29.719Z,1736383649.719 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:29.972Z,1736383649.972 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:29.972Z,1736383649.972 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:29.972Z,1736383649.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:30.044Z,1736383650.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:30.069Z,1736383650.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:30.076Z,1736383650.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 91.719269 m,
      bearing: 291.156700 deg,
      approach rate: -0.753743 m/s,
      LOS rate: 0.029705 deg/s,
      cmd heading: 297.901460 deg,
      new cmd heading: 297.942275 deg.

2025-01-09T00:47:30.077Z,1736383650.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200074 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:30.224Z,1736383650.224 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:30.224Z,1736383650.224 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:30.225Z,1736383650.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:30.476Z,1736383650.476 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:30.477Z,1736383650.477 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:30.477Z,1736383650.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:30.568Z,1736383650.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:30.579Z,1736383650.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:30.593Z,1736383650.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:30.623Z,1736383650.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 91.308823 m,
      bearing: 291.173716 deg,
      approach rate: -0.784600 m/s,
      LOS rate: 0.032674 deg/s,
      cmd heading: 297.942277 deg,
      new cmd heading: 297.993556 deg.

2025-01-09T00:47:30.624Z,1736383650.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200969 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:30.728Z,1736383650.728 [DAT](INFO): DAT read: Response Not Received

2025-01-09T00:47:30.729Z,1736383650.729 [DAT](INFO): response not received
2025-01-09T00:47:30.729Z,1736383650.729 [DAT](INFO): DAT read: user:3753>

2025-01-09T00:47:30.730Z,1736383650.730 [DAT](INFO): DAT read: Tx time:00:47:29.9815

2025-01-09T00:47:30.730Z,1736383650.730 [DAT](INFO): Ping request sent.
2025-01-09T00:47:30.730Z,1736383650.730 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:47:30.730Z,1736383650.730 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:30.731Z,1736383650.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-01-09T00:47:30.980Z,1736383650.980 [DAT](INFO): DAT read: TxSync time:00:47:29.9807

2025-01-09T00:47:30.982Z,1736383650.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251101
2025-01-09T00:47:31.037Z,1736383651.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:31.061Z,1736383651.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:31.068Z,1736383651.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 90.956528 m,
      bearing: 291.189499 deg,
      approach rate: -0.751972 m/s,
      LOS rate: 0.033818 deg/s,
      cmd heading: 297.993558 deg,
      new cmd heading: 298.041089 deg.

2025-01-09T00:47:31.069Z,1736383651.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.201798 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:31.233Z,1736383651.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502780
2025-01-09T00:47:31.406Z,1736383651.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:31.416Z,1736383651.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:31.419Z,1736383651.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 90.678604 m,
      bearing: 291.203054 deg,
      approach rate: -0.786096 m/s,
      LOS rate: 0.038458 deg/s,
      cmd heading: 298.041096 deg,
      new cmd heading: 298.081887 deg.

2025-01-09T00:47:31.420Z,1736383651.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.202510 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:31.486Z,1736383651.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755552
2025-01-09T00:47:31.740Z,1736383651.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009231
2025-01-09T00:47:31.848Z,1736383651.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:31.860Z,1736383651.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:31.863Z,1736383651.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 90.364883 m,
      bearing: 291.218265 deg,
      approach rate: -0.705142 m/s,
      LOS rate: 0.034309 deg/s,
      cmd heading: 298.081886 deg,
      new cmd heading: 298.127679 deg.

2025-01-09T00:47:31.864Z,1736383651.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203310 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:31.988Z,1736383651.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258050
2025-01-09T00:47:32.240Z,1736383652.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510069
2025-01-09T00:47:32.241Z,1736383652.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:32.252Z,1736383652.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:32.255Z,1736383652.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 90.085403 m,
      bearing: 291.231906 deg,
      approach rate: -0.711281 m/s,
      LOS rate: 0.034823 deg/s,
      cmd heading: 298.127676 deg,
      new cmd heading: 298.168724 deg.

2025-01-09T00:47:32.256Z,1736383652.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204026 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:32.492Z,1736383652.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762011
2025-01-09T00:47:32.621Z,1736383652.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:32.628Z,1736383652.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:32.630Z,1736383652.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:32.634Z,1736383652.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 89.815781 m,
      bearing: 291.244318 deg,
      approach rate: -0.713377 m/s,
      LOS rate: 0.032939 deg/s,
      cmd heading: 298.168712 deg,
      new cmd heading: 298.206060 deg.

2025-01-09T00:47:32.635Z,1736383652.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204678 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:32.750Z,1736383652.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020117
2025-01-09T00:47:33.000Z,1736383653.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270140
2025-01-09T00:47:33.046Z,1736383653.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:33.055Z,1736383653.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:33.058Z,1736383653.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 89.533104 m,
      bearing: 291.251808 deg,
      approach rate: -0.665863 m/s,
      LOS rate: 0.017699 deg/s,
      cmd heading: 298.206059 deg,
      new cmd heading: 298.228600 deg.

2025-01-09T00:47:33.059Z,1736383653.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205071 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:33.257Z,1736383653.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526735
2025-01-09T00:47:33.427Z,1736383653.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:33.436Z,1736383653.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:33.439Z,1736383653.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 89.279556 m,
      bearing: 291.258030 deg,
      approach rate: -0.665041 m/s,
      LOS rate: 0.016366 deg/s,
      cmd heading: 298.228599 deg,
      new cmd heading: 298.247318 deg.

2025-01-09T00:47:33.440Z,1736383653.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205398 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:33.505Z,1736383653.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774373
2025-01-09T00:47:33.759Z,1736383653.759 [DAT](INFO): DAT read: Rx Time:00:47:32.5033

2025-01-09T00:47:33.761Z,1736383653.761 [DAT](INFO): Rx dataTimestamp_ set to:1736383653.759983
2025-01-09T00:47:33.763Z,1736383653.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032001
2025-01-09T00:47:33.859Z,1736383653.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:33.871Z,1736383653.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-01-09T00:47:33.877Z,1736383653.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.100006 m,
      nav range: 89.016350 m,
      bearing: 291.263469 deg,
      approach rate: -0.606556 m/s,
      LOS rate: 0.012571 deg/s,
      cmd heading: 298.247314 deg,
      new cmd heading: 298.263679 deg.

2025-01-09T00:47:33.878Z,1736383653.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205683 target range: 140.100006 and range: 140.10 m.
2025-01-09T00:47:34.008Z,1736383654.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278009
2025-01-09T00:47:34.269Z,1736383654.269 [DAT](INFO): DAT read: 00:47:32.5033 LVL= 23088, 26081, 19394, 32755, AGC= 64, IDX= 177, 0.11,-0.431,-1.814,-0.192,-0.622, PHS= 0.279,-1.145, 0.428, RAW= 154.9,   5.9, CAL= 155.8,  -3.3, ROT= 354.2,   3.3

2025-01-09T00:47:34.270Z,1736383654.270 [DAT](INFO): got valid direction response:
 00:47:32.5033 LVL= 23088, 26081, 19394, 32755, AGC= 64, IDX= 177, 0.11,-0.431,-1.814,-0.192,-0.622, PHS= 0.279,-1.145, 0.428, RAW= 154.9,   5.9, CAL= 155.8,  -3.3, ROT= 354.2,   3.3

2025-01-09T00:47:34.271Z,1736383654.271 [DAT](INFO): DAT read: Bearing 354.2,   3.3 (Local)

2025-01-09T00:47:34.271Z,1736383654.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.2,   3.3 (Local)

2025-01-09T00:47:34.273Z,1736383654.273 [DAT](INFO): DAT read: Range 10 to 50 : 88.2 m  (Round-trip  117.6 ms) speed  0.4 m/s

2025-01-09T00:47:34.273Z,1736383654.273 [DAT](INFO): DAT read: user:3754>

2025-01-09T00:47:34.274Z,1736383654.274 [DAT](INFO): DAT read: Tx time:00:47:33.5815

2025-01-09T00:47:34.274Z,1736383654.274 [DAT](INFO): Ping request sent.
2025-01-09T00:47:34.275Z,1736383654.275 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:47:34.275Z,1736383654.275 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:47:34.282Z,1736383654.282 [DAT](INFO): direction in FSK: [0.993231,-0.100889,-0.057564]
2025-01-09T00:47:34.282Z,1736383654.282 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:34.283Z,1736383654.283 [DAT](INFO): publishing direction and range info
2025-01-09T00:47:34.286Z,1736383654.286 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:34.286Z,1736383654.286 [DAT](INFO): publishing direction and range info
2025-01-09T00:47:34.290Z,1736383654.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:34.329Z,1736383654.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 88.199997 m,
      deltaT: 25.472001 s,
      deltaX: -51.900009 m,
      approachRate: -2.037532 m/s,
      rangeRepo size: 4

2025-01-09T00:47:34.340Z,1736383654.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 88.199997 m,
      bearing: 293.181506 deg,
      lat: 36.903993 deg,
      lon: -122.118990 deg,
      deltaT: 25.472001 s,
      deltaX: -51.900009 m,
      approachRate: -2.037532 m/s,
      posRepo size: 4

2025-01-09T00:47:34.341Z,1736383654.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:34.365Z,1736383654.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 88.873177 m,
      bearing: 292.761729 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012571 deg/s,
      cmd heading: 298.263679 deg,
      new cmd heading: 298.280976 deg.

2025-01-09T00:47:34.366Z,1736383654.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205985 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:34.513Z,1736383654.513 [DAT](INFO): DAT read: TxSync time:00:47:33.5807

2025-01-09T00:47:34.680Z,1736383654.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:34.696Z,1736383654.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:34.698Z,1736383654.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:34.701Z,1736383654.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 88.635529 m,
      bearing: 292.770226 deg,
      approach rate: -0.643820 m/s,
      LOS rate: 0.023079 deg/s,
      cmd heading: 298.280973 deg,
      new cmd heading: 298.306530 deg.

2025-01-09T00:47:34.702Z,1736383654.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206431 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:34.772Z,1736383654.772 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:34.772Z,1736383654.772 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:34.773Z,1736383654.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:35.020Z,1736383655.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745665
2025-01-09T00:47:35.195Z,1736383655.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:35.226Z,1736383655.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:35.238Z,1736383655.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 88.337082 m,
      bearing: 292.773793 deg,
      approach rate: -0.565125 m/s,
      LOS rate: 0.006777 deg/s,
      cmd heading: 298.306518 deg,
      new cmd heading: 298.317255 deg.

2025-01-09T00:47:35.239Z,1736383655.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206618 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:35.272Z,1736383655.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997723
2025-01-09T00:47:35.525Z,1736383655.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250539
2025-01-09T00:47:35.569Z,1736383655.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:35.578Z,1736383655.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:35.582Z,1736383655.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 88.119972 m,
      bearing: 292.776098 deg,
      approach rate: -0.616159 m/s,
      LOS rate: 0.006558 deg/s,
      cmd heading: 298.317255 deg,
      new cmd heading: 298.324187 deg.

2025-01-09T00:47:35.599Z,1736383655.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206739 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:35.788Z,1736383655.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511716
2025-01-09T00:47:36.036Z,1736383656.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761695
2025-01-09T00:47:36.054Z,1736383656.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:36.062Z,1736383656.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:36.066Z,1736383656.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 87.846024 m,
      bearing: 292.774748 deg,
      approach rate: -0.566382 m/s,
      LOS rate: -0.002798 deg/s,
      cmd heading: 298.324194 deg,
      new cmd heading: 298.320134 deg.

2025-01-09T00:47:36.084Z,1736383656.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206668 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:36.289Z,1736383656.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014084
2025-01-09T00:47:36.428Z,1736383656.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:36.457Z,1736383656.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:36.460Z,1736383656.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 87.634247 m,
      bearing: 292.773208 deg,
      approach rate: -0.536441 m/s,
      LOS rate: -0.003910 deg/s,
      cmd heading: 298.320123 deg,
      new cmd heading: 298.315492 deg.

2025-01-09T00:47:36.461Z,1736383656.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206587 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:36.542Z,1736383656.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266937
2025-01-09T00:47:36.795Z,1736383656.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519680
2025-01-09T00:47:36.864Z,1736383656.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:36.870Z,1736383656.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:36.872Z,1736383656.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:36.875Z,1736383656.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 87.384727 m,
      bearing: 292.769096 deg,
      approach rate: -0.600629 m/s,
      LOS rate: -0.009927 deg/s,
      cmd heading: 298.315479 deg,
      new cmd heading: 298.303107 deg.

2025-01-09T00:47:36.876Z,1736383656.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206371 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:37.045Z,1736383657.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769886
2025-01-09T00:47:37.239Z,1736383657.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:37.249Z,1736383657.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:37.252Z,1736383657.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 87.169418 m,
      bearing: 292.765065 deg,
      approach rate: -0.571910 m/s,
      LOS rate: -0.010733 deg/s,
      cmd heading: 298.303102 deg,
      new cmd heading: 298.290980 deg.

2025-01-09T00:47:37.253Z,1736383657.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206160 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:37.298Z,1736383657.298 [DAT](INFO): DAT read: Rx Time:00:47:36.1010

2025-01-09T00:47:37.299Z,1736383657.299 [DAT](INFO): Rx dataTimestamp_ set to:1736383657.298136
2025-01-09T00:47:37.300Z,1736383657.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025760
2025-01-09T00:47:37.549Z,1736383657.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274236
2025-01-09T00:47:37.648Z,1736383657.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:37.660Z,1736383657.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:37.666Z,1736383657.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 86.935310 m,
      bearing: 292.760279 deg,
      approach rate: -0.569109 m/s,
      LOS rate: -0.011666 deg/s,
      cmd heading: 298.290972 deg,
      new cmd heading: 298.276575 deg.

2025-01-09T00:47:37.667Z,1736383657.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205908 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:37.841Z,1736383657.841 [DAT](INFO): DAT read: 00:47:36.1010 LVL= 26544, 32753, 22050, 32755, AGC= 67, IDX= 426,-0.24,-1.088,-2.254,-0.814,-1.196, PHS= 0.196,-1.011, 0.379, RAW= 156.9,   6.7, CAL= 157.3,  -2.6, ROT= 352.7,   2.6

2025-01-09T00:47:37.842Z,1736383657.842 [DAT](INFO): got valid direction response:
 00:47:36.1010 LVL= 26544, 32753, 22050, 32755, AGC= 67, IDX= 426,-0.24,-1.088,-2.254,-0.814,-1.196, PHS= 0.196,-1.011, 0.379, RAW= 156.9,   6.7, CAL= 157.3,  -2.6, ROT= 352.7,   2.6

2025-01-09T00:47:37.843Z,1736383657.843 [DAT](INFO): DAT read: $Error in header

2025-01-09T00:47:37.844Z,1736383657.844 [DAT](INFO): Received a bad header
2025-01-09T00:47:37.856Z,1736383657.856 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T00:47:37.857Z,1736383657.857 [DAT](INFO): direction in FSK: [0.990873,-0.126934,-0.045363]
2025-01-09T00:47:37.860Z,1736383657.860 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:37.860Z,1736383657.860 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:37.860Z,1736383657.860 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:37.871Z,1736383657.871 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T00:47:38.076Z,1736383658.076 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:38.076Z,1736383658.076 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:38.076Z,1736383658.076 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:38.085Z,1736383658.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:38.097Z,1736383658.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:38.105Z,1736383658.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 86.667496 m,
      bearing: 292.753725 deg,
      approach rate: -0.612737 m/s,
      LOS rate: -0.015043 deg/s,
      cmd heading: 298.276574 deg,
      new cmd heading: 298.256849 deg.

2025-01-09T00:47:38.106Z,1736383658.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205564 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:38.328Z,1736383658.328 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:38.328Z,1736383658.328 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:38.328Z,1736383658.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:38.468Z,1736383658.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:38.477Z,1736383658.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:38.480Z,1736383658.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 86.432602 m,
      bearing: 292.747943 deg,
      approach rate: -0.619100 m/s,
      LOS rate: -0.015281 deg/s,
      cmd heading: 298.256848 deg,
      new cmd heading: 298.239455 deg.

2025-01-09T00:47:38.481Z,1736383658.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205260 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:38.580Z,1736383658.580 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:38.580Z,1736383658.580 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:38.580Z,1736383658.580 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:38.834Z,1736383658.834 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:38.835Z,1736383658.835 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:38.839Z,1736383658.839 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:38.914Z,1736383658.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:38.921Z,1736383658.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:38.923Z,1736383658.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:38.926Z,1736383658.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 86.142639 m,
      bearing: 292.739100 deg,
      approach rate: -0.649621 m/s,
      LOS rate: -0.019877 deg/s,
      cmd heading: 298.239445 deg,
      new cmd heading: 298.212829 deg.

2025-01-09T00:47:38.927Z,1736383658.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204796 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:39.084Z,1736383659.084 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:39.084Z,1736383659.084 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:39.084Z,1736383659.084 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:39.257Z,1736383659.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:39.266Z,1736383659.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:39.270Z,1736383659.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 85.919281 m,
      bearing: 292.732410 deg,
      approach rate: -0.650532 m/s,
      LOS rate: -0.019537 deg/s,
      cmd heading: 298.212835 deg,
      new cmd heading: 298.192711 deg.

2025-01-09T00:47:39.271Z,1736383659.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204444 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:39.339Z,1736383659.339 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:39.339Z,1736383659.339 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:39.340Z,1736383659.340 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:39.592Z,1736383659.592 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:39.592Z,1736383659.592 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:39.592Z,1736383659.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:39.666Z,1736383659.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:39.694Z,1736383659.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:39.701Z,1736383659.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 85.652756 m,
      bearing: 292.724722 deg,
      approach rate: -0.623014 m/s,
      LOS rate: -0.018027 deg/s,
      cmd heading: 298.192699 deg,
      new cmd heading: 298.169563 deg.

2025-01-09T00:47:39.702Z,1736383659.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204041 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:39.846Z,1736383659.846 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:39.847Z,1736383659.847 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:39.847Z,1736383659.847 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:40.096Z,1736383660.096 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:40.096Z,1736383660.096 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:40.096Z,1736383660.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:40.102Z,1736383660.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:40.118Z,1736383660.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:40.143Z,1736383660.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 85.343056 m,
      bearing: 292.718862 deg,
      approach rate: -0.730411 m/s,
      LOS rate: -0.013870 deg/s,
      cmd heading: 298.169559 deg,
      new cmd heading: 298.151916 deg.

2025-01-09T00:47:40.149Z,1736383660.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203732 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:40.348Z,1736383660.348 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:40.349Z,1736383660.349 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:40.350Z,1736383660.350 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:40.469Z,1736383660.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:40.478Z,1736383660.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:40.482Z,1736383660.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 85.081558 m,
      bearing: 292.714433 deg,
      approach rate: -0.725662 m/s,
      LOS rate: -0.012327 deg/s,
      cmd heading: 298.151909 deg,
      new cmd heading: 298.138583 deg.

2025-01-09T00:47:40.483Z,1736383660.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203500 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:40.600Z,1736383660.600 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:40.600Z,1736383660.600 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:40.600Z,1736383660.600 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:40.854Z,1736383660.854 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:40.854Z,1736383660.854 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:40.854Z,1736383660.854 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:40.932Z,1736383660.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:40.939Z,1736383660.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:40.941Z,1736383660.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:40.944Z,1736383660.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 84.735168 m,
      bearing: 292.716456 deg,
      approach rate: -0.748961 m/s,
      LOS rate: 0.004391 deg/s,
      cmd heading: 298.138577 deg,
      new cmd heading: 298.144670 deg.

2025-01-09T00:47:40.945Z,1736383660.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203606 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:41.105Z,1736383661.105 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:41.105Z,1736383661.105 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:41.105Z,1736383661.105 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:41.284Z,1736383661.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:41.292Z,1736383661.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:41.295Z,1736383661.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 84.471382 m,
      bearing: 292.718621 deg,
      approach rate: -0.751406 m/s,
      LOS rate: 0.006187 deg/s,
      cmd heading: 298.144669 deg,
      new cmd heading: 298.151185 deg.

2025-01-09T00:47:41.296Z,1736383661.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203720 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:41.308Z,1736383661.308 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:47:41.356Z,1736383661.356 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:41.357Z,1736383661.357 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:41.357Z,1736383661.357 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:41.608Z,1736383661.608 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:41.608Z,1736383661.608 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:41.608Z,1736383661.608 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:41.710Z,1736383661.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:41.730Z,1736383661.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:41.737Z,1736383661.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 84.152008 m,
      bearing: 292.721913 deg,
      approach rate: -0.729608 m/s,
      LOS rate: 0.007548 deg/s,
      cmd heading: 298.151172 deg,
      new cmd heading: 298.161084 deg.

2025-01-09T00:47:41.738Z,1736383661.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203893 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:41.863Z,1736383661.863 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:41.863Z,1736383661.863 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:41.864Z,1736383661.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:42.107Z,1736383662.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:42.113Z,1736383662.113 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:42.114Z,1736383662.114 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:42.114Z,1736383662.114 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:42.126Z,1736383662.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:42.129Z,1736383662.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 83.840508 m,
      bearing: 292.728221 deg,
      approach rate: -0.786838 m/s,
      LOS rate: 0.015993 deg/s,
      cmd heading: 298.161089 deg,
      new cmd heading: 298.180084 deg.

2025-01-09T00:47:42.129Z,1736383662.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204224 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:42.312Z,1736383662.312 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:47:42.366Z,1736383662.366 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:42.366Z,1736383662.366 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:42.366Z,1736383662.366 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:42.600Z,1736383662.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:42.608Z,1736383662.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:42.611Z,1736383662.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 83.454102 m,
      bearing: 292.736879 deg,
      approach rate: -0.801822 m/s,
      LOS rate: 0.018049 deg/s,
      cmd heading: 298.180077 deg,
      new cmd heading: 298.206172 deg.

2025-01-09T00:47:42.612Z,1736383662.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204679 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:42.617Z,1736383662.617 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:42.617Z,1736383662.617 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:42.617Z,1736383662.617 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:42.876Z,1736383662.876 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:42.877Z,1736383662.877 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:42.877Z,1736383662.877 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:43.044Z,1736383663.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:43.055Z,1736383663.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:43.061Z,1736383663.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:43.069Z,1736383663.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 83.094406 m,
      bearing: 292.754525 deg,
      approach rate: -0.793389 m/s,
      LOS rate: 0.039092 deg/s,
      cmd heading: 298.206168 deg,
      new cmd heading: 298.259337 deg.

2025-01-09T00:47:43.076Z,1736383663.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205607 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:43.124Z,1736383663.124 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:43.125Z,1736383663.125 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:43.125Z,1736383663.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:43.376Z,1736383663.376 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:43.376Z,1736383663.376 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:43.376Z,1736383663.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:43.486Z,1736383663.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:43.495Z,1736383663.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:43.498Z,1736383663.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 82.736336 m,
      bearing: 292.772950 deg,
      approach rate: -0.824661 m/s,
      LOS rate: 0.042617 deg/s,
      cmd heading: 298.259335 deg,
      new cmd heading: 298.314848 deg.

2025-01-09T00:47:43.500Z,1736383663.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206576 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:43.629Z,1736383663.629 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:43.629Z,1736383663.629 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:43.629Z,1736383663.629 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:43.884Z,1736383663.884 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:43.884Z,1736383663.884 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:43.884Z,1736383663.884 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:43.980Z,1736383663.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:43.988Z,1736383663.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:43.991Z,1736383663.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 82.344078 m,
      bearing: 292.795416 deg,
      approach rate: -0.795059 m/s,
      LOS rate: 0.045752 deg/s,
      cmd heading: 298.314850 deg,
      new cmd heading: 298.382569 deg.

2025-01-09T00:47:43.992Z,1736383663.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.207758 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:44.132Z,1736383664.132 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:44.132Z,1736383664.132 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:44.132Z,1736383664.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:47:44.325Z,1736383664.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:44.335Z,1736383664.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:44.338Z,1736383664.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 82.070068 m,
      bearing: 292.811237 deg,
      approach rate: -0.791499 m/s,
      LOS rate: 0.045853 deg/s,
      cmd heading: 298.382579 deg,
      new cmd heading: 298.430200 deg.

2025-01-09T00:47:44.338Z,1736383664.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.208590 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:44.385Z,1736383664.385 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:44.385Z,1736383664.385 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:44.385Z,1736383664.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:44.636Z,1736383664.636 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:44.636Z,1736383664.636 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:44.636Z,1736383664.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:44.712Z,1736383664.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:44.721Z,1736383664.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:44.724Z,1736383664.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 81.763382 m,
      bearing: 292.829968 deg,
      approach rate: -0.793464 m/s,
      LOS rate: 0.048642 deg/s,
      cmd heading: 298.430199 deg,
      new cmd heading: 298.486602 deg.

2025-01-09T00:47:44.725Z,1736383664.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.209574 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:44.890Z,1736383664.890 [DAT](INFO): Reached modem response timeout
2025-01-09T00:47:44.891Z,1736383664.891 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:47:44.893Z,1736383664.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:45.140Z,1736383665.140 [DAT](INFO): DAT read: Response Not Received

2025-01-09T00:47:45.141Z,1736383665.141 [DAT](INFO): response not received
2025-01-09T00:47:45.141Z,1736383665.141 [DAT](INFO): DAT read: user:3756>

2025-01-09T00:47:45.142Z,1736383665.142 [DAT](INFO): DAT read: Tx time:00:47:44.5316

2025-01-09T00:47:45.142Z,1736383665.142 [DAT](INFO): Ping request sent.
2025-01-09T00:47:45.142Z,1736383665.142 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:47:45.142Z,1736383665.142 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:45.143Z,1736383665.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-01-09T00:47:45.156Z,1736383665.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:45.170Z,1736383665.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:45.175Z,1736383665.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:45.180Z,1736383665.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 81.422287 m,
      bearing: 292.859549 deg,
      approach rate: -0.753421 m/s,
      LOS rate: 0.065615 deg/s,
      cmd heading: 298.486589 deg,
      new cmd heading: 298.575705 deg.

2025-01-09T00:47:45.182Z,1736383665.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.211129 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:45.392Z,1736383665.392 [DAT](INFO): DAT read: TxSync time:00:47:44.5308

2025-01-09T00:47:45.393Z,1736383665.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250867
2025-01-09T00:47:45.521Z,1736383665.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:45.530Z,1736383665.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:45.534Z,1736383665.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 81.141647 m,
      bearing: 292.884385 deg,
      approach rate: -0.788384 m/s,
      LOS rate: 0.070011 deg/s,
      cmd heading: 298.575709 deg,
      new cmd heading: 298.650474 deg.

2025-01-09T00:47:45.536Z,1736383665.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.212434 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:45.644Z,1736383665.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502208
2025-01-09T00:47:45.899Z,1736383665.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755868
2025-01-09T00:47:46.004Z,1736383666.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:46.027Z,1736383666.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:46.030Z,1736383666.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 80.786972 m,
      bearing: 292.917959 deg,
      approach rate: -0.719091 m/s,
      LOS rate: 0.068368 deg/s,
      cmd heading: 298.650486 deg,
      new cmd heading: 298.751648 deg.

2025-01-09T00:47:46.035Z,1736383666.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.214200 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:46.148Z,1736383666.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006062
2025-01-09T00:47:46.379Z,1736383666.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:46.397Z,1736383666.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:46.401Z,1736383666.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258853
2025-01-09T00:47:46.405Z,1736383666.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 80.523415 m,
      bearing: 292.942583 deg,
      approach rate: -0.704899 m/s,
      LOS rate: 0.066074 deg/s,
      cmd heading: 298.751655 deg,
      new cmd heading: 298.825769 deg.

2025-01-09T00:47:46.406Z,1736383666.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215494 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:46.652Z,1736383666.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510038
2025-01-09T00:47:46.745Z,1736383666.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:46.755Z,1736383666.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:46.758Z,1736383666.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 80.242699 m,
      bearing: 292.968282 deg,
      approach rate: -0.784359 m/s,
      LOS rate: 0.072059 deg/s,
      cmd heading: 298.825776 deg,
      new cmd heading: 298.903144 deg.

2025-01-09T00:47:46.759Z,1736383666.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.216844 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:46.909Z,1736383666.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766023
2025-01-09T00:47:47.156Z,1736383667.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014142
2025-01-09T00:47:47.184Z,1736383667.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:47.192Z,1736383667.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:47.196Z,1736383667.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:47.202Z,1736383667.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 79.943550 m,
      bearing: 292.993732 deg,
      approach rate: -0.679227 m/s,
      LOS rate: 0.058000 deg/s,
      cmd heading: 298.903148 deg,
      new cmd heading: 298.979782 deg.

2025-01-09T00:47:47.205Z,1736383667.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.218182 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:47.408Z,1736383667.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265969
2025-01-09T00:47:47.560Z,1736383667.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:47.570Z,1736383667.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:47.572Z,1736383667.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 79.688118 m,
      bearing: 293.014930 deg,
      approach rate: -0.682594 m/s,
      LOS rate: 0.056830 deg/s,
      cmd heading: 298.979783 deg,
      new cmd heading: 299.043581 deg.

2025-01-09T00:47:47.573Z,1736383667.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.219295 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:47.661Z,1736383667.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518775
2025-01-09T00:47:47.912Z,1736383667.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770053
2025-01-09T00:47:48.016Z,1736383668.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:48.053Z,1736383668.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:48.060Z,1736383668.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 79.399986 m,
      bearing: 293.036458 deg,
      approach rate: -0.596237 m/s,
      LOS rate: 0.044712 deg/s,
      cmd heading: 299.043577 deg,
      new cmd heading: 299.108398 deg.

2025-01-09T00:47:48.061Z,1736383668.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.220427 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:48.164Z,1736383668.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022027
2025-01-09T00:47:48.378Z,1736383668.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:48.411Z,1736383668.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:48.414Z,1736383668.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 79.171471 m,
      bearing: 293.053199 deg,
      approach rate: -0.638089 m/s,
      LOS rate: 0.046879 deg/s,
      cmd heading: 299.108409 deg,
      new cmd heading: 299.158774 deg.

2025-01-09T00:47:48.424Z,1736383668.424 [DAT](INFO): DAT read: Rx Time:00:47:47.0402

2025-01-09T00:47:48.425Z,1736383668.425 [DAT](INFO): Rx dataTimestamp_ set to:1736383668.424614
2025-01-09T00:47:48.425Z,1736383668.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283197
2025-01-09T00:47:48.432Z,1736383668.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.221305 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:48.678Z,1736383668.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535542
2025-01-09T00:47:48.787Z,1736383668.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:48.796Z,1736383668.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.20 m.
2025-01-09T00:47:48.799Z,1736383668.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.199997 m,
      nav range: 78.913322 m,
      bearing: 293.071576 deg,
      approach rate: -0.671790 m/s,
      LOS rate: 0.047982 deg/s,
      cmd heading: 299.158761 deg,
      new cmd heading: 299.214075 deg.

2025-01-09T00:47:48.800Z,1736383668.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.222271 target range: 88.199997 and range: 88.20 m.
2025-01-09T00:47:48.952Z,1736383668.952 [DAT](INFO): DAT read: 00:47:47.0402 LVL= 26864, 32753, 20706, 32755, AGC= 65, IDX= 329,-0.15,-0.043,-1.376, 0.188,-0.158, PHS= 0.202,-1.171, 0.343, RAW= 154.8,   8.7, CAL= 154.8,  -0.6, ROT= 355.2,   0.6

2025-01-09T00:47:48.956Z,1736383668.956 [DAT](INFO): got valid direction response:
 00:47:47.0402 LVL= 26864, 32753, 20706, 32755, AGC= 65, IDX= 329,-0.15,-0.043,-1.376, 0.188,-0.158, PHS= 0.202,-1.171, 0.343, RAW= 154.8,   8.7, CAL= 154.8,  -0.6, ROT= 355.2,   0.6

2025-01-09T00:47:48.959Z,1736383668.959 [DAT](INFO): DAT read: Bearing 355.2,   0.6 (Local)

2025-01-09T00:47:48.960Z,1736383668.960 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2,   0.6 (Local)

2025-01-09T00:47:48.966Z,1736383668.966 [DAT](INFO): DAT read: Range 10 to 50 : 78.2 m  (Round-trip  104.3 ms) speed  0.4 m/s

2025-01-09T00:47:48.969Z,1736383668.969 [DAT](INFO): DAT read: user:3757>

2025-01-09T00:47:48.974Z,1736383668.974 [DAT](INFO): DAT read: Tx time:00:47:48.1317

2025-01-09T00:47:49.030Z,1736383669.030 [DAT](INFO): Ping request sent.
2025-01-09T00:47:49.030Z,1736383669.030 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:47:49.043Z,1736383669.043 [DAT](INFO): DAT read: TxSync time:00:47:48.1309

2025-01-09T00:47:49.044Z,1736383669.044 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:47:49.045Z,1736383669.045 [DAT](INFO): direction in FSK: [0.996438,-0.083673,-0.010472]
2025-01-09T00:47:49.046Z,1736383669.046 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:49.046Z,1736383669.046 [DAT](INFO): publishing direction and range info
2025-01-09T00:47:49.059Z,1736383669.059 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:49.060Z,1736383669.060 [DAT](INFO): publishing direction and range info
2025-01-09T00:47:49.212Z,1736383669.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:49.252Z,1736383669.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.199997 m,
      deltaT: 14.669786 s,
      deltaX: -10.000000 m,
      approachRate: -0.681673 m/s,
      rangeRepo size: 4

2025-01-09T00:47:49.254Z,1736383669.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 78.199997 m,
      bearing: 294.651182 deg,
      lat: 36.904007 deg,
      lon: -122.118972 deg,
      deltaT: 14.669786 s,
      deltaX: -10.000000 m,
      approachRate: -0.681673 m/s,
      posRepo size: 4

2025-01-09T00:47:49.255Z,1736383669.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-01-09T00:47:49.262Z,1736383669.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.199997 m,
      nav range: 77.793686 m,
      bearing: 294.641488 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047982 deg/s,
      cmd heading: 299.214086 deg,
      new cmd heading: 299.279119 deg.

2025-01-09T00:47:49.263Z,1736383669.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223406 target range: 78.199997 and range: 78.20 m.
2025-01-09T00:47:49.579Z,1736383669.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:49.602Z,1736383669.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:49.609Z,1736383669.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-01-09T00:47:49.613Z,1736383669.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.199997 m,
      nav range: 77.575897 m,
      bearing: 294.653689 deg,
      approach rate: -0.602102 m/s,
      LOS rate: 0.033827 deg/s,
      cmd heading: 299.279109 deg,
      new cmd heading: 299.315816 deg.

2025-01-09T00:47:49.614Z,1736383669.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.224047 target range: 78.199997 and range: 78.20 m.
2025-01-09T00:47:49.685Z,1736383669.685 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:49.685Z,1736383669.685 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:49.686Z,1736383669.686 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:49.937Z,1736383669.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.961936
2025-01-09T00:47:50.060Z,1736383670.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:50.074Z,1736383670.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-01-09T00:47:50.081Z,1736383670.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.199997 m,
      nav range: 77.298424 m,
      bearing: 294.660864 deg,
      approach rate: -0.596230 m/s,
      LOS rate: 0.015474 deg/s,
      cmd heading: 299.315828 deg,
      new cmd heading: 299.337432 deg.

2025-01-09T00:47:50.082Z,1736383670.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.224424 target range: 78.199997 and range: 78.20 m.
2025-01-09T00:47:50.190Z,1736383670.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214780
2025-01-09T00:47:50.391Z,1736383670.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:50.401Z,1736383670.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-01-09T00:47:50.404Z,1736383670.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.199997 m,
      nav range: 77.107788 m,
      bearing: 294.665366 deg,
      approach rate: -0.583346 m/s,
      LOS rate: 0.013808 deg/s,
      cmd heading: 299.337439 deg,
      new cmd heading: 299.350976 deg.

2025-01-09T00:47:50.405Z,1736383670.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.224660 target range: 78.199997 and range: 78.20 m.
2025-01-09T00:47:50.441Z,1736383670.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466233
2025-01-09T00:47:50.692Z,1736383670.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717266
2025-01-09T00:47:50.792Z,1736383670.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:50.813Z,1736383670.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-01-09T00:47:50.823Z,1736383670.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.199997 m,
      nav range: 76.876793 m,
      bearing: 294.670268 deg,
      approach rate: -0.560098 m/s,
      LOS rate: 0.011923 deg/s,
      cmd heading: 299.350963 deg,
      new cmd heading: 299.365715 deg.

2025-01-09T00:47:50.829Z,1736383670.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.224917 target range: 78.199997 and range: 78.20 m.
2025-01-09T00:47:50.944Z,1736383670.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969341
2025-01-09T00:47:51.201Z,1736383671.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224854
2025-01-09T00:47:51.345Z,1736383671.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:51.354Z,1736383671.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-01-09T00:47:51.360Z,1736383671.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.199997 m,
      nav range: 76.559540 m,
      bearing: 294.665521 deg,
      approach rate: -0.586206 m/s,
      LOS rate: -0.008809 deg/s,
      cmd heading: 299.365716 deg,
      new cmd heading: 299.351414 deg.

2025-01-09T00:47:51.361Z,1736383671.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.224668 target range: 78.199997 and range: 78.20 m.
2025-01-09T00:47:51.449Z,1736383671.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474520
2025-01-09T00:47:51.700Z,1736383671.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725487
2025-01-09T00:47:51.708Z,1736383671.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:51.716Z,1736383671.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:51.718Z,1736383671.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-01-09T00:47:51.721Z,1736383671.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.199997 m,
      nav range: 76.350662 m,
      bearing: 294.661298 deg,
      approach rate: -0.574921 m/s,
      LOS rate: -0.011655 deg/s,
      cmd heading: 299.351427 deg,
      new cmd heading: 299.338724 deg.

2025-01-09T00:47:51.722Z,1736383671.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.224446 target range: 78.199997 and range: 78.20 m.
2025-01-09T00:47:51.954Z,1736383671.954 [DAT](INFO): DAT read: Rx Time:00:47:50.6375

2025-01-09T00:47:51.955Z,1736383671.955 [DAT](INFO): Rx dataTimestamp_ set to:1736383671.954326
2025-01-09T00:47:51.957Z,1736383671.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981430
2025-01-09T00:47:52.170Z,1736383672.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:52.204Z,1736383672.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229301
2025-01-09T00:47:52.207Z,1736383672.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-01-09T00:47:52.214Z,1736383672.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.199997 m,
      nav range: 76.087471 m,
      bearing: 294.651411 deg,
      approach rate: -0.538362 m/s,
      LOS rate: -0.020294 deg/s,
      cmd heading: 299.338723 deg,
      new cmd heading: 299.308959 deg.

2025-01-09T00:47:52.215Z,1736383672.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223927 target range: 78.199997 and range: 78.20 m.
2025-01-09T00:47:52.462Z,1736383672.462 [DAT](INFO): DAT read: 00:47:50.6375 LVL= 28064, 32753, 21954, 32755, AGC= 63, IDX= 414, 0.01,-0.134,-1.425, 0.063,-0.297, PHS= 0.251,-1.081, 0.357, RAW= 153.8,   6.9, CAL= 154.5,  -2.3, ROT= 355.5,   2.3

2025-01-09T00:47:52.463Z,1736383672.463 [DAT](INFO): got valid direction response:
 00:47:50.6375 LVL= 28064, 32753, 21954, 32755, AGC= 63, IDX= 414, 0.01,-0.134,-1.425, 0.063,-0.297, PHS= 0.251,-1.081, 0.357, RAW= 153.8,   6.9, CAL= 154.5,  -2.3, ROT= 355.5,   2.3

2025-01-09T00:47:52.464Z,1736383672.464 [DAT](INFO): DAT read: Bearing 355.5,   2.3 (Local)

2025-01-09T00:47:52.465Z,1736383672.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.5,   2.3 (Local)

2025-01-09T00:47:52.467Z,1736383672.467 [DAT](INFO): DAT read: Range 10 to 50 : 76.2 m  (Round-trip  101.7 ms) speed  0.4 m/s

2025-01-09T00:47:52.468Z,1736383672.468 [DAT](INFO): DAT read: user:3758>

2025-01-09T00:47:52.469Z,1736383672.469 [DAT](INFO): DAT read: Tx time:00:47:51.7317

2025-01-09T00:47:52.469Z,1736383672.469 [DAT](INFO): Ping request sent.
2025-01-09T00:47:52.469Z,1736383672.469 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:47:52.469Z,1736383672.469 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:47:52.470Z,1736383672.470 [DAT](INFO): direction in FSK: [0.996114,-0.078396,-0.040132]
2025-01-09T00:47:52.470Z,1736383672.470 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:52.471Z,1736383672.471 [DAT](INFO): publishing direction and range info
2025-01-09T00:47:52.474Z,1736383672.474 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:52.474Z,1736383672.474 [DAT](INFO): publishing direction and range info
2025-01-09T00:47:52.579Z,1736383672.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:52.623Z,1736383672.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.199997 m,
      deltaT: 3.526105 s,
      deltaX: -2.000000 m,
      approachRate: -0.567198 m/s,
      rangeRepo size: 4

2025-01-09T00:47:52.629Z,1736383672.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.199997 m,
      bearing: 296.330288 deg,
      lat: 36.904024 deg,
      lon: -122.118972 deg,
      deltaT: 3.526105 s,
      deltaX: -2.000000 m,
      approachRate: -0.567198 m/s,
      posRepo size: 4

2025-01-09T00:47:52.630Z,1736383672.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-01-09T00:47:52.637Z,1736383672.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 76.653641 m,
      bearing: 295.911033 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020294 deg/s,
      cmd heading: 299.308971 deg,
      new cmd heading: 299.283677 deg.

2025-01-09T00:47:52.638Z,1736383672.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223485 target range: 76.199997 and range: 76.20 m.
2025-01-09T00:47:52.709Z,1736383672.709 [DAT](INFO): DAT read: TxSync time:00:47:51.7309

2025-01-09T00:47:52.973Z,1736383672.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:53.020Z,1736383673.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-01-09T00:47:53.039Z,1736383673.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 76.426315 m,
      bearing: 295.905933 deg,
      approach rate: -0.579489 m/s,
      LOS rate: -0.013040 deg/s,
      cmd heading: 299.283672 deg,
      new cmd heading: 299.268326 deg.

2025-01-09T00:47:53.042Z,1736383673.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223217 target range: 76.199997 and range: 76.20 m.
2025-01-09T00:47:53.425Z,1736383673.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:53.442Z,1736383673.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-01-09T00:47:53.453Z,1736383673.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 76.155403 m,
      bearing: 295.901047 deg,
      approach rate: -0.633177 m/s,
      LOS rate: -0.011460 deg/s,
      cmd heading: 299.268318 deg,
      new cmd heading: 299.253607 deg.

2025-01-09T00:47:53.454Z,1736383673.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.222961 target range: 76.199997 and range: 76.20 m.
2025-01-09T00:47:53.764Z,1736383673.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:53.776Z,1736383673.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:53.778Z,1736383673.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-01-09T00:47:53.801Z,1736383673.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 75.952454 m,
      bearing: 295.897355 deg,
      approach rate: -0.603795 m/s,
      LOS rate: -0.011013 deg/s,
      cmd heading: 299.253619 deg,
      new cmd heading: 299.242514 deg.

2025-01-09T00:47:53.802Z,1736383673.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.222767 target range: 76.199997 and range: 76.20 m.
2025-01-09T00:47:53.969Z,1736383673.969 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:53.969Z,1736383673.969 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:53.969Z,1736383673.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:54.194Z,1736383674.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:54.210Z,1736383674.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-01-09T00:47:54.216Z,1736383674.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 75.680969 m,
      bearing: 295.900614 deg,
      approach rate: -0.629909 m/s,
      LOS rate: 0.007589 deg/s,
      cmd heading: 299.242527 deg,
      new cmd heading: 299.252338 deg.

2025-01-09T00:47:54.222Z,1736383674.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752539
2025-01-09T00:47:54.219Z,1736383674.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.222939 target range: 76.199997 and range: 76.20 m.
2025-01-09T00:47:54.472Z,1736383674.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003233
2025-01-09T00:47:54.576Z,1736383674.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:54.586Z,1736383674.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-01-09T00:47:54.588Z,1736383674.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 75.439827 m,
      bearing: 295.903182 deg,
      approach rate: -0.640905 m/s,
      LOS rate: 0.006849 deg/s,
      cmd heading: 299.252335 deg,
      new cmd heading: 299.260065 deg.

2025-01-09T00:47:54.589Z,1736383674.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223073 target range: 76.199997 and range: 76.20 m.
2025-01-09T00:47:54.724Z,1736383674.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255326
2025-01-09T00:47:54.976Z,1736383674.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507270
2025-01-09T00:47:54.979Z,1736383674.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:54.989Z,1736383674.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-01-09T00:47:55.026Z,1736383675.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 75.185730 m,
      bearing: 295.905864 deg,
      approach rate: -0.630412 m/s,
      LOS rate: 0.006676 deg/s,
      cmd heading: 299.260067 deg,
      new cmd heading: 299.268139 deg.

2025-01-09T00:47:55.034Z,1736383675.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223214 target range: 76.199997 and range: 76.20 m.
2025-01-09T00:47:55.228Z,1736383675.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759266
2025-01-09T00:47:55.428Z,1736383675.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:55.437Z,1736383675.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-01-09T00:47:55.439Z,1736383675.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 74.889107 m,
      bearing: 295.913336 deg,
      approach rate: -0.662207 m/s,
      LOS rate: 0.016747 deg/s,
      cmd heading: 299.268126 deg,
      new cmd heading: 299.290631 deg.

2025-01-09T00:47:55.440Z,1736383675.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223607 target range: 76.199997 and range: 76.20 m.
2025-01-09T00:47:55.482Z,1736383675.482 [DAT](INFO): DAT read: Rx Time:00:47:54.2348

2025-01-09T00:47:55.483Z,1736383675.483 [DAT](INFO): Rx dataTimestamp_ set to:1736383675.482338
2025-01-09T00:47:55.484Z,1736383675.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014918
2025-01-09T00:47:55.733Z,1736383675.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263800
2025-01-09T00:47:55.779Z,1736383675.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:55.787Z,1736383675.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:55.789Z,1736383675.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-01-09T00:47:55.792Z,1736383675.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 74.656715 m,
      bearing: 295.919521 deg,
      approach rate: -0.659393 m/s,
      LOS rate: 0.017602 deg/s,
      cmd heading: 299.290639 deg,
      new cmd heading: 299.309249 deg.

2025-01-09T00:47:55.793Z,1736383675.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223932 target range: 76.199997 and range: 76.20 m.
2025-01-09T00:47:55.990Z,1736383675.990 [DAT](INFO): DAT read: 00:47:54.2348 LVL= 25840, 31633, 19234, 32755, AGC= 68, IDX= 418, 0.28, 1.217,-0.168, 1.451, 1.023, PHS= 0.282,-1.144, 0.425, RAW= 154.7,   5.9, CAL= 155.6,  -3.3, ROT= 354.4,   3.3

2025-01-09T00:47:55.992Z,1736383675.992 [DAT](INFO): got valid direction response:
 00:47:54.2348 LVL= 25840, 31633, 19234, 32755, AGC= 68, IDX= 418, 0.28, 1.217,-0.168, 1.451, 1.023, PHS= 0.282,-1.144, 0.425, RAW= 154.7,   5.9, CAL= 155.6,  -3.3, ROT= 354.4,   3.3

2025-01-09T00:47:55.993Z,1736383675.993 [DAT](INFO): DAT read: Bearing 354.4,   3.3 (Local)

2025-01-09T00:47:55.993Z,1736383675.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.4,   3.3 (Local)

2025-01-09T00:47:55.995Z,1736383675.995 [DAT](INFO): DAT read: Range 10 to 50 : 74.2 m  (Round-trip  99.0 ms) speed  0.6 m/s

2025-01-09T00:47:55.995Z,1736383675.995 [DAT](INFO): DAT read: user:3759>

2025-01-09T00:47:55.996Z,1736383675.996 [DAT](INFO): DAT read: Tx time:00:47:55.3317

2025-01-09T00:47:55.996Z,1736383675.996 [DAT](INFO): Ping request sent.
2025-01-09T00:47:55.997Z,1736383675.997 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:47:55.997Z,1736383675.997 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:47:55.998Z,1736383675.998 [DAT](INFO): direction in FSK: [0.993577,-0.097421,-0.057564]
2025-01-09T00:47:55.998Z,1736383675.998 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:55.999Z,1736383675.999 [DAT](INFO): publishing direction and range info
2025-01-09T00:47:56.002Z,1736383676.002 [DAT](INFO): publishing transmit ping time
2025-01-09T00:47:56.002Z,1736383676.002 [DAT](INFO): publishing direction and range info
2025-01-09T00:47:56.239Z,1736383676.239 [DAT](INFO): DAT read: TxSync time:00:47:55.3309

2025-01-09T00:47:56.248Z,1736383676.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:56.278Z,1736383676.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.199997 m,
      deltaT: 3.528213 s,
      deltaX: -2.000000 m,
      approachRate: -0.566859 m/s,
      rangeRepo size: 4

2025-01-09T00:47:56.292Z,1736383676.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.199997 m,
      bearing: 294.882892 deg,
      lat: 36.904009 deg,
      lon: -122.118971 deg,
      deltaT: 3.528213 s,
      deltaX: -2.000000 m,
      approachRate: -0.566859 m/s,
      posRepo size: 4

2025-01-09T00:47:56.293Z,1736383676.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:47:56.302Z,1736383676.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 73.577950 m,
      bearing: 294.770055 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017602 deg/s,
      cmd heading: 299.309244 deg,
      new cmd heading: 299.335050 deg.

2025-01-09T00:47:56.303Z,1736383676.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.224382 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:47:56.750Z,1736383676.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:56.759Z,1736383676.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:47:56.762Z,1736383676.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 73.227425 m,
      bearing: 294.788957 deg,
      approach rate: -0.728668 m/s,
      LOS rate: 0.039481 deg/s,
      cmd heading: 299.335062 deg,
      new cmd heading: 299.392039 deg.

2025-01-09T00:47:56.763Z,1736383676.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.225377 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:47:57.246Z,1736383677.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:57.287Z,1736383677.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:47:57.290Z,1736383677.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 72.856522 m,
      bearing: 294.819957 deg,
      approach rate: -0.707464 m/s,
      LOS rate: 0.059430 deg/s,
      cmd heading: 299.392026 deg,
      new cmd heading: 299.485499 deg.

2025-01-09T00:47:57.295Z,1736383677.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.227008 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:47:57.718Z,1736383677.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:57.730Z,1736383677.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:47:57.734Z,1736383677.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 72.504776 m,
      bearing: 294.850584 deg,
      approach rate: -0.786317 m/s,
      LOS rate: 0.068799 deg/s,
      cmd heading: 299.485490 deg,
      new cmd heading: 299.577819 deg.

2025-01-09T00:47:57.735Z,1736383677.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.228619 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:47:58.193Z,1736383678.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:58.204Z,1736383678.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:47:58.206Z,1736383678.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:47:58.209Z,1736383678.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 72.137566 m,
      bearing: 294.891903 deg,
      approach rate: -0.772457 m/s,
      LOS rate: 0.087358 deg/s,
      cmd heading: 299.577807 deg,
      new cmd heading: 299.702392 deg.

2025-01-09T00:47:58.210Z,1736383678.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.230793 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:47:58.253Z,1736383678.253 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:47:58.253Z,1736383678.253 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:47:58.253Z,1736383678.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:47:58.504Z,1736383678.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507816
2025-01-09T00:47:58.531Z,1736383678.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:58.561Z,1736383678.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:47:58.568Z,1736383678.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 71.877686 m,
      bearing: 294.922006 deg,
      approach rate: -0.731974 m/s,
      LOS rate: 0.085095 deg/s,
      cmd heading: 299.702390 deg,
      new cmd heading: 299.793026 deg.

2025-01-09T00:47:58.569Z,1736383678.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.232375 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:47:58.756Z,1736383678.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759619
2025-01-09T00:47:58.943Z,1736383678.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:58.952Z,1736383678.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:47:58.955Z,1736383678.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 71.560593 m,
      bearing: 294.959276 deg,
      approach rate: -0.809538 m/s,
      LOS rate: 0.095573 deg/s,
      cmd heading: 299.793013 deg,
      new cmd heading: 299.905319 deg.

2025-01-09T00:47:58.956Z,1736383678.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234335 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:47:59.009Z,1736383679.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012827
2025-01-09T00:47:59.260Z,1736383679.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263716
2025-01-09T00:47:59.376Z,1736383679.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:59.393Z,1736383679.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:47:59.402Z,1736383679.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 71.231918 m,
      bearing: 295.003789 deg,
      approach rate: -0.746758 m/s,
      LOS rate: 0.101602 deg/s,
      cmd heading: 299.905328 deg,
      new cmd heading: 300.039483 deg.

2025-01-09T00:47:59.408Z,1736383679.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.236677 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:47:59.513Z,1736383679.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516800
2025-01-09T00:47:59.742Z,1736383679.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:47:59.751Z,1736383679.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:47:59.754Z,1736383679.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 70.947487 m,
      bearing: 295.042626 deg,
      approach rate: -0.793606 m/s,
      LOS rate: 0.108795 deg/s,
      cmd heading: 300.039473 deg,
      new cmd heading: 300.156451 deg.

2025-01-09T00:47:59.755Z,1736383679.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.238719 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:47:59.764Z,1736383679.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767743
2025-01-09T00:48:00.017Z,1736383680.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020358
2025-01-09T00:48:00.203Z,1736383680.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:00.210Z,1736383680.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:00.213Z,1736383680.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:00.216Z,1736383680.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 70.597557 m,
      bearing: 295.089569 deg,
      approach rate: -0.757962 m/s,
      LOS rate: 0.102184 deg/s,
      cmd heading: 300.156461 deg,
      new cmd heading: 300.297987 deg.

2025-01-09T00:48:00.217Z,1736383680.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241189 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:00.269Z,1736383680.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272858
2025-01-09T00:48:00.520Z,1736383680.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523602
2025-01-09T00:48:00.556Z,1736383680.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:00.564Z,1736383680.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:00.569Z,1736383680.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 70.329788 m,
      bearing: 295.125430 deg,
      approach rate: -0.761222 m/s,
      LOS rate: 0.102335 deg/s,
      cmd heading: 300.297982 deg,
      new cmd heading: 300.405975 deg.

2025-01-09T00:48:00.570Z,1736383680.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.243073 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:00.772Z,1736383680.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775653
2025-01-09T00:48:00.952Z,1736383680.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:00.961Z,1736383680.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:00.964Z,1736383680.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 70.029076 m,
      bearing: 295.165898 deg,
      approach rate: -0.758492 m/s,
      LOS rate: 0.102512 deg/s,
      cmd heading: 300.405981 deg,
      new cmd heading: 300.527906 deg.

2025-01-09T00:48:00.965Z,1736383680.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245202 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:01.024Z,1736383681.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027847
2025-01-09T00:48:01.277Z,1736383681.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280106
2025-01-09T00:48:01.385Z,1736383681.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:01.410Z,1736383681.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:01.417Z,1736383681.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 69.706764 m,
      bearing: 295.208998 deg,
      approach rate: -0.717375 m/s,
      LOS rate: 0.096371 deg/s,
      cmd heading: 300.527914 deg,
      new cmd heading: 300.657810 deg.

2025-01-09T00:48:01.418Z,1736383681.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.247468 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:01.529Z,1736383681.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532208
2025-01-09T00:48:01.756Z,1736383681.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:01.765Z,1736383681.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:01.768Z,1736383681.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 69.430656 m,
      bearing: 295.245893 deg,
      approach rate: -0.779199 m/s,
      LOS rate: 0.104534 deg/s,
      cmd heading: 300.657797 deg,
      new cmd heading: 300.768921 deg.

2025-01-09T00:48:01.769Z,1736383681.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.249408 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:01.780Z,1736383681.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783526
2025-01-09T00:48:02.037Z,1736383682.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.040701
2025-01-09T00:48:02.228Z,1736383682.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:02.236Z,1736383682.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:02.238Z,1736383682.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:02.241Z,1736383682.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 69.099815 m,
      bearing: 295.278629 deg,
      approach rate: -0.698755 m/s,
      LOS rate: 0.069472 deg/s,
      cmd heading: 300.768910 deg,
      new cmd heading: 300.867589 deg.

2025-01-09T00:48:02.242Z,1736383682.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.251130 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:02.288Z,1736383682.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291832
2025-01-09T00:48:02.540Z,1736383682.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543571
2025-01-09T00:48:02.591Z,1736383682.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:02.600Z,1736383682.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:02.625Z,1736383682.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 68.844994 m,
      bearing: 295.304059 deg,
      approach rate: -0.703193 m/s,
      LOS rate: 0.070435 deg/s,
      cmd heading: 300.867593 deg,
      new cmd heading: 300.944165 deg.

2025-01-09T00:48:02.626Z,1736383682.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.252467 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:02.793Z,1736383682.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.796094
2025-01-09T00:48:02.978Z,1736383682.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:02.988Z,1736383682.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:02.990Z,1736383682.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 68.573296 m,
      bearing: 295.329801 deg,
      approach rate: -0.702033 m/s,
      LOS rate: 0.066777 deg/s,
      cmd heading: 300.944173 deg,
      new cmd heading: 301.021704 deg.

2025-01-09T00:48:02.992Z,1736383682.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.253820 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:03.045Z,1736383683.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048450
2025-01-09T00:48:03.296Z,1736383683.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299564
2025-01-09T00:48:03.440Z,1736383683.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:03.487Z,1736383683.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:03.490Z,1736383683.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 68.269485 m,
      bearing: 295.354358 deg,
      approach rate: -0.613085 m/s,
      LOS rate: 0.049777 deg/s,
      cmd heading: 301.021709 deg,
      new cmd heading: 301.095709 deg.

2025-01-09T00:48:03.491Z,1736383683.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.255112 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:03.549Z,1736383683.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.551982
2025-01-09T00:48:03.797Z,1736383683.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:03.800Z,1736383683.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.803874
2025-01-09T00:48:03.824Z,1736383683.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:03.827Z,1736383683.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 68.034370 m,
      bearing: 295.372712 deg,
      approach rate: -0.689226 m/s,
      LOS rate: 0.053990 deg/s,
      cmd heading: 301.095721 deg,
      new cmd heading: 301.150973 deg.

2025-01-09T00:48:03.836Z,1736383683.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256076 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:04.052Z,1736383684.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055597
2025-01-09T00:48:04.262Z,1736383684.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:04.270Z,1736383684.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:04.272Z,1736383684.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:04.275Z,1736383684.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 67.754089 m,
      bearing: 295.383611 deg,
      approach rate: -0.625641 m/s,
      LOS rate: 0.024429 deg/s,
      cmd heading: 301.150964 deg,
      new cmd heading: 301.183795 deg.

2025-01-09T00:48:04.276Z,1736383684.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256649 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:04.304Z,1736383684.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307875
2025-01-09T00:48:04.556Z,1736383684.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559646
2025-01-09T00:48:04.607Z,1736383684.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:04.629Z,1736383684.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:04.632Z,1736383684.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 67.546417 m,
      bearing: 295.391042 deg,
      approach rate: -0.582578 m/s,
      LOS rate: 0.020910 deg/s,
      cmd heading: 301.183803 deg,
      new cmd heading: 301.206165 deg.

2025-01-09T00:48:04.633Z,1736383684.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.257039 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:04.808Z,1736383684.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.811635
2025-01-09T00:48:05.007Z,1736383685.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:05.016Z,1736383685.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:05.019Z,1736383685.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 67.305092 m,
      bearing: 295.398679 deg,
      approach rate: -0.622417 m/s,
      LOS rate: 0.019769 deg/s,
      cmd heading: 301.206151 deg,
      new cmd heading: 301.229146 deg.

2025-01-09T00:48:05.020Z,1736383685.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.257441 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:05.061Z,1736383685.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064054
2025-01-09T00:48:05.312Z,1736383685.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.315604
2025-01-09T00:48:05.444Z,1736383685.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:05.453Z,1736383685.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:05.456Z,1736383685.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 67.054573 m,
      bearing: 295.396711 deg,
      approach rate: -0.573951 m/s,
      LOS rate: -0.004525 deg/s,
      cmd heading: 301.229156 deg,
      new cmd heading: 301.223230 deg.

2025-01-09T00:48:05.457Z,1736383685.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.257337 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:05.565Z,1736383685.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.568466
2025-01-09T00:48:05.817Z,1736383685.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.820449
2025-01-09T00:48:05.818Z,1736383685.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:05.826Z,1736383685.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:05.829Z,1736383685.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 66.840668 m,
      bearing: 295.394186 deg,
      approach rate: -0.572713 m/s,
      LOS rate: -0.006782 deg/s,
      cmd heading: 301.223227 deg,
      new cmd heading: 301.215628 deg.

2025-01-09T00:48:05.830Z,1736383685.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.257205 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:06.068Z,1736383686.068 [DAT](INFO): Reached modem response timeout
2025-01-09T00:48:06.068Z,1736383686.068 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:48:06.068Z,1736383686.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:06.302Z,1736383686.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:06.314Z,1736383686.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:06.317Z,1736383686.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:06.320Z,1736383686.320 [DAT](INFO): Reached modem response timeout
2025-01-09T00:48:06.320Z,1736383686.320 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:48:06.321Z,1736383686.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:06.324Z,1736383686.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 66.569748 m,
      bearing: 295.386750 deg,
      approach rate: -0.552315 m/s,
      LOS rate: -0.015221 deg/s,
      cmd heading: 301.215632 deg,
      new cmd heading: 301.193233 deg.

2025-01-09T00:48:06.325Z,1736383686.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256814 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:06.573Z,1736383686.573 [DAT](INFO): Reached modem response timeout
2025-01-09T00:48:06.573Z,1736383686.573 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:48:06.573Z,1736383686.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:06.670Z,1736383686.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:06.683Z,1736383686.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:06.688Z,1736383686.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 66.363846 m,
      bearing: 295.380489 deg,
      approach rate: -0.563162 m/s,
      LOS rate: -0.017179 deg/s,
      cmd heading: 301.193229 deg,
      new cmd heading: 301.174386 deg.

2025-01-09T00:48:06.689Z,1736383686.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256485 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:06.824Z,1736383686.824 [DAT](INFO): Reached modem response timeout
2025-01-09T00:48:06.824Z,1736383686.824 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:48:06.824Z,1736383686.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:07.034Z,1736383687.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:07.060Z,1736383687.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:07.062Z,1736383687.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 66.159981 m,
      bearing: 295.373756 deg,
      approach rate: -0.541098 m/s,
      LOS rate: -0.017926 deg/s,
      cmd heading: 301.174377 deg,
      new cmd heading: 301.154116 deg.

2025-01-09T00:48:07.064Z,1736383687.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256131 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:07.076Z,1736383687.076 [DAT](INFO): DAT read: Response Not Received

2025-01-09T00:48:07.077Z,1736383687.077 [DAT](INFO): response not received
2025-01-09T00:48:07.077Z,1736383687.077 [DAT](INFO): DAT read: user:3760>

2025-01-09T00:48:07.078Z,1736383687.078 [DAT](INFO): DAT read: Tx time:00:48:06.2819

2025-01-09T00:48:07.078Z,1736383687.078 [DAT](INFO): Ping request sent.
2025-01-09T00:48:07.078Z,1736383687.078 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:07.078Z,1736383687.078 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:07.079Z,1736383687.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-01-09T00:48:07.329Z,1736383687.329 [DAT](INFO): DAT read: TxSync time:00:48:06.2811

2025-01-09T00:48:07.329Z,1736383687.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251099
2025-01-09T00:48:07.474Z,1736383687.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:07.483Z,1736383687.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:07.486Z,1736383687.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 65.913620 m,
      bearing: 295.365598 deg,
      approach rate: -0.581901 m/s,
      LOS rate: -0.019340 deg/s,
      cmd heading: 301.154105 deg,
      new cmd heading: 301.129542 deg.

2025-01-09T00:48:07.487Z,1736383687.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.255702 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:07.581Z,1736383687.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502301
2025-01-09T00:48:07.833Z,1736383687.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754513
2025-01-09T00:48:07.842Z,1736383687.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:07.851Z,1736383687.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:07.854Z,1736383687.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 65.708015 m,
      bearing: 295.359628 deg,
      approach rate: -0.558380 m/s,
      LOS rate: -0.016264 deg/s,
      cmd heading: 301.129544 deg,
      new cmd heading: 301.111579 deg.

2025-01-09T00:48:07.855Z,1736383687.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.255388 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:08.084Z,1736383688.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006168
2025-01-09T00:48:08.321Z,1736383688.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:08.328Z,1736383688.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:08.330Z,1736383688.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:08.334Z,1736383688.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 65.422935 m,
      bearing: 295.356379 deg,
      approach rate: -0.594419 m/s,
      LOS rate: -0.006806 deg/s,
      cmd heading: 301.111567 deg,
      new cmd heading: 301.101775 deg.

2025-01-09T00:48:08.337Z,1736383688.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258373
2025-01-09T00:48:08.337Z,1736383688.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.255218 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:08.590Z,1736383688.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511321
2025-01-09T00:48:08.668Z,1736383688.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:08.682Z,1736383688.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:08.702Z,1736383688.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 65.216728 m,
      bearing: 295.353943 deg,
      approach rate: -0.587664 m/s,
      LOS rate: -0.006962 deg/s,
      cmd heading: 301.101786 deg,
      new cmd heading: 301.094457 deg.

2025-01-09T00:48:08.703Z,1736383688.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.255090 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:08.841Z,1736383688.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762253
2025-01-09T00:48:09.052Z,1736383689.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:09.060Z,1736383689.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:09.063Z,1736383689.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 64.988579 m,
      bearing: 295.350987 deg,
      approach rate: -0.601707 m/s,
      LOS rate: -0.007826 deg/s,
      cmd heading: 301.094464 deg,
      new cmd heading: 301.085562 deg.

2025-01-09T00:48:09.064Z,1736383689.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.254934 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:09.093Z,1736383689.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014251
2025-01-09T00:48:09.344Z,1736383689.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265895
2025-01-09T00:48:09.491Z,1736383689.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:09.499Z,1736383689.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:09.506Z,1736383689.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 64.708038 m,
      bearing: 295.351125 deg,
      approach rate: -0.639347 m/s,
      LOS rate: 0.000317 deg/s,
      cmd heading: 301.085558 deg,
      new cmd heading: 301.085975 deg.

2025-01-09T00:48:09.528Z,1736383689.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.254941 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:09.599Z,1736383689.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520464
2025-01-09T00:48:09.849Z,1736383689.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770595
2025-01-09T00:48:09.869Z,1736383689.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:09.877Z,1736383689.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:09.880Z,1736383689.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 64.466362 m,
      bearing: 295.351561 deg,
      approach rate: -0.639357 m/s,
      LOS rate: 0.001159 deg/s,
      cmd heading: 301.085967 deg,
      new cmd heading: 301.087282 deg.

2025-01-09T00:48:09.881Z,1736383689.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.254964 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:10.101Z,1736383690.101 [DAT](INFO): DAT read: Rx Time:00:48:08.7719

2025-01-09T00:48:10.101Z,1736383690.101 [DAT](INFO): Rx dataTimestamp_ set to:1736383690.100924
2025-01-09T00:48:10.102Z,1736383690.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023718
2025-01-09T00:48:10.320Z,1736383690.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:10.348Z,1736383690.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:10.355Z,1736383690.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276387
2025-01-09T00:48:10.356Z,1736383690.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:10.364Z,1736383690.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 64.177414 m,
      bearing: 295.352298 deg,
      approach rate: -0.602889 m/s,
      LOS rate: 0.001543 deg/s,
      cmd heading: 301.087279 deg,
      new cmd heading: 301.089498 deg.

2025-01-09T00:48:10.366Z,1736383690.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.255003 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:10.613Z,1736383690.613 [DAT](INFO): DAT read: 00:48:08.7719 LVL= 24256, 32753, 21234, 32755, AGC= 67, IDX= 268, 0.00, 1.904, 0.661, 2.181, 1.715, PHS= 0.277,-1.008, 0.463, RAW= 156.7,   3.9, CAL= 158.0,  -5.1, ROT= 352.0,   5.1

2025-01-09T00:48:10.616Z,1736383690.616 [DAT](INFO): got valid direction response:
 00:48:08.7719 LVL= 24256, 32753, 21234, 32755, AGC= 67, IDX= 268, 0.00, 1.904, 0.661, 2.181, 1.715, PHS= 0.277,-1.008, 0.463, RAW= 156.7,   3.9, CAL= 158.0,  -5.1, ROT= 352.0,   5.1

2025-01-09T00:48:10.617Z,1736383690.617 [DAT](INFO): DAT read: $Error in header

2025-01-09T00:48:10.618Z,1736383690.618 [DAT](INFO): Received a bad header
2025-01-09T00:48:10.632Z,1736383690.632 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T00:48:10.634Z,1736383690.634 [DAT](INFO): direction in FSK: [0.986348,-0.138622,-0.088894]
2025-01-09T00:48:10.637Z,1736383690.637 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:10.637Z,1736383690.637 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:10.637Z,1736383690.637 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:10.809Z,1736383690.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:10.818Z,1736383690.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:10.821Z,1736383690.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 63.848225 m,
      bearing: 295.363450 deg,
      approach rate: -0.713609 m/s,
      LOS rate: 0.024300 deg/s,
      cmd heading: 301.089492 deg,
      new cmd heading: 301.123120 deg.

2025-01-09T00:48:10.822Z,1736383690.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.255590 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:10.856Z,1736383690.856 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:10.856Z,1736383690.856 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:10.856Z,1736383690.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:11.108Z,1736383691.108 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:11.108Z,1736383691.108 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:11.108Z,1736383691.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:11.188Z,1736383691.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:11.196Z,1736383691.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:11.201Z,1736383691.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 63.593449 m,
      bearing: 295.372926 deg,
      approach rate: -0.673182 m/s,
      LOS rate: 0.025138 deg/s,
      cmd heading: 301.123124 deg,
      new cmd heading: 301.151666 deg.

2025-01-09T00:48:11.202Z,1736383691.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.256088 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:11.363Z,1736383691.363 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:11.363Z,1736383691.363 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:11.363Z,1736383691.363 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:11.616Z,1736383691.616 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:11.616Z,1736383691.616 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:11.616Z,1736383691.616 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:11.642Z,1736383691.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:11.686Z,1736383691.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:11.690Z,1736383691.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 63.253643 m,
      bearing: 295.393553 deg,
      approach rate: -0.693746 m/s,
      LOS rate: 0.042340 deg/s,
      cmd heading: 301.151674 deg,
      new cmd heading: 301.213889 deg.

2025-01-09T00:48:11.696Z,1736383691.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.257174 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:11.868Z,1736383691.868 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:11.868Z,1736383691.868 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:11.868Z,1736383691.868 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:12.004Z,1736383692.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:12.012Z,1736383692.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:12.015Z,1736383692.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 62.983704 m,
      bearing: 295.410907 deg,
      approach rate: -0.828147 m/s,
      LOS rate: 0.053466 deg/s,
      cmd heading: 301.213883 deg,
      new cmd heading: 301.266166 deg.

2025-01-09T00:48:12.017Z,1736383692.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.258087 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:12.121Z,1736383692.121 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:12.121Z,1736383692.121 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:12.121Z,1736383692.121 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:12.372Z,1736383692.372 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:12.372Z,1736383692.372 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:12.372Z,1736383692.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:12.438Z,1736383692.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:12.445Z,1736383692.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:12.448Z,1736383692.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:12.452Z,1736383692.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:48:12.453Z,1736383692.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 62.652672 m,
      bearing: 295.435499 deg,
      approach rate: -0.760720 m/s,
      LOS rate: 0.056813 deg/s,
      cmd heading: 301.266175 deg,
      new cmd heading: 301.340342 deg.

2025-01-09T00:48:12.454Z,1736383692.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.259381 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:12.624Z,1736383692.624 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:12.624Z,1736383692.624 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:12.624Z,1736383692.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:12.810Z,1736383692.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:12.820Z,1736383692.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:12.822Z,1736383692.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 62.369549 m,
      bearing: 295.457494 deg,
      approach rate: -0.760889 m/s,
      LOS rate: 0.059380 deg/s,
      cmd heading: 301.340351 deg,
      new cmd heading: 301.406636 deg.

2025-01-09T00:48:12.839Z,1736383692.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.260538 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:12.876Z,1736383692.876 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:12.876Z,1736383692.876 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:12.876Z,1736383692.876 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:13.129Z,1736383693.129 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:13.129Z,1736383693.129 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:13.129Z,1736383693.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:13.216Z,1736383693.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:13.225Z,1736383693.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:13.228Z,1736383693.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 62.061035 m,
      bearing: 295.482348 deg,
      approach rate: -0.761061 m/s,
      LOS rate: 0.061615 deg/s,
      cmd heading: 301.406631 deg,
      new cmd heading: 301.481563 deg.

2025-01-09T00:48:13.229Z,1736383693.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261846 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:13.382Z,1736383693.382 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:13.382Z,1736383693.382 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:13.382Z,1736383693.382 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:13.456Z,1736383693.456 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:48:13.632Z,1736383693.632 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:13.633Z,1736383693.633 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:13.633Z,1736383693.633 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:13.712Z,1736383693.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:13.729Z,1736383693.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:13.734Z,1736383693.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 61.679070 m,
      bearing: 295.513252 deg,
      approach rate: -0.757218 m/s,
      LOS rate: 0.061645 deg/s,
      cmd heading: 301.481572 deg,
      new cmd heading: 301.574859 deg.

2025-01-09T00:48:13.735Z,1736383693.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.263474 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:13.884Z,1736383693.884 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:13.884Z,1736383693.884 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:13.884Z,1736383693.884 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:14.035Z,1736383694.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:14.044Z,1736383694.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:14.047Z,1736383694.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 61.430622 m,
      bearing: 295.533929 deg,
      approach rate: -0.790257 m/s,
      LOS rate: 0.066035 deg/s,
      cmd heading: 301.574845 deg,
      new cmd heading: 301.637127 deg.

2025-01-09T00:48:14.049Z,1736383694.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.264561 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:14.137Z,1736383694.137 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:14.137Z,1736383694.137 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:14.137Z,1736383694.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:14.388Z,1736383694.388 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:14.388Z,1736383694.388 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:14.388Z,1736383694.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:14.463Z,1736383694.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:14.491Z,1736383694.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:14.502Z,1736383694.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:14.511Z,1736383694.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 61.104286 m,
      bearing: 295.556948 deg,
      approach rate: -0.712280 m/s,
      LOS rate: 0.050510 deg/s,
      cmd heading: 301.637136 deg,
      new cmd heading: 301.706562 deg.

2025-01-09T00:48:14.533Z,1736383694.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.265773 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:14.640Z,1736383694.640 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:14.640Z,1736383694.640 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:14.640Z,1736383694.640 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:14.833Z,1736383694.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:14.841Z,1736383694.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:14.844Z,1736383694.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 60.822376 m,
      bearing: 295.577094 deg,
      approach rate: -0.829840 m/s,
      LOS rate: 0.059576 deg/s,
      cmd heading: 301.706558 deg,
      new cmd heading: 301.767276 deg.

2025-01-09T00:48:14.845Z,1736383694.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.266832 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:14.892Z,1736383694.892 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:14.893Z,1736383694.893 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:14.893Z,1736383694.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:15.144Z,1736383695.144 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:15.144Z,1736383695.144 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:15.144Z,1736383695.144 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:15.240Z,1736383695.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:15.250Z,1736383695.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:15.272Z,1736383695.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 60.511620 m,
      bearing: 295.599255 deg,
      approach rate: -0.761952 m/s,
      LOS rate: 0.054618 deg/s,
      cmd heading: 301.767265 deg,
      new cmd heading: 301.834092 deg.

2025-01-09T00:48:15.273Z,1736383695.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.267999 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:15.396Z,1736383695.396 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:15.396Z,1736383695.396 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:15.396Z,1736383695.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:15.649Z,1736383695.649 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:15.649Z,1736383695.649 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:15.650Z,1736383695.650 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:15.790Z,1736383695.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:15.819Z,1736383695.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:15.825Z,1736383695.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 60.101509 m,
      bearing: 295.625225 deg,
      approach rate: -0.720165 m/s,
      LOS rate: 0.045914 deg/s,
      cmd heading: 301.834092 deg,
      new cmd heading: 301.912530 deg.

2025-01-09T00:48:15.826Z,1736383695.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.269368 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:15.902Z,1736383695.902 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:15.902Z,1736383695.902 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:15.902Z,1736383695.902 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:16.152Z,1736383696.152 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:16.152Z,1736383696.152 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:16.152Z,1736383696.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:16.175Z,1736383696.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:16.184Z,1736383696.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:16.187Z,1736383696.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 59.813972 m,
      bearing: 295.643216 deg,
      approach rate: -0.786197 m/s,
      LOS rate: 0.049430 deg/s,
      cmd heading: 301.912530 deg,
      new cmd heading: 301.966764 deg.

2025-01-09T00:48:16.188Z,1736383696.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.270314 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:16.407Z,1736383696.407 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:16.407Z,1736383696.407 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:16.407Z,1736383696.407 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:16.658Z,1736383696.658 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:16.658Z,1736383696.658 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:16.658Z,1736383696.658 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:16.672Z,1736383696.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:16.698Z,1736383696.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:16.705Z,1736383696.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:16.716Z,1736383696.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 59.457142 m,
      bearing: 295.662158 deg,
      approach rate: -0.685795 m/s,
      LOS rate: 0.036623 deg/s,
      cmd heading: 301.966761 deg,
      new cmd heading: 302.023928 deg.

2025-01-09T00:48:16.727Z,1736383696.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271312 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:16.908Z,1736383696.908 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:16.908Z,1736383696.908 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:16.908Z,1736383696.908 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T00:48:17.054Z,1736383697.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:17.068Z,1736383697.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:17.071Z,1736383697.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 59.182739 m,
      bearing: 295.676880 deg,
      approach rate: -0.755083 m/s,
      LOS rate: 0.040699 deg/s,
      cmd heading: 302.023916 deg,
      new cmd heading: 302.068287 deg.

2025-01-09T00:48:17.076Z,1736383697.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272086 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:17.161Z,1736383697.161 [DAT](INFO): Reached modem response timeout
2025-01-09T00:48:17.161Z,1736383697.161 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:48:17.162Z,1736383697.162 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:17.412Z,1736383697.412 [DAT](INFO): Reached modem response timeout
2025-01-09T00:48:17.412Z,1736383697.412 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:48:17.412Z,1736383697.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:17.490Z,1736383697.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:17.500Z,1736383697.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:17.502Z,1736383697.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 58.884373 m,
      bearing: 295.688640 deg,
      approach rate: -0.691190 m/s,
      LOS rate: 0.027382 deg/s,
      cmd heading: 302.068285 deg,
      new cmd heading: 302.103745 deg.

2025-01-09T00:48:17.504Z,1736383697.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272705 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:17.665Z,1736383697.665 [DAT](INFO): Reached modem response timeout
2025-01-09T00:48:17.665Z,1736383697.665 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:48:17.665Z,1736383697.665 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:17.847Z,1736383697.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:17.878Z,1736383697.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:17.884Z,1736383697.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 58.640659 m,
      bearing: 295.697884 deg,
      approach rate: -0.643697 m/s,
      LOS rate: 0.024515 deg/s,
      cmd heading: 302.103748 deg,
      new cmd heading: 302.131593 deg.

2025-01-09T00:48:17.885Z,1736383697.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273191 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:17.918Z,1736383697.918 [DAT](INFO): DAT read: Response Not Received

2025-01-09T00:48:17.919Z,1736383697.919 [DAT](INFO): response not received
2025-01-09T00:48:17.920Z,1736383697.920 [DAT](INFO): DAT read: user:3762>

2025-01-09T00:48:17.921Z,1736383697.921 [DAT](INFO): DAT read: Tx time:00:48:17.2320

2025-01-09T00:48:17.922Z,1736383697.922 [DAT](INFO): Ping request sent.
2025-01-09T00:48:17.922Z,1736383697.922 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:17.923Z,1736383697.923 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:17.923Z,1736383697.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001478
2025-01-09T00:48:18.168Z,1736383698.168 [DAT](INFO): DAT read: TxSync time:00:48:17.2312

2025-01-09T00:48:18.169Z,1736383698.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247253
2025-01-09T00:48:18.257Z,1736383698.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:18.266Z,1736383698.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:18.269Z,1736383698.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 58.359951 m,
      bearing: 295.708053 deg,
      approach rate: -0.725575 m/s,
      LOS rate: 0.026413 deg/s,
      cmd heading: 302.131587 deg,
      new cmd heading: 302.162243 deg.

2025-01-09T00:48:18.270Z,1736383698.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273726 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:18.424Z,1736383698.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501002
2025-01-09T00:48:18.673Z,1736383698.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751226
2025-01-09T00:48:18.698Z,1736383698.698 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for bottom velocity. Device response is::BS  +649,   -18,A
2025-01-09T00:48:18.705Z,1736383698.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:48:18.705Z,1736383698.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:18.715Z,1736383698.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:18.718Z,1736383698.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:18.737Z,1736383698.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 58.053295 m,
      bearing: 295.718518 deg,
      approach rate: -0.676622 m/s,
      LOS rate: 0.023211 deg/s,
      cmd heading: 302.162241 deg,
      new cmd heading: 302.193800 deg.

2025-01-09T00:48:18.738Z,1736383698.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274277 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:18.924Z,1736383698.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002228
2025-01-09T00:48:19.070Z,1736383699.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:48:19.070Z,1736383699.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:19.079Z,1736383699.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:19.082Z,1736383699.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 57.803101 m,
      bearing: 295.726612 deg,
      approach rate: -0.694726 m/s,
      LOS rate: 0.022575 deg/s,
      cmd heading: 302.193797 deg,
      new cmd heading: 302.218187 deg.

2025-01-09T00:48:19.084Z,1736383699.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274703 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:19.176Z,1736383699.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254439
2025-01-09T00:48:19.433Z,1736383699.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510218
2025-01-09T00:48:19.512Z,1736383699.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:19.522Z,1736383699.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:19.524Z,1736383699.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 57.525234 m,
      bearing: 295.734244 deg,
      approach rate: -0.627344 m/s,
      LOS rate: 0.017314 deg/s,
      cmd heading: 302.218194 deg,
      new cmd heading: 302.241200 deg.

2025-01-09T00:48:19.525Z,1736383699.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275104 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:19.681Z,1736383699.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758725
2025-01-09T00:48:19.863Z,1736383699.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:19.890Z,1736383699.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:19.896Z,1736383699.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 57.304718 m,
      bearing: 295.739065 deg,
      approach rate: -0.599211 m/s,
      LOS rate: 0.013150 deg/s,
      cmd heading: 302.241198 deg,
      new cmd heading: 302.255716 deg.

2025-01-09T00:48:19.897Z,1736383699.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275357 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:19.933Z,1736383699.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011048
2025-01-09T00:48:20.184Z,1736383700.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262352
2025-01-09T00:48:20.269Z,1736383700.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:20.277Z,1736383700.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:20.280Z,1736383700.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 57.049271 m,
      bearing: 295.744115 deg,
      approach rate: -0.658487 m/s,
      LOS rate: 0.013077 deg/s,
      cmd heading: 302.255706 deg,
      new cmd heading: 302.270924 deg.

2025-01-09T00:48:20.281Z,1736383700.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275623 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:20.441Z,1736383700.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516672
2025-01-09T00:48:20.689Z,1736383700.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767078
2025-01-09T00:48:20.722Z,1736383700.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:20.729Z,1736383700.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:20.731Z,1736383700.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:20.734Z,1736383700.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 56.755463 m,
      bearing: 295.746625 deg,
      approach rate: -0.647481 m/s,
      LOS rate: 0.005559 deg/s,
      cmd heading: 302.270923 deg,
      new cmd heading: 302.278492 deg.

2025-01-09T00:48:20.735Z,1736383700.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275755 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:20.941Z,1736383700.941 [DAT](INFO): DAT read: Rx Time:00:48:19.7112

2025-01-09T00:48:20.941Z,1736383700.941 [DAT](INFO): Rx dataTimestamp_ set to:1736383700.940861
2025-01-09T00:48:20.942Z,1736383700.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019672
2025-01-09T00:48:21.094Z,1736383701.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:21.104Z,1736383701.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.20 m.
2025-01-09T00:48:21.107Z,1736383701.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.199997 m,
      nav range: 56.513077 m,
      bearing: 295.748226 deg,
      approach rate: -0.651559 m/s,
      LOS rate: 0.004322 deg/s,
      cmd heading: 302.278491 deg,
      new cmd heading: 302.283315 deg.

2025-01-09T00:48:21.108Z,1736383701.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275839 target range: 74.199997 and range: 74.20 m.
2025-01-09T00:48:21.193Z,1736383701.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271161
2025-01-09T00:48:21.478Z,1736383701.478 [DAT](INFO): DAT read: 00:48:19.7112 LVL= 28752, 27825, 24434, 32755, AGC= 62, IDX= 333,-0.10,-2.690, 2.264,-2.325,-2.770, PHS= 0.168,-1.202, 0.443, RAW= 159.0,   7.8, CAL= 158.8,  -1.8, ROT= 351.2,   1.8

2025-01-09T00:48:21.484Z,1736383701.484 [DAT](INFO): got valid direction response:
 00:48:19.7112 LVL= 28752, 27825, 24434, 32755, AGC= 62, IDX= 333,-0.10,-2.690, 2.264,-2.325,-2.770, PHS= 0.168,-1.202, 0.443, RAW= 159.0,   7.8, CAL= 158.8,  -1.8, ROT= 351.2,   1.8

2025-01-09T00:48:21.485Z,1736383701.485 [DAT](INFO): DAT read: Bearing 351.2,   1.8 (Local)

2025-01-09T00:48:21.485Z,1736383701.485 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.2,   1.8 (Local)

2025-01-09T00:48:21.487Z,1736383701.487 [DAT](INFO): DAT read: Range 10 to 50 : 56.2 m  (Round-trip  75.0 ms) speed  0.6 m/s

2025-01-09T00:48:21.492Z,1736383701.492 [DAT](INFO): DAT read: user:3763>

2025-01-09T00:48:21.493Z,1736383701.493 [DAT](INFO): DAT read: Tx time:00:48:20.8320

2025-01-09T00:48:21.493Z,1736383701.493 [DAT](INFO): Ping request sent.
2025-01-09T00:48:21.493Z,1736383701.493 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:21.493Z,1736383701.493 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:48:21.494Z,1736383701.494 [DAT](INFO): direction in FSK: [0.987741,-0.152910,-0.031411]
2025-01-09T00:48:21.495Z,1736383701.495 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:21.495Z,1736383701.495 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:21.507Z,1736383701.507 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:21.507Z,1736383701.507 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:21.578Z,1736383701.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:21.619Z,1736383701.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.200001 m,
      deltaT: 25.461334 s,
      deltaX: -17.999996 m,
      approachRate: -0.706954 m/s,
      rangeRepo size: 4

2025-01-09T00:48:21.626Z,1736383701.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.200001 m,
      bearing: 294.084478 deg,
      lat: 36.904007 deg,
      lon: -122.118971 deg,
      deltaT: 25.461334 s,
      deltaX: -17.999996 m,
      approachRate: -0.706954 m/s,
      posRepo size: 4

2025-01-09T00:48:21.626Z,1736383701.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-01-09T00:48:21.627Z,1736383701.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-01-09T00:48:21.655Z,1736383701.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.200001 m,
      nav range: 56.138252 m,
      bearing: 295.584232 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004322 deg/s,
      cmd heading: 302.283327 deg,
      new cmd heading: 302.290001 deg.

2025-01-09T00:48:21.665Z,1736383701.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275956 target range: 56.200001 and range: 56.20 m.
2025-01-09T00:48:21.696Z,1736383701.696 [DAT](INFO): DAT read: TxSync time:00:48:20.8312

2025-01-09T00:48:21.708Z,1736383701.708 [DockingStepper](INFO): Changing to mode: 2
2025-01-09T00:48:21.709Z,1736383701.709 [DockingStepper](INFO): Armed mode.
2025-01-09T00:48:21.771Z,1736383701.771 [DockingStepper](INFO): Commanding negative:54396
2025-01-09T00:48:21.992Z,1736383701.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:22.002Z,1736383702.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-01-09T00:48:22.002Z,1736383702.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-01-09T00:48:22.005Z,1736383702.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.200001 m,
      nav range: 55.883598 m,
      bearing: 295.583744 deg,
      approach rate: -0.663343 m/s,
      LOS rate: -0.001277 deg/s,
      cmd heading: 302.289993 deg,
      new cmd heading: 302.288523 deg.

2025-01-09T00:48:22.006Z,1736383702.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275930 target range: 56.200001 and range: 56.20 m.
2025-01-09T00:48:22.405Z,1736383702.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:22.477Z,1736383702.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-01-09T00:48:22.478Z,1736383702.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-01-09T00:48:22.501Z,1736383702.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.200001 m,
      nav range: 55.630646 m,
      bearing: 295.583560 deg,
      approach rate: -0.539374 m/s,
      LOS rate: -0.000394 deg/s,
      cmd heading: 302.288518 deg,
      new cmd heading: 302.287964 deg.

2025-01-09T00:48:22.502Z,1736383702.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275920 target range: 56.200001 and range: 56.20 m.
2025-01-09T00:48:22.845Z,1736383702.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:22.860Z,1736383702.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:22.862Z,1736383702.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-01-09T00:48:22.863Z,1736383702.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-01-09T00:48:22.870Z,1736383702.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.200001 m,
      nav range: 55.349293 m,
      bearing: 295.583361 deg,
      approach rate: -0.719014 m/s,
      LOS rate: -0.000511 deg/s,
      cmd heading: 302.287971 deg,
      new cmd heading: 302.287372 deg.

2025-01-09T00:48:22.871Z,1736383702.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275910 target range: 56.200001 and range: 56.20 m.
2025-01-09T00:48:22.956Z,1736383702.956 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:22.956Z,1736383702.956 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:22.957Z,1736383702.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:23.208Z,1736383703.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715334
2025-01-09T00:48:23.209Z,1736383703.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:23.240Z,1736383703.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-01-09T00:48:23.240Z,1736383703.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-01-09T00:48:23.243Z,1736383703.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.200001 m,
      nav range: 55.116863 m,
      bearing: 295.582750 deg,
      approach rate: -0.622728 m/s,
      LOS rate: -0.001645 deg/s,
      cmd heading: 302.287370 deg,
      new cmd heading: 302.285528 deg.

2025-01-09T00:48:23.248Z,1736383703.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275878 target range: 56.200001 and range: 56.20 m.
2025-01-09T00:48:23.463Z,1736383703.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969593
2025-01-09T00:48:23.656Z,1736383703.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:23.672Z,1736383703.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-01-09T00:48:23.673Z,1736383703.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-01-09T00:48:23.678Z,1736383703.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.200001 m,
      nav range: 54.832447 m,
      bearing: 295.583827 deg,
      approach rate: -0.651124 m/s,
      LOS rate: 0.002479 deg/s,
      cmd heading: 302.285540 deg,
      new cmd heading: 302.288788 deg.

2025-01-09T00:48:23.699Z,1736383703.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275935 target range: 56.200001 and range: 56.20 m.
2025-01-09T00:48:23.712Z,1736383703.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219223
2025-01-09T00:48:23.965Z,1736383703.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471930
2025-01-09T00:48:24.019Z,1736383704.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:24.027Z,1736383704.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-01-09T00:48:24.028Z,1736383704.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-01-09T00:48:24.031Z,1736383704.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.200001 m,
      nav range: 54.600872 m,
      bearing: 295.583954 deg,
      approach rate: -0.652087 m/s,
      LOS rate: 0.000358 deg/s,
      cmd heading: 302.288791 deg,
      new cmd heading: 302.289173 deg.

2025-01-09T00:48:24.033Z,1736383704.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275941 target range: 56.200001 and range: 56.20 m.
2025-01-09T00:48:24.217Z,1736383704.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724087
2025-01-09T00:48:24.418Z,1736383704.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:24.426Z,1736383704.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-01-09T00:48:24.427Z,1736383704.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-01-09T00:48:24.430Z,1736383704.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.200001 m,
      nav range: 54.346550 m,
      bearing: 295.583718 deg,
      approach rate: -0.637249 m/s,
      LOS rate: -0.000592 deg/s,
      cmd heading: 302.289174 deg,
      new cmd heading: 302.288464 deg.

2025-01-09T00:48:24.431Z,1736383704.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275929 target range: 56.200001 and range: 56.20 m.
2025-01-09T00:48:24.472Z,1736383704.472 [DAT](INFO): DAT read: Rx Time:00:48:23.3083

2025-01-09T00:48:24.473Z,1736383704.473 [DAT](INFO): Rx dataTimestamp_ set to:1736383704.472207
2025-01-09T00:48:24.474Z,1736383704.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981141
2025-01-09T00:48:24.720Z,1736383704.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227449
2025-01-09T00:48:24.844Z,1736383704.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:24.876Z,1736383704.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.20 m.
2025-01-09T00:48:24.876Z,1736383704.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-01-09T00:48:24.883Z,1736383704.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.200001 m,
      nav range: 54.072990 m,
      bearing: 295.584287 deg,
      approach rate: -0.608712 m/s,
      LOS rate: 0.001272 deg/s,
      cmd heading: 302.288463 deg,
      new cmd heading: 302.290179 deg.

2025-01-09T00:48:24.884Z,1736383704.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275959 target range: 56.200001 and range: 56.20 m.
2025-01-09T00:48:24.976Z,1736383704.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482339
2025-01-09T00:48:25.230Z,1736383705.230 [DAT](INFO): DAT read: 00:48:23.3083 LVL= 19312, 27873, 14354, 27283, AGC= 61, IDX= 415, 0.14, 1.354, 0.152, 1.898, 1.293, PHS= 0.149,-1.095, 0.602, RAW= 164.9,   4.6, CAL= 165.3,  -4.6, ROT= 344.7,   4.6

2025-01-09T00:48:25.231Z,1736383705.231 [DAT](INFO): got valid direction response:
 00:48:23.3083 LVL= 19312, 27873, 14354, 27283, AGC= 61, IDX= 415, 0.14, 1.354, 0.152, 1.898, 1.293, PHS= 0.149,-1.095, 0.602, RAW= 164.9,   4.6, CAL= 165.3,  -4.6, ROT= 344.7,   4.6

2025-01-09T00:48:25.233Z,1736383705.233 [DAT](INFO): DAT read: Bearing 344.7,   4.6 (Local)

2025-01-09T00:48:25.233Z,1736383705.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.7,   4.6 (Local)

2025-01-09T00:48:25.234Z,1736383705.234 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m  (Round-trip  72.1 ms) speed  0.4 m/s

2025-01-09T00:48:25.235Z,1736383705.235 [DAT](INFO): DAT read: user:3764>

2025-01-09T00:48:25.238Z,1736383705.238 [DAT](INFO): DAT read: Tx time:00:48:24.4321

2025-01-09T00:48:25.239Z,1736383705.239 [DAT](INFO): Ping request sent.
2025-01-09T00:48:25.239Z,1736383705.239 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:25.241Z,1736383705.241 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:48:25.242Z,1736383705.242 [DAT](INFO): direction in FSK: [0.961450,-0.263023,-0.080199]
2025-01-09T00:48:25.242Z,1736383705.242 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:25.242Z,1736383705.242 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:25.258Z,1736383705.258 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:25.258Z,1736383705.258 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:25.285Z,1736383705.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:25.320Z,1736383705.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.000000 m,
      deltaT: 3.778283 s,
      deltaX: -2.200001 m,
      approachRate: -0.582275 m/s,
      rangeRepo size: 4

2025-01-09T00:48:25.322Z,1736383705.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.000000 m,
      bearing: 288.412476 deg,
      lat: 36.904007 deg,
      lon: -122.118971 deg,
      deltaT: 3.778283 s,
      deltaX: -2.200001 m,
      approachRate: -0.582275 m/s,
      posRepo size: 4

2025-01-09T00:48:25.322Z,1736383705.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-01-09T00:48:25.323Z,1736383705.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m.
2025-01-09T00:48:25.330Z,1736383705.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 53.788639 m,
      bearing: 295.584885 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001272 deg/s,
      cmd heading: 302.290184 deg,
      new cmd heading: 302.291858 deg.

2025-01-09T00:48:25.331Z,1736383705.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275988 target range: 54.000000 and range: 54.00 m.
2025-01-09T00:48:25.481Z,1736383705.481 [DAT](INFO): DAT read: TxSync time:00:48:24.4313

2025-01-09T00:48:25.713Z,1736383705.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:25.729Z,1736383705.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:25.735Z,1736383705.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-01-09T00:48:25.736Z,1736383705.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m.
2025-01-09T00:48:25.739Z,1736383705.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 53.498428 m,
      bearing: 295.584597 deg,
      approach rate: -0.696377 m/s,
      LOS rate: -0.000693 deg/s,
      cmd heading: 302.291851 deg,
      new cmd heading: 302.290984 deg.

2025-01-09T00:48:25.764Z,1736383705.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275973 target range: 54.000000 and range: 54.00 m.
2025-01-09T00:48:25.981Z,1736383705.981 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:25.981Z,1736383705.981 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:25.981Z,1736383705.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:26.091Z,1736383706.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:26.100Z,1736383706.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-01-09T00:48:26.101Z,1736383706.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m.
2025-01-09T00:48:26.104Z,1736383706.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 53.242226 m,
      bearing: 295.584341 deg,
      approach rate: -0.693518 m/s,
      LOS rate: -0.000697 deg/s,
      cmd heading: 302.290977 deg,
      new cmd heading: 302.290204 deg.

2025-01-09T00:48:26.105Z,1736383706.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275959 target range: 54.000000 and range: 54.00 m.
2025-01-09T00:48:26.233Z,1736383706.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993841
2025-01-09T00:48:26.481Z,1736383706.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:26.484Z,1736383706.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245303
2025-01-09T00:48:26.539Z,1736383706.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-01-09T00:48:26.545Z,1736383706.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m.
2025-01-09T00:48:26.566Z,1736383706.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 52.978180 m,
      bearing: 295.585296 deg,
      approach rate: -0.612955 m/s,
      LOS rate: 0.002228 deg/s,
      cmd heading: 302.290212 deg,
      new cmd heading: 302.293091 deg.

2025-01-09T00:48:26.572Z,1736383706.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276010 target range: 54.000000 and range: 54.00 m.
2025-01-09T00:48:26.736Z,1736383706.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497096
2025-01-09T00:48:26.952Z,1736383706.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:26.969Z,1736383706.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-01-09T00:48:26.969Z,1736383706.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m.
2025-01-09T00:48:26.977Z,1736383706.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 52.650158 m,
      bearing: 295.589396 deg,
      approach rate: -0.749677 m/s,
      LOS rate: 0.009429 deg/s,
      cmd heading: 302.293080 deg,
      new cmd heading: 302.305458 deg.

2025-01-09T00:48:26.980Z,1736383706.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276226 target range: 54.000000 and range: 54.00 m.
2025-01-09T00:48:26.988Z,1736383706.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749246
2025-01-09T00:48:27.240Z,1736383707.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001158
2025-01-09T00:48:27.308Z,1736383707.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:27.337Z,1736383707.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-01-09T00:48:27.338Z,1736383707.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m.
2025-01-09T00:48:27.353Z,1736383707.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 52.402660 m,
      bearing: 295.592524 deg,
      approach rate: -0.671422 m/s,
      LOS rate: 0.008525 deg/s,
      cmd heading: 302.305457 deg,
      new cmd heading: 302.314884 deg.

2025-01-09T00:48:27.354Z,1736383707.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276390 target range: 54.000000 and range: 54.00 m.
2025-01-09T00:48:27.495Z,1736383707.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255044
2025-01-09T00:48:27.744Z,1736383707.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505223
2025-01-09T00:48:27.757Z,1736383707.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:27.772Z,1736383707.772 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:27.774Z,1736383707.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-01-09T00:48:27.775Z,1736383707.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m.
2025-01-09T00:48:27.775Z,1736383707.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 54.00 m.
2025-01-09T00:48:27.779Z,1736383707.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-01-09T00:48:27.783Z,1736383707.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 52.067631 m,
      bearing: 295.601028 deg,
      approach rate: -0.767190 m/s,
      LOS rate: 0.019599 deg/s,
      cmd heading: 302.314882 deg,
      new cmd heading: 302.340559 deg.

2025-01-09T00:48:27.796Z,1736383707.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276838 target range: 54.000000 and range: 54.00 m.
2025-01-09T00:48:27.996Z,1736383707.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757101
2025-01-09T00:48:28.101Z,1736383708.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:28.109Z,1736383708.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-01-09T00:48:28.116Z,1736383708.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 51.811485 m,
      bearing: 295.607629 deg,
      approach rate: -0.765002 m/s,
      LOS rate: 0.019812 deg/s,
      cmd heading: 302.340564 deg,
      new cmd heading: 302.360465 deg.

2025-01-09T00:48:28.118Z,1736383708.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277185 target range: 54.000000 and range: 54.00 m.
2025-01-09T00:48:28.249Z,1736383708.249 [DAT](INFO): DAT read: Rx Time:00:48:26.9054

2025-01-09T00:48:28.249Z,1736383708.249 [DAT](INFO): Rx dataTimestamp_ set to:1736383708.249216
2025-01-09T00:48:28.250Z,1736383708.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010932
2025-01-09T00:48:28.502Z,1736383708.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262500
2025-01-09T00:48:28.517Z,1736383708.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:28.577Z,1736383708.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.00 m.
2025-01-09T00:48:28.619Z,1736383708.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.000000 m,
      nav range: 51.502449 m,
      bearing: 295.616008 deg,
      approach rate: -0.670428 m/s,
      LOS rate: 0.018285 deg/s,
      cmd heading: 302.360453 deg,
      new cmd heading: 302.385740 deg.

2025-01-09T00:48:28.628Z,1736383708.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277627 target range: 54.000000 and range: 54.00 m.
2025-01-09T00:48:28.759Z,1736383708.759 [DAT](INFO): DAT read: 00:48:26.9054 LVL= 23952, 26001, 18418, 32627, AGC= 67, IDX= 416, 0.40, 2.039, 0.849, 2.467, 1.890, PHS= 0.238,-0.993, 0.575, RAW= 161.8,   2.6, CAL= 162.9,  -6.3, ROT= 347.1,   6.3

2025-01-09T00:48:28.760Z,1736383708.760 [DAT](INFO): got valid direction response:
 00:48:26.9054 LVL= 23952, 26001, 18418, 32627, AGC= 67, IDX= 416, 0.40, 2.039, 0.849, 2.467, 1.890, PHS= 0.238,-0.993, 0.575, RAW= 161.8,   2.6, CAL= 162.9,  -6.3, ROT= 347.1,   6.3

2025-01-09T00:48:28.761Z,1736383708.761 [DAT](INFO): DAT read: Bearing 347.1,   6.3 (Local)

2025-01-09T00:48:28.761Z,1736383708.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.1,   6.3 (Local)

2025-01-09T00:48:28.763Z,1736383708.763 [DAT](INFO): DAT read: Range 10 to 50 : 51.9 m  (Round-trip  69.2 ms) speed  0.6 m/s

2025-01-09T00:48:28.764Z,1736383708.764 [DAT](INFO): DAT read: user:3765>

2025-01-09T00:48:28.764Z,1736383708.764 [DAT](INFO): DAT read: Tx time:00:48:27.9821

2025-01-09T00:48:28.765Z,1736383708.765 [DAT](INFO): Ping request sent.
2025-01-09T00:48:28.765Z,1736383708.765 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:28.765Z,1736383708.765 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:48:28.766Z,1736383708.766 [DAT](INFO): direction in FSK: [0.968875,-0.221902,-0.109734]
2025-01-09T00:48:28.766Z,1736383708.766 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:28.766Z,1736383708.766 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:28.770Z,1736383708.770 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:28.770Z,1736383708.770 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:29.004Z,1736383709.004 [DAT](INFO): DAT read: TxSync time:00:48:27.9813

2025-01-09T00:48:29.028Z,1736383709.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:29.063Z,1736383709.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.900002 m,
      deltaT: 3.528678 s,
      deltaX: -2.099998 m,
      approachRate: -0.595123 m/s,
      rangeRepo size: 4

2025-01-09T00:48:29.069Z,1736383709.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.900002 m,
      bearing: 290.808845 deg,
      lat: 36.903994 deg,
      lon: -122.118976 deg,
      deltaT: 3.528678 s,
      deltaX: -2.099998 m,
      approachRate: -0.595123 m/s,
      posRepo size: 4

2025-01-09T00:48:29.070Z,1736383709.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-01-09T00:48:29.077Z,1736383709.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.900002 m,
      nav range: 50.938992 m,
      bearing: 293.985332 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018285 deg/s,
      cmd heading: 302.385752 deg,
      new cmd heading: 302.412749 deg.

2025-01-09T00:48:29.078Z,1736383709.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278098 target range: 51.900002 and range: 51.90 m.
2025-01-09T00:48:29.341Z,1736383709.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:29.350Z,1736383709.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-01-09T00:48:29.353Z,1736383709.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.900002 m,
      nav range: 50.698059 m,
      bearing: 293.987756 deg,
      approach rate: -0.836507 m/s,
      LOS rate: 0.008458 deg/s,
      cmd heading: 302.412745 deg,
      new cmd heading: 302.420054 deg.

2025-01-09T00:48:29.354Z,1736383709.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278226 target range: 51.900002 and range: 51.90 m.
2025-01-09T00:48:29.778Z,1736383709.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:29.785Z,1736383709.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:29.788Z,1736383709.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-01-09T00:48:29.791Z,1736383709.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.900002 m,
      nav range: 50.354153 m,
      bearing: 293.994866 deg,
      approach rate: -0.787103 m/s,
      LOS rate: 0.016383 deg/s,
      cmd heading: 302.420067 deg,
      new cmd heading: 302.441542 deg.

2025-01-09T00:48:29.792Z,1736383709.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278601 target range: 51.900002 and range: 51.90 m.
2025-01-09T00:48:30.017Z,1736383710.017 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:30.017Z,1736383710.017 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:30.017Z,1736383710.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:30.152Z,1736383710.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:30.160Z,1736383710.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-01-09T00:48:30.163Z,1736383710.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.900002 m,
      nav range: 50.060318 m,
      bearing: 294.000874 deg,
      approach rate: -0.787590 m/s,
      LOS rate: 0.016198 deg/s,
      cmd heading: 302.441541 deg,
      new cmd heading: 302.459671 deg.

2025-01-09T00:48:30.188Z,1736383710.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278917 target range: 51.900002 and range: 51.90 m.
2025-01-09T00:48:30.269Z,1736383710.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503821
2025-01-09T00:48:30.520Z,1736383710.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755352
2025-01-09T00:48:30.621Z,1736383710.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:30.634Z,1736383710.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-01-09T00:48:30.642Z,1736383710.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.900002 m,
      nav range: 49.691490 m,
      bearing: 294.008264 deg,
      approach rate: -0.778353 m/s,
      LOS rate: 0.015711 deg/s,
      cmd heading: 302.459682 deg,
      new cmd heading: 302.482017 deg.

2025-01-09T00:48:30.643Z,1736383710.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279307 target range: 51.900002 and range: 51.90 m.
2025-01-09T00:48:30.775Z,1736383710.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010089
2025-01-09T00:48:31.001Z,1736383711.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:31.010Z,1736383711.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-01-09T00:48:31.013Z,1736383711.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.900002 m,
      nav range: 49.387722 m,
      bearing: 294.018590 deg,
      approach rate: -0.808492 m/s,
      LOS rate: 0.027653 deg/s,
      cmd heading: 302.482003 deg,
      new cmd heading: 302.513173 deg.

2025-01-09T00:48:31.014Z,1736383711.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279851 target range: 51.900002 and range: 51.90 m.
2025-01-09T00:48:31.028Z,1736383711.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263543
2025-01-09T00:48:31.280Z,1736383711.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515418
2025-01-09T00:48:31.364Z,1736383711.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:31.390Z,1736383711.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-01-09T00:48:31.406Z,1736383711.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.900002 m,
      nav range: 49.098686 m,
      bearing: 294.028892 deg,
      approach rate: -0.760072 m/s,
      LOS rate: 0.027249 deg/s,
      cmd heading: 302.513176 deg,
      new cmd heading: 302.544262 deg.

2025-01-09T00:48:31.413Z,1736383711.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280394 target range: 51.900002 and range: 51.90 m.
2025-01-09T00:48:31.536Z,1736383711.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771054
2025-01-09T00:48:31.785Z,1736383711.785 [DAT](INFO): DAT read: Rx Time:00:48:30.4514

2025-01-09T00:48:31.785Z,1736383711.785 [DAT](INFO): Rx dataTimestamp_ set to:1736383711.784749
2025-01-09T00:48:31.786Z,1736383711.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020754
2025-01-09T00:48:31.800Z,1736383711.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:31.811Z,1736383711.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:31.817Z,1736383711.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-01-09T00:48:31.824Z,1736383711.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.900002 m,
      nav range: 48.770203 m,
      bearing: 294.046945 deg,
      approach rate: -0.769378 m/s,
      LOS rate: 0.042571 deg/s,
      cmd heading: 302.544267 deg,
      new cmd heading: 302.598794 deg.

2025-01-09T00:48:31.825Z,1736383711.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281345 target range: 51.900002 and range: 51.90 m.
2025-01-09T00:48:32.036Z,1736383712.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271478
2025-01-09T00:48:32.193Z,1736383712.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:32.205Z,1736383712.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-01-09T00:48:32.208Z,1736383712.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.900002 m,
      nav range: 48.474556 m,
      bearing: 294.063627 deg,
      approach rate: -0.761864 m/s,
      LOS rate: 0.043250 deg/s,
      cmd heading: 302.598800 deg,
      new cmd heading: 302.649150 deg.

2025-01-09T00:48:32.209Z,1736383712.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282224 target range: 51.900002 and range: 51.90 m.
2025-01-09T00:48:32.294Z,1736383712.294 [DAT](INFO): DAT read: 00:48:30.4514 LVL= 23456, 29665, 17730, 29347, AGC= 67, IDX= 408,-0.44, 1.548, 0.379, 2.064, 1.451, PHS= 0.185,-1.025, 0.610, RAW= 164.5,   3.2, CAL= 165.3,  -5.8, ROT= 344.7,   5.8

2025-01-09T00:48:32.296Z,1736383712.296 [DAT](INFO): got valid direction response:
 00:48:30.4514 LVL= 23456, 29665, 17730, 29347, AGC= 67, IDX= 408,-0.44, 1.548, 0.379, 2.064, 1.451, PHS= 0.185,-1.025, 0.610, RAW= 164.5,   3.2, CAL= 165.3,  -5.8, ROT= 344.7,   5.8

2025-01-09T00:48:32.297Z,1736383712.297 [DAT](INFO): DAT read: Bearing 344.7,   5.8 (Local)

2025-01-09T00:48:32.297Z,1736383712.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.7,   5.8 (Local)

2025-01-09T00:48:32.300Z,1736383712.300 [DAT](INFO): DAT read: Range 10 to 50 : 48.9 m  (Round-trip  65.2 ms) speed  0.6 m/s

2025-01-09T00:48:32.301Z,1736383712.301 [DAT](INFO): DAT read: user:3766>

2025-01-09T00:48:32.302Z,1736383712.302 [DAT](INFO): DAT read: Tx time:00:48:31.5321

2025-01-09T00:48:32.302Z,1736383712.302 [DAT](INFO): Ping request sent.
2025-01-09T00:48:32.302Z,1736383712.302 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:32.302Z,1736383712.302 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:48:32.304Z,1736383712.304 [DAT](INFO): direction in FSK: [0.959620,-0.262522,-0.101056]
2025-01-09T00:48:32.304Z,1736383712.304 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:32.304Z,1736383712.304 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:32.308Z,1736383712.308 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:32.308Z,1736383712.308 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:32.540Z,1736383712.540 [DAT](INFO): DAT read: TxSync time:00:48:31.5313

2025-01-09T00:48:32.652Z,1736383712.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:32.705Z,1736383712.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.900002 m,
      deltaT: 3.535737 s,
      deltaX: -3.000000 m,
      approachRate: -0.848479 m/s,
      rangeRepo size: 4

2025-01-09T00:48:32.712Z,1736383712.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.900002 m,
      bearing: 288.417835 deg,
      lat: 36.903972 deg,
      lon: -122.118993 deg,
      deltaT: 3.535737 s,
      deltaX: -3.000000 m,
      approachRate: -0.848479 m/s,
      posRepo size: 4

2025-01-09T00:48:32.712Z,1736383712.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.90 m.
2025-01-09T00:48:32.719Z,1736383712.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.900002 m,
      nav range: 48.561584 m,
      bearing: 290.722018 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.043250 deg/s,
      cmd heading: 302.649152 deg,
      new cmd heading: 302.713968 deg.

2025-01-09T00:48:32.720Z,1736383712.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.283355 target range: 48.900002 and range: 48.90 m.
2025-01-09T00:48:33.046Z,1736383713.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:33.056Z,1736383713.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.90 m.
2025-01-09T00:48:33.059Z,1736383713.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.900002 m,
      nav range: 48.282158 m,
      bearing: 290.716522 deg,
      approach rate: -0.795154 m/s,
      LOS rate: -0.015728 deg/s,
      cmd heading: 302.713957 deg,
      new cmd heading: 302.697376 deg.

2025-01-09T00:48:33.060Z,1736383713.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.283066 target range: 48.900002 and range: 48.90 m.
2025-01-09T00:48:33.402Z,1736383713.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:33.411Z,1736383713.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.90 m.
2025-01-09T00:48:33.454Z,1736383713.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.900002 m,
      nav range: 48.033321 m,
      bearing: 290.711096 deg,
      approach rate: -0.701365 m/s,
      LOS rate: -0.015375 deg/s,
      cmd heading: 302.697373 deg,
      new cmd heading: 302.681009 deg.

2025-01-09T00:48:33.455Z,1736383713.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282780 target range: 48.900002 and range: 48.90 m.
2025-01-09T00:48:33.834Z,1736383713.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:33.841Z,1736383713.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:33.843Z,1736383713.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.90 m.
2025-01-09T00:48:33.846Z,1736383713.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.900002 m,
      nav range: 47.762192 m,
      bearing: 290.702772 deg,
      approach rate: -0.627169 m/s,
      LOS rate: -0.019364 deg/s,
      cmd heading: 302.681008 deg,
      new cmd heading: 302.655894 deg.

2025-01-09T00:48:33.847Z,1736383713.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282342 target range: 48.900002 and range: 48.90 m.
2025-01-09T00:48:34.052Z,1736383714.052 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:34.052Z,1736383714.052 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:34.052Z,1736383714.052 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:34.207Z,1736383714.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:34.233Z,1736383714.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.90 m.
2025-01-09T00:48:34.236Z,1736383714.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.900002 m,
      nav range: 47.528259 m,
      bearing: 290.694006 deg,
      approach rate: -0.601335 m/s,
      LOS rate: -0.022642 deg/s,
      cmd heading: 302.655900 deg,
      new cmd heading: 302.629475 deg.

2025-01-09T00:48:34.237Z,1736383714.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281881 target range: 48.900002 and range: 48.90 m.
2025-01-09T00:48:34.305Z,1736383714.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003008
2025-01-09T00:48:34.556Z,1736383714.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254159
2025-01-09T00:48:34.664Z,1736383714.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:34.697Z,1736383714.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.90 m.
2025-01-09T00:48:34.704Z,1736383714.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.900002 m,
      nav range: 47.244766 m,
      bearing: 290.681985 deg,
      approach rate: -0.609976 m/s,
      LOS rate: -0.026022 deg/s,
      cmd heading: 302.629481 deg,
      new cmd heading: 302.593199 deg.

2025-01-09T00:48:34.705Z,1736383714.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281248 target range: 48.900002 and range: 48.90 m.
2025-01-09T00:48:34.810Z,1736383714.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507839
2025-01-09T00:48:35.050Z,1736383715.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:35.058Z,1736383715.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.90 m.
2025-01-09T00:48:35.060Z,1736383715.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758255
2025-01-09T00:48:35.063Z,1736383715.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.900002 m,
      nav range: 47.024574 m,
      bearing: 290.656081 deg,
      approach rate: -0.608711 m/s,
      LOS rate: -0.071944 deg/s,
      cmd heading: 302.593199 deg,
      new cmd heading: 302.515125 deg.

2025-01-09T00:48:35.080Z,1736383715.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279885 target range: 48.900002 and range: 48.90 m.
2025-01-09T00:48:35.313Z,1736383715.313 [DAT](INFO): DAT read: Rx Time:00:48:33.9977

2025-01-09T00:48:35.313Z,1736383715.313 [DAT](INFO): Rx dataTimestamp_ set to:1736383715.312825
2025-01-09T00:48:35.314Z,1736383715.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011566
2025-01-09T00:48:35.418Z,1736383715.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:35.431Z,1736383715.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.90 m.
2025-01-09T00:48:35.454Z,1736383715.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.900002 m,
      nav range: 46.817986 m,
      bearing: 290.630598 deg,
      approach rate: -0.555182 m/s,
      LOS rate: -0.068785 deg/s,
      cmd heading: 302.515116 deg,
      new cmd heading: 302.438330 deg.

2025-01-09T00:48:35.455Z,1736383715.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278544 target range: 48.900002 and range: 48.90 m.
2025-01-09T00:48:35.565Z,1736383715.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262626
2025-01-09T00:48:35.823Z,1736383715.823 [DAT](INFO): DAT read: 00:48:33.9977 LVL= 29152, 28721, 16770, 30867, AGC= 59, IDX= 402, 0.06, 0.709,-0.582, 1.247, 0.647, PHS= 0.150,-1.182, 0.597, RAW= 164.0,   5.5, CAL= 164.1,  -3.8, ROT= 345.9,   3.8

2025-01-09T00:48:35.824Z,1736383715.824 [DAT](INFO): got valid direction response:
 00:48:33.9977 LVL= 29152, 28721, 16770, 30867, AGC= 59, IDX= 402, 0.06, 0.709,-0.582, 1.247, 0.647, PHS= 0.150,-1.182, 0.597, RAW= 164.0,   5.5, CAL= 164.1,  -3.8, ROT= 345.9,   3.8

2025-01-09T00:48:35.825Z,1736383715.825 [DAT](INFO): DAT read: Bearing 345.9,   3.8 (Local)

2025-01-09T00:48:35.826Z,1736383715.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.9,   3.8 (Local)

2025-01-09T00:48:35.854Z,1736383715.854 [DAT](INFO): DAT read: Range 10 to 50 : 46.1 m  (Round-trip  61.5 ms) speed  0.4 m/s

2025-01-09T00:48:35.855Z,1736383715.855 [DAT](INFO): DAT read: user:3767>

2025-01-09T00:48:35.856Z,1736383715.856 [DAT](INFO): DAT read: Tx time:00:48:35.0821

2025-01-09T00:48:35.856Z,1736383715.856 [DAT](INFO): Ping request sent.
2025-01-09T00:48:35.856Z,1736383715.856 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:35.857Z,1736383715.857 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:48:35.858Z,1736383715.858 [DAT](INFO): direction in FSK: [0.967740,-0.243080,-0.066274]
2025-01-09T00:48:35.858Z,1736383715.858 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:35.858Z,1736383715.858 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:35.869Z,1736383715.869 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:35.870Z,1736383715.870 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:35.936Z,1736383715.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:36.012Z,1736383716.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.099998 m,
      deltaT: 3.528820 s,
      deltaX: -2.800003 m,
      approachRate: -0.793467 m/s,
      rangeRepo size: 4

2025-01-09T00:48:36.015Z,1736383716.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.099998 m,
      bearing: 290.552536 deg,
      lat: 36.903970 deg,
      lon: -122.118993 deg,
      deltaT: 3.528820 s,
      deltaX: -2.800003 m,
      approachRate: -0.793467 m/s,
      posRepo size: 4

2025-01-09T00:48:36.020Z,1736383716.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-01-09T00:48:36.022Z,1736383716.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 46.475651 m,
      bearing: 290.295490 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.068785 deg/s,
      cmd heading: 302.438318 deg,
      new cmd heading: 302.319736 deg.

2025-01-09T00:48:36.031Z,1736383716.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276475 target range: 46.099998 and range: 46.10 m.
2025-01-09T00:48:36.068Z,1736383716.068 [DAT](INFO): DAT read: TxSync time:00:48:35.0813

2025-01-09T00:48:36.314Z,1736383716.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:36.329Z,1736383716.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:36.336Z,1736383716.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-01-09T00:48:36.338Z,1736383716.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 46.277752 m,
      bearing: 290.253100 deg,
      approach rate: -0.607145 m/s,
      LOS rate: -0.130608 deg/s,
      cmd heading: 302.319745 deg,
      new cmd heading: 302.192030 deg.

2025-01-09T00:48:36.344Z,1736383716.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274246 target range: 46.099998 and range: 46.10 m.
2025-01-09T00:48:36.572Z,1736383716.572 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:36.572Z,1736383716.572 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:36.572Z,1736383716.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:36.753Z,1736383716.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:36.761Z,1736383716.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-01-09T00:48:36.764Z,1736383716.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 46.060055 m,
      bearing: 290.193962 deg,
      approach rate: -0.505982 m/s,
      LOS rate: -0.138101 deg/s,
      cmd heading: 302.192021 deg,
      new cmd heading: 302.013769 deg.

2025-01-09T00:48:36.766Z,1736383716.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271135 target range: 46.099998 and range: 46.10 m.
2025-01-09T00:48:36.825Z,1736383716.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.968759
2025-01-09T00:48:37.078Z,1736383717.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221134
2025-01-09T00:48:37.110Z,1736383717.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:37.143Z,1736383717.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-01-09T00:48:37.146Z,1736383717.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 45.882595 m,
      bearing: 290.144542 deg,
      approach rate: -0.469857 m/s,
      LOS rate: -0.131354 deg/s,
      cmd heading: 302.013780 deg,
      new cmd heading: 301.864948 deg.

2025-01-09T00:48:37.155Z,1736383717.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.268537 target range: 46.099998 and range: 46.10 m.
2025-01-09T00:48:37.328Z,1736383717.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471762
2025-01-09T00:48:37.508Z,1736383717.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:37.536Z,1736383717.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-01-09T00:48:37.539Z,1736383717.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 45.685307 m,
      bearing: 290.088462 deg,
      approach rate: -0.497045 m/s,
      LOS rate: -0.141899 deg/s,
      cmd heading: 301.864937 deg,
      new cmd heading: 301.695969 deg.

2025-01-09T00:48:37.544Z,1736383717.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.265588 target range: 46.099998 and range: 46.10 m.
2025-01-09T00:48:37.580Z,1736383717.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723870
2025-01-09T00:48:37.833Z,1736383717.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976454
2025-01-09T00:48:37.943Z,1736383717.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:37.956Z,1736383717.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-01-09T00:48:37.961Z,1736383717.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 45.466206 m,
      bearing: 290.015105 deg,
      approach rate: -0.522868 m/s,
      LOS rate: -0.175904 deg/s,
      cmd heading: 301.695958 deg,
      new cmd heading: 301.474829 deg.

2025-01-09T00:48:37.962Z,1736383717.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.261728 target range: 46.099998 and range: 46.10 m.
2025-01-09T00:48:38.085Z,1736383718.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228464
2025-01-09T00:48:38.315Z,1736383718.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:38.330Z,1736383718.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:38.336Z,1736383718.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479934
2025-01-09T00:48:38.338Z,1736383718.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-01-09T00:48:38.345Z,1736383718.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 45.278561 m,
      bearing: 289.951452 deg,
      approach rate: -0.490469 m/s,
      LOS rate: -0.167065 deg/s,
      cmd heading: 301.474824 deg,
      new cmd heading: 301.283076 deg.

2025-01-09T00:48:38.346Z,1736383718.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.258382 target range: 46.099998 and range: 46.10 m.
2025-01-09T00:48:38.588Z,1736383718.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732004
2025-01-09T00:48:38.787Z,1736383718.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:38.795Z,1736383718.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-01-09T00:48:38.798Z,1736383718.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 45.009922 m,
      bearing: 289.880914 deg,
      approach rate: -0.587234 m/s,
      LOS rate: -0.155115 deg/s,
      cmd heading: 301.283087 deg,
      new cmd heading: 301.070210 deg.

2025-01-09T00:48:38.800Z,1736383718.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.254666 target range: 46.099998 and range: 46.10 m.
2025-01-09T00:48:38.841Z,1736383718.841 [DAT](INFO): DAT read: Rx Time:00:48:37.5457

2025-01-09T00:48:38.842Z,1736383718.842 [DAT](INFO): Rx dataTimestamp_ set to:1736383718.841034
2025-01-09T00:48:38.842Z,1736383718.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985731
2025-01-09T00:48:39.093Z,1736383719.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236098
2025-01-09T00:48:39.140Z,1736383719.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:39.151Z,1736383719.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.10 m.
2025-01-09T00:48:39.154Z,1736383719.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.099998 m,
      nav range: 44.808594 m,
      bearing: 289.827865 deg,
      approach rate: -0.565947 m/s,
      LOS rate: -0.149793 deg/s,
      cmd heading: 301.070203 deg,
      new cmd heading: 300.910343 deg.

2025-01-09T00:48:39.155Z,1736383719.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.251876 target range: 46.099998 and range: 46.10 m.
2025-01-09T00:48:39.357Z,1736383719.357 [DAT](INFO): DAT read: 00:48:37.5457 LVL= 23104, 26929, 14322, 26563, AGC= 60, IDX= 412, 0.11,-1.319,-2.544,-0.790,-1.393, PHS= 0.163,-1.104, 0.600, RAW= 164.3,   4.5, CAL= 164.7,  -4.6, ROT= 345.3,   4.6

2025-01-09T00:48:39.358Z,1736383719.358 [DAT](INFO): got valid direction response:
 00:48:37.5457 LVL= 23104, 26929, 14322, 26563, AGC= 60, IDX= 412, 0.11,-1.319,-2.544,-0.790,-1.393, PHS= 0.163,-1.104, 0.600, RAW= 164.3,   4.5, CAL= 164.7,  -4.6, ROT= 345.3,   4.6

2025-01-09T00:48:39.359Z,1736383719.359 [DAT](INFO): DAT read: Bearing 345.3,   4.6 (Local)

2025-01-09T00:48:39.359Z,1736383719.359 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,   4.6 (Local)

2025-01-09T00:48:39.362Z,1736383719.362 [DAT](INFO): DAT read: Range 10 to 50 : 44.4 m  (Round-trip  59.3 ms) speed  0.4 m/s

2025-01-09T00:48:39.363Z,1736383719.363 [DAT](INFO): DAT read: user:3768>

2025-01-09T00:48:39.365Z,1736383719.365 [DAT](INFO): DAT read: Tx time:00:48:38.6322

2025-01-09T00:48:39.365Z,1736383719.365 [DAT](INFO): Ping request sent.
2025-01-09T00:48:39.365Z,1736383719.365 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:39.366Z,1736383719.366 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:48:39.367Z,1736383719.367 [DAT](INFO): direction in FSK: [0.964152,-0.252941,-0.080199]
2025-01-09T00:48:39.367Z,1736383719.367 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:39.368Z,1736383719.368 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:39.371Z,1736383719.371 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:39.371Z,1736383719.371 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:39.544Z,1736383719.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:39.584Z,1736383719.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.400002 m,
      deltaT: 3.530550 s,
      deltaX: -1.699997 m,
      approachRate: -0.481511 m/s,
      rangeRepo size: 4

2025-01-09T00:48:39.586Z,1736383719.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.400002 m,
      bearing: 290.752887 deg,
      lat: 36.903970 deg,
      lon: -122.118993 deg,
      deltaT: 3.530550 s,
      deltaX: -1.699997 m,
      approachRate: -0.481511 m/s,
      posRepo size: 4

2025-01-09T00:48:39.587Z,1736383719.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.40 m.
2025-01-09T00:48:39.597Z,1736383719.597 [DAT](INFO): DAT read: TxSync time:00:48:38.6314

2025-01-09T00:48:39.602Z,1736383719.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.400002 m,
      nav range: 44.578384 m,
      bearing: 289.767338 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.149793 deg/s,
      cmd heading: 300.910350 deg,
      new cmd heading: 300.717928 deg.

2025-01-09T00:48:39.603Z,1736383719.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.248518 target range: 44.400002 and range: 44.40 m.
2025-01-09T00:48:39.977Z,1736383719.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:39.990Z,1736383719.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.40 m.
2025-01-09T00:48:39.996Z,1736383719.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.400002 m,
      nav range: 44.305027 m,
      bearing: 289.706965 deg,
      approach rate: -0.665736 m/s,
      LOS rate: -0.147938 deg/s,
      cmd heading: 300.717930 deg,
      new cmd heading: 300.535696 deg.

2025-01-09T00:48:39.997Z,1736383719.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245337 target range: 44.400002 and range: 44.40 m.
2025-01-09T00:48:40.357Z,1736383720.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:40.366Z,1736383720.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:40.368Z,1736383720.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.40 m.
2025-01-09T00:48:40.372Z,1736383720.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.400002 m,
      nav range: 44.075668 m,
      bearing: 289.659346 deg,
      approach rate: -0.605563 m/s,
      LOS rate: -0.126380 deg/s,
      cmd heading: 300.535700 deg,
      new cmd heading: 300.392100 deg.

2025-01-09T00:48:40.373Z,1736383720.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.242831 target range: 44.400002 and range: 44.40 m.
2025-01-09T00:48:40.605Z,1736383720.605 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:40.605Z,1736383720.605 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:40.605Z,1736383720.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:40.828Z,1736383720.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:40.838Z,1736383720.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.40 m.
2025-01-09T00:48:40.841Z,1736383720.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.400002 m,
      nav range: 43.728745 m,
      bearing: 289.606695 deg,
      approach rate: -0.739489 m/s,
      LOS rate: -0.113121 deg/s,
      cmd heading: 300.392102 deg,
      new cmd heading: 300.232894 deg.

2025-01-09T00:48:40.842Z,1736383720.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.240053 target range: 44.400002 and range: 44.40 m.
2025-01-09T00:48:40.856Z,1736383720.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490892
2025-01-09T00:48:41.109Z,1736383721.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743163
2025-01-09T00:48:41.172Z,1736383721.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:41.180Z,1736383721.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.40 m.
2025-01-09T00:48:41.184Z,1736383721.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.400002 m,
      nav range: 43.484501 m,
      bearing: 289.569119 deg,
      approach rate: -0.712436 m/s,
      LOS rate: -0.110221 deg/s,
      cmd heading: 300.232904 deg,
      new cmd heading: 300.119543 deg.

2025-01-09T00:48:41.185Z,1736383721.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.238074 target range: 44.400002 and range: 44.40 m.
2025-01-09T00:48:41.361Z,1736383721.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995178
2025-01-09T00:48:41.607Z,1736383721.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:41.612Z,1736383721.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247138
2025-01-09T00:48:41.618Z,1736383721.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.40 m.
2025-01-09T00:48:41.621Z,1736383721.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.400002 m,
      nav range: 43.175854 m,
      bearing: 289.521023 deg,
      approach rate: -0.705668 m/s,
      LOS rate: -0.110749 deg/s,
      cmd heading: 300.119550 deg,
      new cmd heading: 299.974232 deg.

2025-01-09T00:48:41.622Z,1736383721.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.235538 target range: 44.400002 and range: 44.40 m.
2025-01-09T00:48:41.864Z,1736383721.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498835
2025-01-09T00:48:41.000Z,1736383722.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:42.008Z,1736383722.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.40 m.
2025-01-09T00:48:42.011Z,1736383722.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.400002 m,
      nav range: 42.872665 m,
      bearing: 289.499014 deg,
      approach rate: -0.777133 m/s,
      LOS rate: -0.056811 deg/s,
      cmd heading: 299.974231 deg,
      new cmd heading: 299.907739 deg.

2025-01-09T00:48:42.012Z,1736383722.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234377 target range: 44.400002 and range: 44.40 m.
2025-01-09T00:48:42.117Z,1736383722.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751679
2025-01-09T00:48:42.368Z,1736383722.368 [DAT](INFO): DAT read: Rx Time:00:48:41.0930

2025-01-09T00:48:42.369Z,1736383722.369 [DAT](INFO): Rx dataTimestamp_ set to:1736383722.368563
2025-01-09T00:48:42.369Z,1736383722.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004044
2025-01-09T00:48:42.376Z,1736383722.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:42.389Z,1736383722.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:42.396Z,1736383722.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.40 m.
2025-01-09T00:48:42.405Z,1736383722.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.400002 m,
      nav range: 42.594826 m,
      bearing: 289.481411 deg,
      approach rate: -0.724410 m/s,
      LOS rate: -0.046195 deg/s,
      cmd heading: 299.907732 deg,
      new cmd heading: 299.854579 deg.

2025-01-09T00:48:42.406Z,1736383722.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.233449 target range: 44.400002 and range: 44.40 m.
2025-01-09T00:48:42.621Z,1736383722.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255450
2025-01-09T00:48:42.878Z,1736383722.878 [DAT](INFO): DAT read: 00:48:41.0930 LVL= 26704, 29873, 16882, 30771, AGC= 62, IDX= 417, 0.21, 2.953, 1.702,-2.837, 2.859, PHS= 0.183,-1.110, 0.585, RAW= 163.1,   4.5, CAL= 163.6,  -4.7, ROT= 346.4,   4.7

2025-01-09T00:48:42.879Z,1736383722.879 [DAT](INFO): got valid direction response:
 00:48:41.0930 LVL= 26704, 29873, 16882, 30771, AGC= 62, IDX= 417, 0.21, 2.953, 1.702,-2.837, 2.859, PHS= 0.183,-1.110, 0.585, RAW= 163.1,   4.5, CAL= 163.6,  -4.7, ROT= 346.4,   4.7

2025-01-09T00:48:42.880Z,1736383722.880 [DAT](INFO): DAT read: Bearing 346.4,   4.7 (Local)

2025-01-09T00:48:42.880Z,1736383722.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.4,   4.7 (Local)

2025-01-09T00:48:42.883Z,1736383722.883 [DAT](INFO): DAT read: Range 10 to 50 : 42.5 m  (Round-trip  56.7 ms) speed  0.7 m/s

2025-01-09T00:48:42.884Z,1736383722.884 [DAT](INFO): DAT read: user:3769>

2025-01-09T00:48:42.885Z,1736383722.885 [DAT](INFO): DAT read: Tx time:00:48:42.1822

2025-01-09T00:48:42.885Z,1736383722.885 [DAT](INFO): Ping request sent.
2025-01-09T00:48:42.885Z,1736383722.885 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:42.885Z,1736383722.885 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:48:42.886Z,1736383722.886 [DAT](INFO): direction in FSK: [0.968693,-0.234352,-0.081939]
2025-01-09T00:48:42.887Z,1736383722.887 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:42.887Z,1736383722.887 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:42.890Z,1736383722.890 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:42.890Z,1736383722.890 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:42.910Z,1736383722.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:42.945Z,1736383722.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.500000 m,
      deltaT: 3.524311 s,
      deltaX: -1.900002 m,
      approachRate: -0.539113 m/s,
      rangeRepo size: 4

2025-01-09T00:48:42.952Z,1736383722.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.500000 m,
      bearing: 288.975859 deg,
      lat: 36.903970 deg,
      lon: -122.118993 deg,
      deltaT: 3.524311 s,
      deltaX: -1.900002 m,
      approachRate: -0.539113 m/s,
      posRepo size: 4

2025-01-09T00:48:42.952Z,1736383722.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.50 m.
2025-01-09T00:48:42.955Z,1736383722.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.500000 m,
      nav range: 42.144474 m,
      bearing: 289.474274 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046195 deg/s,
      cmd heading: 299.854566 deg,
      new cmd heading: 299.777947 deg.

2025-01-09T00:48:42.956Z,1736383722.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.232112 target range: 42.500000 and range: 42.50 m.
2025-01-09T00:48:43.125Z,1736383723.125 [DAT](INFO): DAT read: TxSync time:00:48:42.1814

2025-01-09T00:48:43.397Z,1736383723.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:43.408Z,1736383723.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.50 m.
2025-01-09T00:48:43.410Z,1736383723.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.500000 m,
      nav range: 41.746082 m,
      bearing: 289.467832 deg,
      approach rate: -0.860071 m/s,
      LOS rate: -0.014040 deg/s,
      cmd heading: 299.777959 deg,
      new cmd heading: 299.758448 deg.

2025-01-09T00:48:43.412Z,1736383723.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231772 target range: 42.500000 and range: 42.50 m.
2025-01-09T00:48:43.576Z,1736383723.576 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:48:43.849Z,1736383723.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:43.864Z,1736383723.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.50 m.
2025-01-09T00:48:43.884Z,1736383723.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.500000 m,
      nav range: 41.366608 m,
      bearing: 289.463306 deg,
      approach rate: -0.831000 m/s,
      LOS rate: -0.010002 deg/s,
      cmd heading: 299.758452 deg,
      new cmd heading: 299.744750 deg.

2025-01-09T00:48:43.885Z,1736383723.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231533 target range: 42.500000 and range: 42.50 m.
2025-01-09T00:48:44.202Z,1736383724.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:44.210Z,1736383724.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.50 m.
2025-01-09T00:48:44.213Z,1736383724.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.500000 m,
      nav range: 41.069920 m,
      bearing: 289.462486 deg,
      approach rate: -0.857725 m/s,
      LOS rate: -0.002389 deg/s,
      cmd heading: 299.744737 deg,
      new cmd heading: 299.742257 deg.

2025-01-09T00:48:44.214Z,1736383724.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231489 target range: 42.500000 and range: 42.50 m.
2025-01-09T00:48:44.580Z,1736383724.580 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:48:44.605Z,1736383724.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:44.611Z,1736383724.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:44.613Z,1736383724.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.50 m.
2025-01-09T00:48:44.617Z,1736383724.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.500000 m,
      nav range: 40.731617 m,
      bearing: 289.463577 deg,
      approach rate: -0.838626 m/s,
      LOS rate: 0.002727 deg/s,
      cmd heading: 299.742251 deg,
      new cmd heading: 299.745550 deg.

2025-01-09T00:48:44.618Z,1736383724.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231547 target range: 42.500000 and range: 42.50 m.
2025-01-09T00:48:44.636Z,1736383724.636 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:44.636Z,1736383724.636 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:44.637Z,1736383724.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:44.889Z,1736383724.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003444
2025-01-09T00:48:45.029Z,1736383725.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:45.037Z,1736383725.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.50 m.
2025-01-09T00:48:45.040Z,1736383725.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.500000 m,
      nav range: 40.389717 m,
      bearing: 289.473803 deg,
      approach rate: -0.806891 m/s,
      LOS rate: 0.024338 deg/s,
      cmd heading: 299.745556 deg,
      new cmd heading: 299.776494 deg.

2025-01-09T00:48:45.041Z,1736383725.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.232087 target range: 42.500000 and range: 42.50 m.
2025-01-09T00:48:45.140Z,1736383725.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255253
2025-01-09T00:48:45.392Z,1736383725.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507137
2025-01-09T00:48:45.433Z,1736383725.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:45.441Z,1736383725.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.50 m.
2025-01-09T00:48:45.444Z,1736383725.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.500000 m,
      nav range: 40.064362 m,
      bearing: 289.484612 deg,
      approach rate: -0.805068 m/s,
      LOS rate: 0.026963 deg/s,
      cmd heading: 299.776484 deg,
      new cmd heading: 299.809174 deg.

2025-01-09T00:48:45.445Z,1736383725.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.232657 target range: 42.500000 and range: 42.50 m.
2025-01-09T00:48:45.645Z,1736383725.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759663
2025-01-09T00:48:45.866Z,1736383725.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:45.880Z,1736383725.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.50 m.
2025-01-09T00:48:45.884Z,1736383725.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.500000 m,
      nav range: 39.743530 m,
      bearing: 289.492111 deg,
      approach rate: -0.734672 m/s,
      LOS rate: 0.017311 deg/s,
      cmd heading: 299.809187 deg,
      new cmd heading: 299.831865 deg.

2025-01-09T00:48:45.885Z,1736383725.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.233053 target range: 42.500000 and range: 42.50 m.
2025-01-09T00:48:45.897Z,1736383725.897 [DAT](INFO): DAT read: Rx Time:00:48:44.6390

2025-01-09T00:48:45.897Z,1736383725.897 [DAT](INFO): Rx dataTimestamp_ set to:1736383725.896739
2025-01-09T00:48:45.898Z,1736383725.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012455
2025-01-09T00:48:46.148Z,1736383726.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263223
2025-01-09T00:48:46.225Z,1736383726.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:46.234Z,1736383726.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.50 m.
2025-01-09T00:48:46.237Z,1736383726.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.500000 m,
      nav range: 39.478008 m,
      bearing: 289.498685 deg,
      approach rate: -0.744886 m/s,
      LOS rate: 0.018569 deg/s,
      cmd heading: 299.831863 deg,
      new cmd heading: 299.851720 deg.

2025-01-09T00:48:46.238Z,1736383726.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.233400 target range: 42.500000 and range: 42.50 m.
2025-01-09T00:48:46.406Z,1736383726.406 [DAT](INFO): DAT read: 00:48:44.6390 LVL= 17360, 30177, 16658, 25779, AGC= 63, IDX= 408,-0.40, 1.491, 0.196, 1.894, 1.328, PHS= 0.251,-1.085, 0.563, RAW= 160.3,   3.6, CAL= 161.2,  -5.5, ROT= 348.8,   5.5

2025-01-09T00:48:46.409Z,1736383726.409 [DAT](INFO): got valid direction response:
 00:48:44.6390 LVL= 17360, 30177, 16658, 25779, AGC= 63, IDX= 408,-0.40, 1.491, 0.196, 1.894, 1.328, PHS= 0.251,-1.085, 0.563, RAW= 160.3,   3.6, CAL= 161.2,  -5.5, ROT= 348.8,   5.5

2025-01-09T00:48:46.410Z,1736383726.410 [DAT](INFO): DAT read: Bearing 348.8,   5.5 (Local)

2025-01-09T00:48:46.410Z,1736383726.410 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.8,   5.5 (Local)

2025-01-09T00:48:46.412Z,1736383726.412 [DAT](INFO): DAT read: Range 10 to 50 : 39.5 m  (Round-trip  52.7 ms) speed  0.8 m/s

2025-01-09T00:48:46.413Z,1736383726.413 [DAT](INFO): DAT read: user:3770>

2025-01-09T00:48:46.413Z,1736383726.413 [DAT](INFO): DAT read: Tx time:00:48:45.7322

2025-01-09T00:48:46.414Z,1736383726.414 [DAT](INFO): Ping request sent.
2025-01-09T00:48:46.414Z,1736383726.414 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:46.414Z,1736383726.414 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:48:46.416Z,1736383726.416 [DAT](INFO): direction in FSK: [0.976439,-0.193341,-0.095846]
2025-01-09T00:48:46.416Z,1736383726.416 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:46.416Z,1736383726.416 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:46.424Z,1736383726.424 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:46.425Z,1736383726.425 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:46.620Z,1736383726.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:46.646Z,1736383726.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.500000 m,
      deltaT: 3.528264 s,
      deltaX: -3.000000 m,
      approachRate: -0.850277 m/s,
      rangeRepo size: 4

2025-01-09T00:48:46.653Z,1736383726.653 [DAT](INFO): DAT read: TxSync time:00:48:45.7314

2025-01-09T00:48:46.660Z,1736383726.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.500000 m,
      bearing: 290.000556 deg,
      lat: 36.903970 deg,
      lon: -122.118993 deg,
      deltaT: 3.528264 s,
      deltaX: -3.000000 m,
      approachRate: -0.850277 m/s,
      posRepo size: 4

2025-01-09T00:48:46.661Z,1736383726.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.50 m.
2025-01-09T00:48:46.671Z,1736383726.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.500000 m,
      nav range: 39.175655 m,
      bearing: 289.511141 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018569 deg/s,
      cmd heading: 299.851725 deg,
      new cmd heading: 299.874613 deg.

2025-01-09T00:48:46.677Z,1736383726.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.233799 target range: 39.500000 and range: 39.50 m.
2025-01-09T00:48:47.066Z,1736383727.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:47.081Z,1736383727.081 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-01-09T00:48:47.081Z,1736383727.081 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-09T00:48:47.081Z,1736383727.081 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-01-09T00:48:47.083Z,1736383727.083 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.500000 m (mode  2.000000 count ).
2025-01-09T00:48:47.083Z,1736383727.083 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-01-09T00:48:47.083Z,1736383727.083 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-01-09T00:48:47.088Z,1736383727.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:47.089Z,1736383727.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.50 m.
2025-01-09T00:48:47.097Z,1736383727.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.500000 m,
      nav range: 38.873325 m,
      bearing: 289.515111 deg,
      approach rate: -0.680641 m/s,
      LOS rate: 0.009007 deg/s,
      cmd heading: 299.874620 deg,
      new cmd heading: 299.886623 deg.

2025-01-09T00:48:47.097Z,1736383727.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234009 target range: 39.500000 and range: 39.50 m.
2025-01-09T00:48:47.158Z,1736383727.158 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:47.158Z,1736383727.158 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:47.158Z,1736383727.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:48:47.410Z,1736383727.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996238
2025-01-09T00:48:47.439Z,1736383727.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:47.446Z,1736383727.446 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-01-09T00:48:47.446Z,1736383727.446 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-01-09T00:48:47.452Z,1736383727.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.50 m.
2025-01-09T00:48:47.460Z,1736383727.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.500000 m,
      nav range: 38.621067 m,
      bearing: 289.518724 deg,
      approach rate: -0.697181 m/s,
      LOS rate: 0.010049 deg/s,
      cmd heading: 299.886614 deg,
      new cmd heading: 299.897522 deg.

2025-01-09T00:48:47.461Z,1736383727.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234199 target range: 39.500000 and range: 39.50 m.
2025-01-09T00:48:47.661Z,1736383727.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247095
2025-01-09T00:48:47.901Z,1736383727.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:47.909Z,1736383727.909 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-01-09T00:48:47.909Z,1736383727.909 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-01-09T00:48:47.912Z,1736383727.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498571
2025-01-09T00:48:47.913Z,1736383727.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.50 m.
2025-01-09T00:48:47.917Z,1736383727.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.500000 m,
      nav range: 38.338921 m,
      bearing: 289.499792 deg,
      approach rate: -0.613245 m/s,
      LOS rate: -0.041452 deg/s,
      cmd heading: 299.897515 deg,
      new cmd heading: 299.840301 deg.

2025-01-09T00:48:47.918Z,1736383727.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.233201 target range: 39.500000 and range: 39.50 m.
2025-01-09T00:48:48.164Z,1736383728.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750531
2025-01-09T00:48:48.256Z,1736383728.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:48.263Z,1736383728.263 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-01-09T00:48:48.263Z,1736383728.263 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-09T00:48:48.263Z,1736383728.263 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-01-09T00:48:48.263Z,1736383728.263 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-09T00:48:48.266Z,1736383728.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.50 m.
2025-01-09T00:48:48.269Z,1736383728.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.500000 m,
      nav range: 38.121548 m,
      bearing: 289.485015 deg,
      approach rate: -0.614383 m/s,
      LOS rate: -0.042003 deg/s,
      cmd heading: 299.840305 deg,
      new cmd heading: 299.795722 deg.

2025-01-09T00:48:48.270Z,1736383728.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.232422 target range: 39.500000 and range: 39.50 m.
2025-01-09T00:48:48.417Z,1736383728.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003126
2025-01-09T00:48:48.651Z,1736383728.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:48.666Z,1736383728.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.50 m.
2025-01-09T00:48:48.669Z,1736383728.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255141
2025-01-09T00:48:48.673Z,1736383728.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.500000 m,
      nav range: 37.880424 m,
      bearing: 289.466621 deg,
      approach rate: -0.602547 m/s,
      LOS rate: -0.046258 deg/s,
      cmd heading: 299.795717 deg,
      new cmd heading: 299.740183 deg.

2025-01-09T00:48:48.675Z,1736383728.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231453 target range: 39.500000 and range: 39.50 m.
2025-01-09T00:48:48.921Z,1736383728.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507161
2025-01-09T00:48:49.070Z,1736383729.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:49.104Z,1736383729.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:49.106Z,1736383729.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.50 m.
2025-01-09T00:48:49.109Z,1736383729.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.500000 m,
      nav range: 37.647182 m,
      bearing: 289.436291 deg,
      approach rate: -0.528986 m/s,
      LOS rate: -0.069213 deg/s,
      cmd heading: 299.740174 deg,
      new cmd heading: 299.648621 deg.

2025-01-09T00:48:49.110Z,1736383729.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.229855 target range: 39.500000 and range: 39.50 m.
2025-01-09T00:48:49.173Z,1736383729.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758761
2025-01-09T00:48:49.424Z,1736383729.424 [DAT](INFO): DAT read: Rx Time:00:48:48.1853

2025-01-09T00:48:49.425Z,1736383729.425 [DAT](INFO): Rx dataTimestamp_ set to:1736383729.424571
2025-01-09T00:48:49.425Z,1736383729.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011627
2025-01-09T00:48:49.534Z,1736383729.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:49.542Z,1736383729.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.50 m.
2025-01-09T00:48:49.545Z,1736383729.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.500000 m,
      nav range: 37.389793 m,
      bearing: 289.401838 deg,
      approach rate: -0.590538 m/s,
      LOS rate: -0.079590 deg/s,
      cmd heading: 299.648622 deg,
      new cmd heading: 299.544553 deg.

2025-01-09T00:48:49.546Z,1736383729.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.228039 target range: 39.500000 and range: 39.50 m.
2025-01-09T00:48:49.678Z,1736383729.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263750
2025-01-09T00:48:49.935Z,1736383729.935 [DAT](INFO): DAT read: 00:48:48.1853 LVL= 25072, 28913, 16946, 30835, AGC= 59, IDX= 401, 0.05, 0.185,-1.149, 0.588, 0.000, PHS= 0.273,-1.102, 0.585, RAW= 160.0,   3.2, CAL= 161.1,  -5.8, ROT= 348.9,   5.8

2025-01-09T00:48:49.936Z,1736383729.936 [DAT](INFO): got valid direction response:
 00:48:48.1853 LVL= 25072, 28913, 16946, 30835, AGC= 59, IDX= 401, 0.05, 0.185,-1.149, 0.588, 0.000, PHS= 0.273,-1.102, 0.585, RAW= 160.0,   3.2, CAL= 161.1,  -5.8, ROT= 348.9,   5.8

2025-01-09T00:48:49.937Z,1736383729.937 [DAT](INFO): DAT read: Bearing 348.9,   5.8 (Local)

2025-01-09T00:48:49.938Z,1736383729.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.9,   5.8 (Local)

2025-01-09T00:48:49.939Z,1736383729.939 [DAT](INFO): DAT read: Range 10 to 50 : 36.6 m  (Round-trip  48.9 ms) speed  0.4 m/s

2025-01-09T00:48:49.940Z,1736383729.940 [DAT](INFO): DAT read: user:3771>

2025-01-09T00:48:49.941Z,1736383729.941 [DAT](INFO): DAT read: Tx time:00:48:49.2823

2025-01-09T00:48:49.941Z,1736383729.941 [DAT](INFO): Ping request sent.
2025-01-09T00:48:49.941Z,1736383729.941 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:49.941Z,1736383729.941 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:48:49.942Z,1736383729.942 [DAT](INFO): direction in FSK: [0.976269,-0.191536,-0.101056]
2025-01-09T00:48:49.943Z,1736383729.943 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:49.943Z,1736383729.943 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:49.946Z,1736383729.946 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:49.946Z,1736383729.946 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:50.031Z,1736383730.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:50.063Z,1736383730.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.599998 m,
      deltaT: 3.527883 s,
      deltaX: -2.900002 m,
      approachRate: -0.822023 m/s,
      rangeRepo size: 4

2025-01-09T00:48:50.075Z,1736383730.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.599998 m,
      bearing: 291.423676 deg,
      lat: 36.903973 deg,
      lon: -122.118986 deg,
      deltaT: 3.527883 s,
      deltaX: -2.900002 m,
      approachRate: -0.822023 m/s,
      posRepo size: 4

2025-01-09T00:48:50.076Z,1736383730.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T00:48:50.079Z,1736383730.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 36.709206 m,
      bearing: 290.164527 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.079590 deg/s,
      cmd heading: 299.544558 deg,
      new cmd heading: 299.420477 deg.

2025-01-09T00:48:50.092Z,1736383730.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.225873 target range: 36.599998 and range: 36.60 m.
2025-01-09T00:48:50.180Z,1736383730.180 [DAT](INFO): DAT read: TxSync time:00:48:49.2815

2025-01-09T00:48:50.510Z,1736383730.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:50.520Z,1736383730.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T00:48:50.523Z,1736383730.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 36.461723 m,
      bearing: 290.106094 deg,
      approach rate: -0.539738 m/s,
      LOS rate: -0.128302 deg/s,
      cmd heading: 299.420467 deg,
      new cmd heading: 299.243979 deg.

2025-01-09T00:48:50.524Z,1736383730.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.222793 target range: 36.599998 and range: 36.60 m.
2025-01-09T00:48:50.990Z,1736383730.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:50.000Z,1736383731.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T00:48:51.003Z,1736383731.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 36.143074 m,
      bearing: 290.020824 deg,
      approach rate: -0.665316 m/s,
      LOS rate: -0.179608 deg/s,
      cmd heading: 299.243975 deg,
      new cmd heading: 298.985911 deg.

2025-01-09T00:48:51.004Z,1736383731.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.218288 target range: 36.599998 and range: 36.60 m.
2025-01-09T00:48:51.321Z,1736383731.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:51.327Z,1736383731.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:51.329Z,1736383731.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T00:48:51.333Z,1736383731.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 35.923702 m,
      bearing: 289.962435 deg,
      approach rate: -0.664650 m/s,
      LOS rate: -0.177985 deg/s,
      cmd heading: 298.985903 deg,
      new cmd heading: 298.809668 deg.

2025-01-09T00:48:51.334Z,1736383731.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215212 target range: 36.599998 and range: 36.60 m.
2025-01-09T00:48:51.441Z,1736383731.441 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:48:51.441Z,1736383731.441 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:48:51.442Z,1736383731.442 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:48:51.692Z,1736383731.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750941
2025-01-09T00:48:51.722Z,1736383731.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:51.741Z,1736383731.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T00:48:51.765Z,1736383731.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 35.656933 m,
      bearing: 289.889672 deg,
      approach rate: -0.648487 m/s,
      LOS rate: -0.178201 deg/s,
      cmd heading: 298.809657 deg,
      new cmd heading: 298.589737 deg.

2025-01-09T00:48:51.768Z,1736383731.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.211374 target range: 36.599998 and range: 36.60 m.
2025-01-09T00:48:51.945Z,1736383731.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003464
2025-01-09T00:48:52.144Z,1736383732.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:52.177Z,1736383732.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T00:48:52.185Z,1736383732.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 35.432850 m,
      bearing: 289.830764 deg,
      approach rate: -0.513824 m/s,
      LOS rate: -0.135931 deg/s,
      cmd heading: 298.589725 deg,
      new cmd heading: 298.411883 deg.

2025-01-09T00:48:52.192Z,1736383732.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.208270 target range: 36.599998 and range: 36.60 m.
2025-01-09T00:48:52.197Z,1736383732.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255487
2025-01-09T00:48:52.448Z,1736383732.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506970
2025-01-09T00:48:52.543Z,1736383732.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:52.553Z,1736383732.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T00:48:52.556Z,1736383732.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 35.221062 m,
      bearing: 289.774392 deg,
      approach rate: -0.563388 m/s,
      LOS rate: -0.150859 deg/s,
      cmd heading: 298.411894 deg,
      new cmd heading: 298.241762 deg.

2025-01-09T00:48:52.557Z,1736383732.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205301 target range: 36.599998 and range: 36.60 m.
2025-01-09T00:48:52.700Z,1736383732.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759134
2025-01-09T00:48:52.956Z,1736383732.956 [DAT](INFO): DAT read: Rx Time:00:48:51.7330

2025-01-09T00:48:52.957Z,1736383732.957 [DAT](INFO): Rx dataTimestamp_ set to:1736383732.956229
2025-01-09T00:48:52.958Z,1736383732.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017173
2025-01-09T00:48:53.028Z,1736383733.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:53.037Z,1736383733.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T00:48:53.041Z,1736383733.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 34.938038 m,
      bearing: 289.706683 deg,
      approach rate: -0.584407 m/s,
      LOS rate: -0.140943 deg/s,
      cmd heading: 298.241767 deg,
      new cmd heading: 298.036996 deg.

2025-01-09T00:48:53.042Z,1736383733.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.201727 target range: 36.599998 and range: 36.60 m.
2025-01-09T00:48:53.206Z,1736383733.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264189
2025-01-09T00:48:53.350Z,1736383733.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:53.370Z,1736383733.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:53.373Z,1736383733.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T00:48:53.381Z,1736383733.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 34.750023 m,
      bearing: 289.662268 deg,
      approach rate: -0.559201 m/s,
      LOS rate: -0.132816 deg/s,
      cmd heading: 298.036998 deg,
      new cmd heading: 297.903032 deg.

2025-01-09T00:48:53.384Z,1736383733.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.199389 target range: 36.599998 and range: 36.60 m.
2025-01-09T00:48:53.463Z,1736383733.463 [DAT](INFO): DAT read: 00:48:51.7330 LVL= 19440, 28081, 15506, 26019, AGC= 57, IDX= 425, 0.02, 1.072,-0.224, 1.455, 0.895, PHS= 0.266,-1.071, 0.557, RAW= 159.6,   3.3, CAL= 160.8,  -5.7, ROT= 349.2,   5.7

2025-01-09T00:48:53.464Z,1736383733.464 [DAT](INFO): got valid direction response:
 00:48:51.7330 LVL= 19440, 28081, 15506, 26019, AGC= 57, IDX= 425, 0.02, 1.072,-0.224, 1.455, 0.895, PHS= 0.266,-1.071, 0.557, RAW= 159.6,   3.3, CAL= 160.8,  -5.7, ROT= 349.2,   5.7

2025-01-09T00:48:53.465Z,1736383733.465 [DAT](INFO): DAT read: Bearing 349.2,   5.7 (Local)

2025-01-09T00:48:53.465Z,1736383733.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.2,   5.7 (Local)

2025-01-09T00:48:53.468Z,1736383733.468 [DAT](INFO): DAT read: Range 10 to 50 : 34.8 m  (Round-trip  46.5 ms) speed  0.4 m/s

2025-01-09T00:48:53.469Z,1736383733.469 [DAT](INFO): DAT read: user:3772>

2025-01-09T00:48:53.469Z,1736383733.469 [DAT](INFO): DAT read: Tx time:00:48:52.8323

2025-01-09T00:48:53.470Z,1736383733.470 [DAT](INFO): Ping request sent.
2025-01-09T00:48:53.470Z,1736383733.470 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:53.470Z,1736383733.470 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:48:53.471Z,1736383733.471 [DAT](INFO): direction in FSK: [0.977430,-0.186455,-0.099320]
2025-01-09T00:48:53.472Z,1736383733.472 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:53.472Z,1736383733.472 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:53.475Z,1736383733.475 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:53.475Z,1736383733.475 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:53.478Z,1736383733.478 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.008370
2025-01-09T00:48:53.709Z,1736383733.709 [DAT](INFO): DAT read: TxSync time:00:48:52.8315

2025-01-09T00:48:53.710Z,1736383733.710 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.239895
2025-01-09T00:48:53.746Z,1736383733.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:53.784Z,1736383733.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.799999 m,
      deltaT: 3.527953 s,
      deltaX: -1.799999 m,
      approachRate: -0.510211 m/s,
      rangeRepo size: 4

2025-01-09T00:48:53.786Z,1736383733.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.799999 m,
      bearing: 291.309448 deg,
      lat: 36.903975 deg,
      lon: -122.118986 deg,
      deltaT: 3.527953 s,
      deltaX: -1.799999 m,
      approachRate: -0.510211 m/s,
      posRepo size: 4

2025-01-09T00:48:53.787Z,1736383733.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T00:48:53.794Z,1736383733.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 34.541706 m,
      bearing: 289.978909 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.132816 deg/s,
      cmd heading: 297.903045 deg,
      new cmd heading: 297.741467 deg.

2025-01-09T00:48:53.800Z,1736383733.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196569 target range: 34.799999 and range: 34.80 m.
2025-01-09T00:48:53.960Z,1736383733.960 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.490602
2025-01-09T00:48:54.178Z,1736383734.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:54.207Z,1736383734.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T00:48:54.212Z,1736383734.212 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.742471
2025-01-09T00:48:54.219Z,1736383734.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 34.268539 m,
      bearing: 289.931420 deg,
      approach rate: -0.638647 m/s,
      LOS rate: -0.111912 deg/s,
      cmd heading: 297.741470 deg,
      new cmd heading: 297.597866 deg.

2025-01-09T00:48:54.222Z,1736383734.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.194063 target range: 34.799999 and range: 34.80 m.
2025-01-09T00:48:54.465Z,1736383734.465 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.995124
2025-01-09T00:48:54.555Z,1736383734.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:54.580Z,1736383734.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T00:48:54.588Z,1736383734.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 34.029423 m,
      bearing: 289.891768 deg,
      approach rate: -0.639472 m/s,
      LOS rate: -0.106787 deg/s,
      cmd heading: 297.597872 deg,
      new cmd heading: 297.478080 deg.

2025-01-09T00:48:54.589Z,1736383734.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.191972 target range: 34.799999 and range: 34.80 m.
2025-01-09T00:48:54.717Z,1736383734.717 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.246933
2025-01-09T00:48:54.971Z,1736383734.971 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.500652
2025-01-09T00:48:55.033Z,1736383735.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:55.042Z,1736383735.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T00:48:55.045Z,1736383735.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.696537 m,
      bearing: 289.865319 deg,
      approach rate: -0.721005 m/s,
      LOS rate: -0.057851 deg/s,
      cmd heading: 297.478070 deg,
      new cmd heading: 297.397941 deg.

2025-01-09T00:48:55.046Z,1736383735.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.190573 target range: 34.799999 and range: 34.80 m.
2025-01-09T00:48:55.220Z,1736383735.220 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.750358
2025-01-09T00:48:55.374Z,1736383735.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:55.393Z,1736383735.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:55.395Z,1736383735.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T00:48:55.398Z,1736383735.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.459778 m,
      bearing: 289.846188 deg,
      approach rate: -0.671714 m/s,
      LOS rate: -0.054662 deg/s,
      cmd heading: 297.397939 deg,
      new cmd heading: 297.340138 deg.

2025-01-09T00:48:55.416Z,1736383735.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189564 target range: 34.799999 and range: 34.80 m.
2025-01-09T00:48:55.473Z,1736383735.473 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.003340
2025-01-09T00:48:55.724Z,1736383735.724 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.254372
2025-01-09T00:48:55.772Z,1736383735.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:55.781Z,1736383735.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T00:48:55.784Z,1736383735.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.182098 m,
      bearing: 289.826812 deg,
      approach rate: -0.719222 m/s,
      LOS rate: -0.050607 deg/s,
      cmd heading: 297.340128 deg,
      new cmd heading: 297.281513 deg.

2025-01-09T00:48:55.785Z,1736383735.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188541 target range: 34.799999 and range: 34.80 m.
2025-01-09T00:48:55.984Z,1736383735.984 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.513201
2025-01-09T00:48:56.200Z,1736383736.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:56.211Z,1736383736.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T00:48:56.214Z,1736383736.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 32.860825 m,
      bearing: 289.817364 deg,
      approach rate: -0.746870 m/s,
      LOS rate: -0.022177 deg/s,
      cmd heading: 297.281525 deg,
      new cmd heading: 297.252905 deg.

2025-01-09T00:48:56.215Z,1736383736.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188042 target range: 34.799999 and range: 34.80 m.
2025-01-09T00:48:56.228Z,1736383736.228 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.758438
2025-01-09T00:48:56.480Z,1736383736.480 [DAT](INFO): DAT read: Rx Time:00:48:55.2804

2025-01-09T00:48:56.481Z,1736383736.481 [DAT](INFO): Rx dataTimestamp_ set to:1736383736.480412
2025-01-09T00:48:56.481Z,1736383736.481 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.011388
2025-01-09T00:48:56.575Z,1736383736.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:56.585Z,1736383736.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T00:48:56.588Z,1736383736.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 32.578892 m,
      bearing: 289.811599 deg,
      approach rate: -0.753221 m/s,
      LOS rate: -0.015536 deg/s,
      cmd heading: 297.252893 deg,
      new cmd heading: 297.235447 deg.

2025-01-09T00:48:56.589Z,1736383736.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.187737 target range: 34.799999 and range: 34.80 m.
2025-01-09T00:48:56.733Z,1736383736.733 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.263415
2025-01-09T00:48:57.022Z,1736383737.022 [DAT](INFO): DAT read: 00:48:55.2804 LVL= 24304, 28721, 20450, 32755, AGC= 58, IDX= 415,-0.19, 1.880, 0.483, 2.152, 1.605, PHS= 0.363,-1.074, 0.544, RAW= 155.8,   2.2, CAL= 157.8,  -6.7, ROT= 352.2,   6.7

2025-01-09T00:48:57.023Z,1736383737.023 [DAT](INFO): got valid direction response:
 00:48:55.2804 LVL= 24304, 28721, 20450, 32755, AGC= 58, IDX= 415,-0.19, 1.880, 0.483, 2.152, 1.605, PHS= 0.363,-1.074, 0.544, RAW= 155.8,   2.2, CAL= 157.8,  -6.7, ROT= 352.2,   6.7

2025-01-09T00:48:57.024Z,1736383737.024 [DAT](INFO): DAT read: Bearing 352.2,   6.7 (Local)

2025-01-09T00:48:57.024Z,1736383737.024 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.2,   6.7 (Local)

2025-01-09T00:48:57.026Z,1736383737.026 [DAT](INFO): DAT read: Range 10 to 50 : 33.0 m  (Round-trip  44.0 ms) speed  0.5 m/s

2025-01-09T00:48:57.026Z,1736383737.026 [DAT](INFO): DAT read: user:3773>

2025-01-09T00:48:57.040Z,1736383737.040 [DAT](INFO): DAT read: Tx time:00:48:56.3823

2025-01-09T00:48:57.040Z,1736383737.040 [DAT](INFO): Ping request sent.
2025-01-09T00:48:57.040Z,1736383737.040 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:48:57.040Z,1736383737.040 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-09T00:48:57.041Z,1736383737.041 [DAT](INFO): direction in FSK: [0.983982,-0.134788,-0.116671]
2025-01-09T00:48:57.042Z,1736383737.042 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:57.042Z,1736383737.042 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:57.054Z,1736383737.054 [DAT](INFO): publishing transmit ping time
2025-01-09T00:48:57.054Z,1736383737.054 [DAT](INFO): publishing direction and range info
2025-01-09T00:48:57.069Z,1736383737.069 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.029435
2025-01-09T00:48:57.155Z,1736383737.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:57.200Z,1736383737.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.000000 m,
      deltaT: 3.530586 s,
      deltaX: -1.799999 m,
      approachRate: -0.509830 m/s,
      rangeRepo size: 4

2025-01-09T00:48:57.202Z,1736383737.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.000000 m,
      bearing: 292.085005 deg,
      lat: 36.903979 deg,
      lon: -122.118988 deg,
      deltaT: 3.530586 s,
      deltaX: -1.799999 m,
      approachRate: -0.509830 m/s,
      posRepo size: 4

2025-01-09T00:48:57.203Z,1736383737.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-01-09T00:48:57.210Z,1736383737.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 32.474125 m,
      bearing: 290.430694 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015536 deg/s,
      cmd heading: 297.235435 deg,
      new cmd heading: 297.207020 deg.

2025-01-09T00:48:57.222Z,1736383737.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.187241 target range: 33.000000 and range: 33.00 m.
2025-01-09T00:48:57.236Z,1736383737.236 [DAT](INFO): DAT read: TxSync time:00:48:56.3815

2025-01-09T00:48:57.237Z,1736383737.237 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.197132
2025-01-09T00:48:57.488Z,1736383737.488 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.448407
2025-01-09T00:48:57.690Z,1736383737.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:57.705Z,1736383737.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:57.712Z,1736383737.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-01-09T00:48:57.714Z,1736383737.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 32.056969 m,
      bearing: 290.468158 deg,
      approach rate: -0.813933 m/s,
      LOS rate: 0.074049 deg/s,
      cmd heading: 297.207021 deg,
      new cmd heading: 297.320875 deg.

2025-01-09T00:48:57.721Z,1736383737.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189228 target range: 33.000000 and range: 33.00 m.
2025-01-09T00:48:57.741Z,1736383737.741 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.700741
2025-01-09T00:48:57.995Z,1736383737.995 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.954319
2025-01-09T00:48:58.188Z,1736383738.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:58.197Z,1736383738.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-01-09T00:48:58.201Z,1736383738.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 31.661243 m,
      bearing: 290.512949 deg,
      approach rate: -0.808490 m/s,
      LOS rate: 0.092656 deg/s,
      cmd heading: 297.320867 deg,
      new cmd heading: 297.456921 deg.

2025-01-09T00:48:58.202Z,1736383738.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.191603 target range: 33.000000 and range: 33.00 m.
2025-01-09T00:48:58.244Z,1736383738.244 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.204324
2025-01-09T00:48:58.498Z,1736383738.498 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.457713
2025-01-09T00:48:58.581Z,1736383738.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:58.598Z,1736383738.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-01-09T00:48:58.602Z,1736383738.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 31.349655 m,
      bearing: 290.550256 deg,
      approach rate: -0.775991 m/s,
      LOS rate: 0.093832 deg/s,
      cmd heading: 297.456924 deg,
      new cmd heading: 297.569955 deg.

2025-01-09T00:48:58.607Z,1736383738.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.193575 target range: 33.000000 and range: 33.00 m.
2025-01-09T00:48:58.748Z,1736383738.748 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.708177
2025-01-09T00:48:58.970Z,1736383738.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:59.004Z,1736383739.004 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.962985
2025-01-09T00:48:59.042Z,1736383739.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-01-09T00:48:59.052Z,1736383739.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 31.040827 m,
      bearing: 290.589446 deg,
      approach rate: -0.698092 m/s,
      LOS rate: 0.089470 deg/s,
      cmd heading: 297.569950 deg,
      new cmd heading: 297.688691 deg.

2025-01-09T00:48:59.053Z,1736383739.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195648 target range: 33.000000 and range: 33.00 m.
2025-01-09T00:48:59.254Z,1736383739.254 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.213723
2025-01-09T00:48:59.414Z,1736383739.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:59.423Z,1736383739.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-01-09T00:48:59.428Z,1736383739.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 30.701159 m,
      bearing: 290.642988 deg,
      approach rate: -0.888284 m/s,
      LOS rate: 0.141570 deg/s,
      cmd heading: 297.688686 deg,
      new cmd heading: 297.851089 deg.

2025-01-09T00:48:59.431Z,1736383739.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198482 target range: 33.000000 and range: 33.00 m.
2025-01-09T00:48:59.505Z,1736383739.505 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.464931
2025-01-09T00:48:59.756Z,1736383739.756 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.716280
2025-01-09T00:48:59.790Z,1736383739.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:48:59.797Z,1736383739.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:48:59.800Z,1736383739.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-01-09T00:48:59.803Z,1736383739.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 30.413366 m,
      bearing: 290.690313 deg,
      approach rate: -0.765802 m/s,
      LOS rate: 0.127120 deg/s,
      cmd heading: 297.851081 deg,
      new cmd heading: 297.994397 deg.

2025-01-09T00:48:59.804Z,1736383739.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200984 target range: 33.000000 and range: 33.00 m.
2025-01-09T00:49:00.011Z,1736383740.011 [DAT](INFO): DAT read: Rx Time:00:48:58.8267

2025-01-09T00:49:00.012Z,1736383740.012 [DAT](INFO): Rx dataTimestamp_ set to:1736383740.011387
2025-01-09T00:49:00.014Z,1736383740.014 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.973431
2025-01-09T00:49:00.214Z,1736383740.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:00.223Z,1736383740.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-01-09T00:49:00.226Z,1736383740.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 30.107368 m,
      bearing: 290.735648 deg,
      approach rate: -0.721309 m/s,
      LOS rate: 0.107952 deg/s,
      cmd heading: 297.994405 deg,
      new cmd heading: 298.131793 deg.

2025-01-09T00:49:00.228Z,1736383740.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203382 target range: 33.000000 and range: 33.00 m.
2025-01-09T00:49:00.261Z,1736383740.261 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.220611
2025-01-09T00:49:00.516Z,1736383740.516 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.475437
2025-01-09T00:49:00.587Z,1736383740.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:00.612Z,1736383740.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-01-09T00:49:00.615Z,1736383740.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 29.838289 m,
      bearing: 290.775888 deg,
      approach rate: -0.691733 m/s,
      LOS rate: 0.104380 deg/s,
      cmd heading: 298.131801 deg,
      new cmd heading: 298.253610 deg.

2025-01-09T00:49:00.621Z,1736383740.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205507 target range: 33.000000 and range: 33.00 m.
2025-01-09T00:49:00.783Z,1736383740.783 [DAT](INFO): DAT read: 00:48:58.8267 LVL= 20704, 28609, 18130, 30611, AGC= 61, IDX= 408,-0.40,-0.505,-1.890,-0.369,-0.803, PHS= 0.386,-1.040, 0.431, RAW= 151.5,   3.1, CAL= 153.6,  -5.8, ROT= 356.4,   5.8

2025-01-09T00:49:00.784Z,1736383740.784 [DAT](INFO): got valid direction response:
 00:48:58.8267 LVL= 20704, 28609, 18130, 30611, AGC= 61, IDX= 408,-0.40,-0.505,-1.890,-0.369,-0.803, PHS= 0.386,-1.040, 0.431, RAW= 151.5,   3.1, CAL= 153.6,  -5.8, ROT= 356.4,   5.8

2025-01-09T00:49:00.785Z,1736383740.785 [DAT](INFO): DAT read: Bearing 356.4,   5.8 (Local)

2025-01-09T00:49:00.786Z,1736383740.786 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,   5.8 (Local)

2025-01-09T00:49:00.787Z,1736383740.787 [DAT](INFO): DAT read: Range 10 to 50 : 30.1 m  (Round-trip  40.2 ms) speed  0.7 m/s

2025-01-09T00:49:00.788Z,1736383740.788 [DAT](INFO): DAT read: user:3774>

2025-01-09T00:49:00.789Z,1736383740.789 [DAT](INFO): DAT read: Tx time:00:48:59.9324

2025-01-09T00:49:00.789Z,1736383740.789 [DAT](INFO): Ping request sent.
2025-01-09T00:49:00.789Z,1736383740.789 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:49:00.790Z,1736383740.790 [DAT](INFO): DAT read: TxSync time:00:48:59.9316

2025-01-09T00:49:00.790Z,1736383740.790 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-09T00:49:00.820Z,1736383740.820 [DAT](INFO): direction in FSK: [0.992918,-0.062469,-0.101056]
2025-01-09T00:49:00.820Z,1736383740.820 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:00.820Z,1736383740.820 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:00.832Z,1736383740.832 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:00.833Z,1736383740.833 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:00.842Z,1736383740.842 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.052238
2025-01-09T00:49:00.986Z,1736383740.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:01.019Z,1736383741.019 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.228876
2025-01-09T00:49:01.103Z,1736383741.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.100000 m,
      deltaT: 3.778150 s,
      deltaX: -2.900000 m,
      approachRate: -0.767571 m/s,
      rangeRepo size: 4

2025-01-09T00:49:01.105Z,1736383741.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.100000 m,
      bearing: 295.138297 deg,
      lat: 36.903982 deg,
      lon: -122.118984 deg,
      deltaT: 3.778150 s,
      deltaX: -2.900000 m,
      approachRate: -0.767571 m/s,
      posRepo size: 4

2025-01-09T00:49:01.106Z,1736383741.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-01-09T00:49:01.113Z,1736383741.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.100000 m,
      nav range: 29.323385 m,
      bearing: 291.745825 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104380 deg/s,
      cmd heading: 298.253597 deg,
      new cmd heading: 298.404603 deg.

2025-01-09T00:49:01.114Z,1736383741.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.208143 target range: 30.100000 and range: 30.10 m.
2025-01-09T00:49:01.270Z,1736383741.270 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.480049
2025-01-09T00:49:01.440Z,1736383741.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:01.449Z,1736383741.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-01-09T00:49:01.472Z,1736383741.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.100000 m,
      nav range: 29.018126 m,
      bearing: 291.793515 deg,
      approach rate: -0.861634 m/s,
      LOS rate: 0.136028 deg/s,
      cmd heading: 298.404599 deg,
      new cmd heading: 298.549175 deg.

2025-01-09T00:49:01.473Z,1736383741.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.210666 target range: 30.100000 and range: 30.10 m.
2025-01-09T00:49:01.521Z,1736383741.521 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.731102
2025-01-09T00:49:01.772Z,1736383741.772 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.982840
2025-01-09T00:49:01.833Z,1736383741.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:01.840Z,1736383741.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:01.842Z,1736383741.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-01-09T00:49:01.845Z,1736383741.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.100000 m,
      nav range: 28.754559 m,
      bearing: 291.834319 deg,
      approach rate: -0.670122 m/s,
      LOS rate: 0.104695 deg/s,
      cmd heading: 298.549181 deg,
      new cmd heading: 298.672713 deg.

2025-01-09T00:49:01.846Z,1736383741.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.212822 target range: 30.100000 and range: 30.10 m.
2025-01-09T00:49:02.028Z,1736383742.028 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.238548
2025-01-09T00:49:02.247Z,1736383742.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:02.257Z,1736383742.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-01-09T00:49:02.260Z,1736383742.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.100000 m,
      nav range: 28.492903 m,
      bearing: 291.859434 deg,
      approach rate: -0.630452 m/s,
      LOS rate: 0.061070 deg/s,
      cmd heading: 298.672725 deg,
      new cmd heading: 298.748762 deg.

2025-01-09T00:49:02.261Z,1736383742.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.214149 target range: 30.100000 and range: 30.10 m.
2025-01-09T00:49:02.276Z,1736383742.276 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.486945
2025-01-09T00:49:02.529Z,1736383742.529 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.739266
2025-01-09T00:49:02.625Z,1736383742.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:02.636Z,1736383742.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-01-09T00:49:02.639Z,1736383742.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.100000 m,
      nav range: 28.253685 m,
      bearing: 291.879797 deg,
      approach rate: -0.632615 m/s,
      LOS rate: 0.054307 deg/s,
      cmd heading: 298.748759 deg,
      new cmd heading: 298.810366 deg.

2025-01-09T00:49:02.640Z,1736383742.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215225 target range: 30.100000 and range: 30.10 m.
2025-01-09T00:49:02.781Z,1736383742.781 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.991632
2025-01-09T00:49:03.034Z,1736383743.034 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.244718
2025-01-09T00:49:03.117Z,1736383743.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:03.126Z,1736383743.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-01-09T00:49:03.129Z,1736383743.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.100000 m,
      nav range: 27.942999 m,
      bearing: 291.904922 deg,
      approach rate: -0.633128 m/s,
      LOS rate: 0.051769 deg/s,
      cmd heading: 298.810367 deg,
      new cmd heading: 298.886578 deg.

2025-01-09T00:49:03.130Z,1736383743.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.216555 target range: 30.100000 and range: 30.10 m.
2025-01-09T00:49:03.284Z,1736383743.284 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.495055
2025-01-09T00:49:03.513Z,1736383743.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:03.536Z,1736383743.536 [DAT](INFO): DAT read: Rx Time:00:49:02.3730

2025-01-09T00:49:03.537Z,1736383743.537 [DAT](INFO): Rx dataTimestamp_ set to:1736383743.536671
2025-01-09T00:49:03.537Z,1736383743.537 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.748094
2025-01-09T00:49:03.539Z,1736383743.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-01-09T00:49:03.542Z,1736383743.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.100000 m,
      nav range: 27.714022 m,
      bearing: 291.903018 deg,
      approach rate: -0.559457 m/s,
      LOS rate: -0.004690 deg/s,
      cmd heading: 298.886592 deg,
      new cmd heading: 298.880833 deg.

2025-01-09T00:49:03.552Z,1736383743.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.216455 target range: 30.100000 and range: 30.10 m.
2025-01-09T00:49:03.788Z,1736383743.788 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.998906
2025-01-09T00:49:03.865Z,1736383743.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:03.873Z,1736383743.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:03.874Z,1736383743.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-01-09T00:49:03.878Z,1736383743.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.100000 m,
      nav range: 27.510487 m,
      bearing: 291.899961 deg,
      approach rate: -0.599774 m/s,
      LOS rate: -0.009076 deg/s,
      cmd heading: 298.880827 deg,
      new cmd heading: 298.871588 deg.

2025-01-09T00:49:03.879Z,1736383743.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.216293 target range: 30.100000 and range: 30.10 m.
2025-01-09T00:49:04.046Z,1736383744.046 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.255471
2025-01-09T00:49:04.281Z,1736383744.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:04.305Z,1736383744.305 [DAT](INFO): DAT read: 00:49:02.3730 LVL= 16000, 28993, 15666, 28275, AGC= 55, IDX= 402,-0.00,-1.362,-2.759,-1.218,-1.682, PHS= 0.407,-1.030, 0.461, RAW= 151.8,   2.2, CAL= 154.2,  -6.7, ROT= 355.8,   6.7

2025-01-09T00:49:04.306Z,1736383744.306 [DAT](INFO): got valid direction response:
 00:49:02.3730 LVL= 16000, 28993, 15666, 28275, AGC= 55, IDX= 402,-0.00,-1.362,-2.759,-1.218,-1.682, PHS= 0.407,-1.030, 0.461, RAW= 151.8,   2.2, CAL= 154.2,  -6.7, ROT= 355.8,   6.7

2025-01-09T00:49:04.307Z,1736383744.307 [DAT](INFO): DAT read: Bearing 355.8,   6.7 (Local)

2025-01-09T00:49:04.307Z,1736383744.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,   6.7 (Local)

2025-01-09T00:49:04.309Z,1736383744.309 [DAT](INFO): DAT read: Range 10 to 50 : 27.3 m  (Round-trip  36.5 ms) speed  0.5 m/s

2025-01-09T00:49:04.309Z,1736383744.309 [DAT](INFO): DAT read: user:3775>

2025-01-09T00:49:04.310Z,1736383744.310 [DAT](INFO): DAT read: Tx time:00:49:03.4824

2025-01-09T00:49:04.310Z,1736383744.310 [DAT](INFO): Ping request sent.
2025-01-09T00:49:04.311Z,1736383744.311 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:49:04.319Z,1736383744.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.10 m.
2025-01-09T00:49:04.326Z,1736383744.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.100000 m,
      nav range: 27.278568 m,
      bearing: 291.887023 deg,
      approach rate: -0.522243 m/s,
      LOS rate: -0.029383 deg/s,
      cmd heading: 298.871593 deg,
      new cmd heading: 298.832448 deg.

2025-01-09T00:49:04.327Z,1736383744.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215610 target range: 30.100000 and range: 30.10 m.
2025-01-09T00:49:04.331Z,1736383744.331 [DAT](INFO): DAT read: TxSync time:00:49:03.4816

2025-01-09T00:49:04.333Z,1736383744.333 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-01-09T00:49:04.334Z,1736383744.334 [DAT](INFO): direction in FSK: [0.990503,-0.072738,-0.116671]
2025-01-09T00:49:04.335Z,1736383744.335 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:04.335Z,1736383744.335 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:04.356Z,1736383744.356 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:04.356Z,1736383744.356 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:04.367Z,1736383744.367 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.056804
2025-01-09T00:49:04.545Z,1736383744.545 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.234463
2025-01-09T00:49:04.760Z,1736383744.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:04.776Z,1736383744.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 3.528733 s,
      deltaX: -2.800001 m,
      approachRate: -0.793486 m/s,
      rangeRepo size: 4

2025-01-09T00:49:04.778Z,1736383744.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.299999 m,
      bearing: 296.261291 deg,
      lat: 36.903988 deg,
      lon: -122.118983 deg,
      deltaT: 3.528733 s,
      deltaX: -2.800001 m,
      approachRate: -0.793486 m/s,
      posRepo size: 4

2025-01-09T00:49:04.778Z,1736383744.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-01-09T00:49:04.781Z,1736383744.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.299999 m,
      nav range: 27.214510 m,
      bearing: 293.180806 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029383 deg/s,
      cmd heading: 298.832442 deg,
      new cmd heading: 298.792252 deg.

2025-01-09T00:49:04.784Z,1736383744.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.214909 target range: 27.299999 and range: 27.30 m.
2025-01-09T00:49:04.796Z,1736383744.796 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.485489
2025-01-09T00:49:05.049Z,1736383745.049 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.737841
2025-01-09T00:49:05.189Z,1736383745.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:05.197Z,1736383745.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-01-09T00:49:05.201Z,1736383745.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.299999 m,
      nav range: 26.984438 m,
      bearing: 293.163347 deg,
      approach rate: -0.544396 m/s,
      LOS rate: -0.041664 deg/s,
      cmd heading: 298.792253 deg,
      new cmd heading: 298.739430 deg.

2025-01-09T00:49:05.202Z,1736383745.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.213987 target range: 27.299999 and range: 27.30 m.
2025-01-09T00:49:05.301Z,1736383745.301 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.990461
2025-01-09T00:49:05.552Z,1736383745.552 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.241553
2025-01-09T00:49:05.634Z,1736383745.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:05.643Z,1736383745.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-01-09T00:49:05.646Z,1736383745.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.299999 m,
      nav range: 26.744963 m,
      bearing: 293.142640 deg,
      approach rate: -0.537383 m/s,
      LOS rate: -0.046883 deg/s,
      cmd heading: 298.739442 deg,
      new cmd heading: 298.676765 deg.

2025-01-09T00:49:05.647Z,1736383745.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.212893 target range: 27.299999 and range: 27.30 m.
2025-01-09T00:49:05.806Z,1736383745.806 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.495020
2025-01-09T00:49:06.032Z,1736383746.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:06.057Z,1736383746.057 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.746317
2025-01-09T00:49:06.058Z,1736383746.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:06.061Z,1736383746.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-01-09T00:49:06.068Z,1736383746.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.299999 m,
      nav range: 26.531546 m,
      bearing: 293.121817 deg,
      approach rate: -0.510671 m/s,
      LOS rate: -0.050226 deg/s,
      cmd heading: 298.676768 deg,
      new cmd heading: 298.613797 deg.

2025-01-09T00:49:06.070Z,1736383746.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.211794 target range: 27.299999 and range: 27.30 m.
2025-01-09T00:49:06.308Z,1736383746.308 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.997589
2025-01-09T00:49:06.557Z,1736383746.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:06.560Z,1736383746.560 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.249808
2025-01-09T00:49:06.598Z,1736383746.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-01-09T00:49:06.606Z,1736383746.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.299999 m,
      nav range: 26.242249 m,
      bearing: 293.092541 deg,
      approach rate: -0.538566 m/s,
      LOS rate: -0.055103 deg/s,
      cmd heading: 298.613794 deg,
      new cmd heading: 298.524997 deg.

2025-01-09T00:49:06.607Z,1736383746.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.210244 target range: 27.299999 and range: 27.30 m.
2025-01-09T00:49:06.812Z,1736383746.812 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.501630
2025-01-09T00:49:06.954Z,1736383746.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:06.962Z,1736383746.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-01-09T00:49:06.966Z,1736383746.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.299999 m,
      nav range: 26.024021 m,
      bearing: 293.068043 deg,
      approach rate: -0.598896 m/s,
      LOS rate: -0.067796 deg/s,
      cmd heading: 298.525002 deg,
      new cmd heading: 298.450891 deg.

2025-01-09T00:49:06.967Z,1736383746.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.208951 target range: 27.299999 and range: 27.30 m.
2025-01-09T00:49:07.065Z,1736383747.065 [DAT](INFO): DAT read: Rx Time:00:49:05.9205

2025-01-09T00:49:07.066Z,1736383747.066 [DAT](INFO): Rx dataTimestamp_ set to:1736383747.065289
2025-01-09T00:49:07.067Z,1736383747.067 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.756063
2025-01-09T00:49:07.317Z,1736383747.317 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.006002
2025-01-09T00:49:07.411Z,1736383747.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:07.420Z,1736383747.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-01-09T00:49:07.423Z,1736383747.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.299999 m,
      nav range: 25.757191 m,
      bearing: 293.039015 deg,
      approach rate: -0.583097 m/s,
      LOS rate: -0.064090 deg/s,
      cmd heading: 298.450880 deg,
      new cmd heading: 298.362897 deg.

2025-01-09T00:49:07.424Z,1736383747.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.207415 target range: 27.299999 and range: 27.30 m.
2025-01-09T00:49:07.570Z,1736383747.570 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.259050
2025-01-09T00:49:07.761Z,1736383747.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:07.770Z,1736383747.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-01-09T00:49:07.773Z,1736383747.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.299999 m,
      nav range: 25.553045 m,
      bearing: 293.016041 deg,
      approach rate: -0.582190 m/s,
      LOS rate: -0.066044 deg/s,
      cmd heading: 298.362908 deg,
      new cmd heading: 298.293432 deg.

2025-01-09T00:49:07.774Z,1736383747.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206203 target range: 27.299999 and range: 27.30 m.
2025-01-09T00:49:07.828Z,1736383747.828 [DAT](INFO): DAT read: 00:49:05.9205 LVL= 17520, 25937, 19378, 28419, AGC= 54, IDX= 408,-0.29,-2.242, 2.714,-2.032,-2.548, PHS= 0.394,-0.974, 0.513, RAW= 154.1,   1.0, CAL= 156.6,  -7.9, ROT= 353.4,   7.9

2025-01-09T00:49:07.829Z,1736383747.829 [DAT](INFO): got valid direction response:
 00:49:05.9205 LVL= 17520, 25937, 19378, 28419, AGC= 54, IDX= 408,-0.29,-2.242, 2.714,-2.032,-2.548, PHS= 0.394,-0.974, 0.513, RAW= 154.1,   1.0, CAL= 156.6,  -7.9, ROT= 353.4,   7.9

2025-01-09T00:49:07.831Z,1736383747.831 [DAT](INFO): DAT read: Bearing 353.4,   7.9 (Local)

2025-01-09T00:49:07.832Z,1736383747.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.4,   7.9 (Local)

2025-01-09T00:49:07.834Z,1736383747.834 [DAT](INFO): DAT read: Range 10 to 50 : 25.4 m  (Round-trip  33.9 ms) speed  0.4 m/s

2025-01-09T00:49:07.841Z,1736383747.841 [DAT](INFO): DAT read: user:3776>

2025-01-09T00:49:07.845Z,1736383747.845 [DAT](INFO): DAT read: Tx time:00:49:07.0339

2025-01-09T00:49:07.845Z,1736383747.845 [DAT](INFO): Ping request sent.
2025-01-09T00:49:07.845Z,1736383747.845 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:49:07.846Z,1736383747.846 [DAT](INFO): DAT read: TxSync time:00:49:07.0332

2025-01-09T00:49:07.847Z,1736383747.847 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-01-09T00:49:07.849Z,1736383747.849 [DAT](INFO): direction in FSK: [0.983945,-0.113846,-0.137445]
2025-01-09T00:49:07.850Z,1736383747.850 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:07.850Z,1736383747.850 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:07.867Z,1736383747.867 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:07.867Z,1736383747.867 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:07.897Z,1736383747.897 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.051342
2025-01-09T00:49:08.073Z,1736383748.073 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.227215
2025-01-09T00:49:08.219Z,1736383748.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:08.258Z,1736383748.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.400000 m,
      deltaT: 3.526617 s,
      deltaX: -1.900000 m,
      approachRate: -0.538760 m/s,
      rangeRepo size: 4

2025-01-09T00:49:08.267Z,1736383748.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.400000 m,
      bearing: 294.827838 deg,
      lat: 36.903995 deg,
      lon: -122.118983 deg,
      deltaT: 3.526617 s,
      deltaX: -1.900000 m,
      approachRate: -0.538760 m/s,
      posRepo size: 4

2025-01-09T00:49:08.273Z,1736383748.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m.
2025-01-09T00:49:08.296Z,1736383748.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.400000 m,
      nav range: 25.573263 m,
      bearing: 294.532425 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.066044 deg/s,
      cmd heading: 298.293431 deg,
      new cmd heading: 298.196956 deg.

2025-01-09T00:49:08.297Z,1736383748.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204519 target range: 25.400000 and range: 25.40 m.
2025-01-09T00:49:08.324Z,1736383748.324 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.478938
2025-01-09T00:49:08.577Z,1736383748.577 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.731706
2025-01-09T00:49:08.601Z,1736383748.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:08.628Z,1736383748.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:08.630Z,1736383748.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m.
2025-01-09T00:49:08.634Z,1736383748.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.400000 m,
      nav range: 25.340202 m,
      bearing: 294.535976 deg,
      approach rate: -0.625121 m/s,
      LOS rate: 0.009611 deg/s,
      cmd heading: 298.196961 deg,
      new cmd heading: 298.207711 deg.

2025-01-09T00:49:08.640Z,1736383748.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204706 target range: 25.400000 and range: 25.40 m.
2025-01-09T00:49:08.828Z,1736383748.828 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.982769
2025-01-09T00:49:08.993Z,1736383748.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:09.026Z,1736383749.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m.
2025-01-09T00:49:09.034Z,1736383749.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.400000 m,
      nav range: 25.101307 m,
      bearing: 294.541031 deg,
      approach rate: -0.604000 m/s,
      LOS rate: 0.012903 deg/s,
      cmd heading: 298.207698 deg,
      new cmd heading: 298.223009 deg.

2025-01-09T00:49:09.035Z,1736383749.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204973 target range: 25.400000 and range: 25.40 m.
2025-01-09T00:49:09.081Z,1736383749.081 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.235118
2025-01-09T00:49:09.333Z,1736383749.333 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.487295
2025-01-09T00:49:09.423Z,1736383749.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:09.434Z,1736383749.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m.
2025-01-09T00:49:09.437Z,1736383749.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.400000 m,
      nav range: 24.817307 m,
      bearing: 294.559541 deg,
      approach rate: -0.696252 m/s,
      LOS rate: 0.045898 deg/s,
      cmd heading: 298.222998 deg,
      new cmd heading: 298.279164 deg.

2025-01-09T00:49:09.438Z,1736383749.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205954 target range: 25.400000 and range: 25.40 m.
2025-01-09T00:49:09.584Z,1736383749.584 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.738739
2025-01-09T00:49:09.811Z,1736383749.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:09.820Z,1736383749.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m.
2025-01-09T00:49:09.823Z,1736383749.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.400000 m,
      nav range: 24.560530 m,
      bearing: 294.575767 deg,
      approach rate: -0.664294 m/s,
      LOS rate: 0.042416 deg/s,
      cmd heading: 298.279170 deg,
      new cmd heading: 298.328356 deg.

2025-01-09T00:49:09.824Z,1736383749.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206812 target range: 25.400000 and range: 25.40 m.
2025-01-09T00:49:09.836Z,1736383749.836 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.990930
2025-01-09T00:49:10.088Z,1736383750.088 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.243024
2025-01-09T00:49:10.242Z,1736383750.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:10.251Z,1736383750.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m.
2025-01-09T00:49:10.254Z,1736383750.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.400000 m,
      nav range: 24.257740 m,
      bearing: 294.623170 deg,
      approach rate: -0.703065 m/s,
      LOS rate: 0.111441 deg/s,
      cmd heading: 298.328347 deg,
      new cmd heading: 298.472330 deg.

2025-01-09T00:49:10.256Z,1736383750.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.209325 target range: 25.400000 and range: 25.40 m.
2025-01-09T00:49:10.341Z,1736383750.341 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.495762
2025-01-09T00:49:10.593Z,1736383750.593 [DAT](INFO): DAT read: Rx Time:00:49:09.4695

2025-01-09T00:49:10.593Z,1736383750.593 [DAT](INFO): Rx dataTimestamp_ set to:1736383750.593195
2025-01-09T00:49:10.594Z,1736383750.594 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.748552
2025-01-09T00:49:10.645Z,1736383750.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:10.662Z,1736383750.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:10.670Z,1736383750.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m.
2025-01-09T00:49:10.685Z,1736383750.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.400000 m,
      nav range: 23.974102 m,
      bearing: 294.669427 deg,
      approach rate: -0.677519 m/s,
      LOS rate: 0.111801 deg/s,
      cmd heading: 298.472327 deg,
      new cmd heading: 298.612741 deg.

2025-01-09T00:49:10.691Z,1736383750.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.211775 target range: 25.400000 and range: 25.40 m.
2025-01-09T00:49:10.844Z,1736383750.844 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.998765
2025-01-09T00:49:11.013Z,1736383751.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:11.026Z,1736383751.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m.
2025-01-09T00:49:11.029Z,1736383751.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.400000 m,
      nav range: 23.715223 m,
      bearing: 294.713583 deg,
      approach rate: -0.726542 m/s,
      LOS rate: 0.125275 deg/s,
      cmd heading: 298.612729 deg,
      new cmd heading: 298.746640 deg.

2025-01-09T00:49:11.030Z,1736383751.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.214112 target range: 25.400000 and range: 25.40 m.
2025-01-09T00:49:11.098Z,1736383751.098 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.252119
2025-01-09T00:49:11.355Z,1736383751.355 [DAT](INFO): DAT read: 00:49:09.4696 LVL= 17392, 30913, 17842, 26915, AGC= 57, IDX= 414, 0.12, 0.794,-0.524, 0.919, 0.441, PHS= 0.441,-0.918, 0.475, RAW= 151.2,   0.0, CAL= 154.3,  -8.8, ROT= 355.7,   8.8

2025-01-09T00:49:11.356Z,1736383751.356 [DAT](INFO): got valid direction response:
 00:49:09.4696 LVL= 17392, 30913, 17842, 26915, AGC= 57, IDX= 414, 0.12, 0.794,-0.524, 0.919, 0.441, PHS= 0.441,-0.918, 0.475, RAW= 151.2,   0.0, CAL= 154.3,  -8.8, ROT= 355.7,   8.8

2025-01-09T00:49:11.357Z,1736383751.357 [DAT](INFO): DAT read: Bearing 355.7,   8.8 (Local)

2025-01-09T00:49:11.357Z,1736383751.357 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7,   8.8 (Local)

2025-01-09T00:49:11.359Z,1736383751.359 [DAT](INFO): DAT read: Range 10 to 50 : 23.5 m  (Round-trip  31.4 ms) speed  0.5 m/s

2025-01-09T00:49:11.359Z,1736383751.359 [DAT](INFO): DAT read: user:3777>

2025-01-09T00:49:11.360Z,1736383751.360 [DAT](INFO): DAT read: Tx time:00:49:10.5825

2025-01-09T00:49:11.360Z,1736383751.360 [DAT](INFO): Ping request sent.
2025-01-09T00:49:11.361Z,1736383751.361 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:49:11.361Z,1736383751.361 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-01-09T00:49:11.362Z,1736383751.362 [DAT](INFO): direction in FSK: [0.985447,-0.074096,-0.152986]
2025-01-09T00:49:11.362Z,1736383751.362 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:11.362Z,1736383751.362 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:11.366Z,1736383751.366 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:11.367Z,1736383751.367 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:11.370Z,1736383751.370 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.009503
2025-01-09T00:49:11.491Z,1736383751.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:11.543Z,1736383751.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.500000 m,
      deltaT: 3.527864 s,
      deltaX: -1.900000 m,
      approachRate: -0.538569 m/s,
      rangeRepo size: 4

2025-01-09T00:49:11.546Z,1736383751.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.500000 m,
      bearing: 296.545875 deg,
      lat: 36.903999 deg,
      lon: -122.118980 deg,
      deltaT: 3.527864 s,
      deltaX: -1.900000 m,
      approachRate: -0.538569 m/s,
      posRepo size: 4

2025-01-09T00:49:11.547Z,1736383751.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-01-09T00:49:11.558Z,1736383751.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.500000 m,
      nav range: 23.308794 m,
      bearing: 296.212832 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.125275 deg/s,
      cmd heading: 298.746628 deg,
      new cmd heading: 298.940613 deg.

2025-01-09T00:49:11.559Z,1736383751.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.217498 target range: 23.500000 and range: 23.50 m.
2025-01-09T00:49:11.601Z,1736383751.601 [DAT](INFO): DAT read: TxSync time:00:49:10.5817

2025-01-09T00:49:11.602Z,1736383751.602 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.241384
2025-01-09T00:49:11.852Z,1736383751.852 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.491777
2025-01-09T00:49:11.853Z,1736383751.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:11.865Z,1736383751.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-01-09T00:49:11.869Z,1736383751.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.500000 m,
      nav range: 23.042156 m,
      bearing: 296.290582 deg,
      approach rate: -0.825998 m/s,
      LOS rate: 0.243644 deg/s,
      cmd heading: 298.940605 deg,
      new cmd heading: 299.176554 deg.

2025-01-09T00:49:11.870Z,1736383751.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.221616 target range: 23.500000 and range: 23.50 m.
2025-01-09T00:49:12.104Z,1736383752.104 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.743762
2025-01-09T00:49:12.269Z,1736383752.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:12.277Z,1736383752.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-01-09T00:49:12.280Z,1736383752.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.500000 m,
      nav range: 22.728350 m,
      bearing: 296.403656 deg,
      approach rate: -0.760811 m/s,
      LOS rate: 0.277927 deg/s,
      cmd heading: 299.176547 deg,
      new cmd heading: 299.520446 deg.

2025-01-09T00:49:12.281Z,1736383752.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.227618 target range: 23.500000 and range: 23.50 m.
2025-01-09T00:49:12.357Z,1736383752.357 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.996799
2025-01-09T00:49:12.609Z,1736383752.609 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.247695
2025-01-09T00:49:12.639Z,1736383752.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:12.672Z,1736383752.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:12.675Z,1736383752.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-01-09T00:49:12.688Z,1736383752.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.500000 m,
      nav range: 22.448782 m,
      bearing: 296.509171 deg,
      approach rate: -0.703403 m/s,
      LOS rate: 0.268786 deg/s,
      cmd heading: 299.520433 deg,
      new cmd heading: 299.840917 deg.

2025-01-09T00:49:12.690Z,1736383752.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.233211 target range: 23.500000 and range: 23.50 m.
2025-01-09T00:49:12.860Z,1736383752.860 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.499682
2025-01-09T00:49:13.051Z,1736383753.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:13.060Z,1736383753.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-01-09T00:49:13.063Z,1736383753.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.500000 m,
      nav range: 22.137903 m,
      bearing: 296.631983 deg,
      approach rate: -0.807819 m/s,
      LOS rate: 0.323608 deg/s,
      cmd heading: 299.840906 deg,
      new cmd heading: 300.214510 deg.

2025-01-09T00:49:13.064Z,1736383753.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.239732 target range: 23.500000 and range: 23.50 m.
2025-01-09T00:49:13.117Z,1736383753.117 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.756055
2025-01-09T00:49:13.364Z,1736383753.364 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.003591
2025-01-09T00:49:13.509Z,1736383753.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:13.531Z,1736383753.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-01-09T00:49:13.534Z,1736383753.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.500000 m,
      nav range: 21.801649 m,
      bearing: 296.755621 deg,
      approach rate: -0.731305 m/s,
      LOS rate: 0.273043 deg/s,
      cmd heading: 300.214517 deg,
      new cmd heading: 300.591148 deg.

2025-01-09T00:49:13.568Z,1736383753.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.246305 target range: 23.500000 and range: 23.50 m.
2025-01-09T00:49:13.616Z,1736383753.616 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.255814
2025-01-09T00:49:13.854Z,1736383753.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:13.862Z,1736383753.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-01-09T00:49:13.865Z,1736383753.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.500000 m,
      nav range: 21.545561 m,
      bearing: 296.852214 deg,
      approach rate: -0.747426 m/s,
      LOS rate: 0.285271 deg/s,
      cmd heading: 300.591134 deg,
      new cmd heading: 300.884356 deg.

2025-01-09T00:49:13.868Z,1736383753.868 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.507918
2025-01-09T00:49:13.867Z,1736383753.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.251423 target range: 23.500000 and range: 23.50 m.
2025-01-09T00:49:14.120Z,1736383754.120 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.759888
2025-01-09T00:49:14.321Z,1736383754.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:14.334Z,1736383754.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-01-09T00:49:14.337Z,1736383754.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.500000 m,
      nav range: 21.215719 m,
      bearing: 297.001771 deg,
      approach rate: -0.699729 m/s,
      LOS rate: 0.322203 deg/s,
      cmd heading: 300.884368 deg,
      new cmd heading: 301.340003 deg.

2025-01-09T00:49:14.338Z,1736383754.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.259375 target range: 23.500000 and range: 23.50 m.
2025-01-09T00:49:14.373Z,1736383754.373 [DAT](INFO): DAT read: Rx Time:00:49:13.0145

2025-01-09T00:49:14.373Z,1736383754.373 [DAT](INFO): Rx dataTimestamp_ set to:1736383754.372878
2025-01-09T00:49:14.374Z,1736383754.374 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.013129
2025-01-09T00:49:14.625Z,1736383754.625 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.264417
2025-01-09T00:49:14.701Z,1736383754.701 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:49:14.748Z,1736383754.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:14.764Z,1736383754.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:14.776Z,1736383754.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-01-09T00:49:14.778Z,1736383754.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.500000 m,
      nav range: 20.914629 m,
      bearing: 297.140897 deg,
      approach rate: -0.693891 m/s,
      LOS rate: 0.325244 deg/s,
      cmd heading: 301.339996 deg,
      new cmd heading: 301.763373 deg.

2025-01-09T00:49:14.780Z,1736383754.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.266765 target range: 23.500000 and range: 23.50 m.
2025-01-09T00:49:14.882Z,1736383754.882 [DAT](INFO): DAT read: 00:49:13.0145 LVL= 16240, 29681, 18578, 31011, AGC= 57, IDX= 410,-0.06,-1.252,-2.611,-1.240,-1.648, PHS= 0.484,-0.916, 0.406, RAW= 147.2,   0.4, CAL= 150.6,  -8.6, ROT= 359.4,   8.6

2025-01-09T00:49:14.885Z,1736383754.885 [DAT](INFO): got valid direction response:
 00:49:13.0145 LVL= 16240, 29681, 18578, 31011, AGC= 57, IDX= 410,-0.06,-1.252,-2.611,-1.240,-1.648, PHS= 0.484,-0.916, 0.406, RAW= 147.2,   0.4, CAL= 150.6,  -8.6, ROT= 359.4,   8.6

2025-01-09T00:49:14.886Z,1736383754.886 [DAT](INFO): DAT read: Bearing 359.4,   8.6 (Local)

2025-01-09T00:49:14.886Z,1736383754.886 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,   8.6 (Local)

2025-01-09T00:49:14.891Z,1736383754.891 [DAT](INFO): DAT read: Range 10 to 50 : 20.9 m  (Round-trip  27.9 ms) speed  0.7 m/s

2025-01-09T00:49:14.893Z,1736383754.893 [DAT](INFO): DAT read: user:3778>

2025-01-09T00:49:14.894Z,1736383754.894 [DAT](INFO): DAT read: Tx time:00:49:14.1325

2025-01-09T00:49:14.894Z,1736383754.894 [DAT](INFO): Ping request sent.
2025-01-09T00:49:14.894Z,1736383754.894 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:49:14.895Z,1736383754.895 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-01-09T00:49:14.896Z,1736383754.896 [DAT](INFO): direction in FSK: [0.988702,-0.010354,-0.149535]
2025-01-09T00:49:14.896Z,1736383754.896 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:14.896Z,1736383754.896 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:14.901Z,1736383754.901 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:14.901Z,1736383754.901 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:14.938Z,1736383754.938 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.043042
2025-01-09T00:49:15.094Z,1736383755.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:15.124Z,1736383755.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 3.528004 s,
      deltaX: -2.600000 m,
      approachRate: -0.736961 m/s,
      rangeRepo size: 4

2025-01-09T00:49:15.126Z,1736383755.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.900000 m,
      bearing: 299.839139 deg,
      lat: 36.904000 deg,
      lon: -122.118980 deg,
      deltaT: 3.528004 s,
      deltaX: -2.600000 m,
      approachRate: -0.736961 m/s,
      posRepo size: 4

2025-01-09T00:49:15.128Z,1736383755.128 [DAT](INFO): DAT read: TxSync time:00:49:14.1317

2025-01-09T00:49:15.129Z,1736383755.129 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.234805
2025-01-09T00:49:15.131Z,1736383755.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-09T00:49:15.135Z,1736383755.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 20.699446 m,
      bearing: 297.501384 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.325244 deg/s,
      cmd heading: 301.763386 deg,
      new cmd heading: 302.107007 deg.

2025-01-09T00:49:15.138Z,1736383755.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272762 target range: 20.900000 and range: 20.90 m.
2025-01-09T00:49:15.380Z,1736383755.380 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.485807
2025-01-09T00:49:15.509Z,1736383755.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:15.519Z,1736383755.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-09T00:49:15.524Z,1736383755.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 20.421001 m,
      bearing: 297.635605 deg,
      approach rate: -0.697350 m/s,
      LOS rate: 0.340732 deg/s,
      cmd heading: 302.106999 deg,
      new cmd heading: 302.515144 deg.

2025-01-09T00:49:15.525Z,1736383755.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279885 target range: 20.900000 and range: 20.90 m.
2025-01-09T00:49:15.633Z,1736383755.633 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.738602
2025-01-09T00:49:15.704Z,1736383755.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:49:15.885Z,1736383755.885 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.990213
2025-01-09T00:49:15.897Z,1736383755.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:15.907Z,1736383755.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-09T00:49:15.910Z,1736383755.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 20.160606 m,
      bearing: 297.763735 deg,
      approach rate: -0.671073 m/s,
      LOS rate: 0.334474 deg/s,
      cmd heading: 302.515144 deg,
      new cmd heading: 302.904494 deg.

2025-01-09T00:49:15.911Z,1736383755.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286681 target range: 20.900000 and range: 20.90 m.
2025-01-09T00:49:16.136Z,1736383756.136 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.241823
2025-01-09T00:49:16.320Z,1736383756.320 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS,  -123    -1,A
2025-01-09T00:49:16.328Z,1736383756.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:49:16.328Z,1736383756.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:16.337Z,1736383756.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-09T00:49:16.341Z,1736383756.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 19.871952 m,
      bearing: 297.899550 deg,
      approach rate: -0.670432 m/s,
      LOS rate: 0.320026 deg/s,
      cmd heading: 302.904492 deg,
      new cmd heading: 303.317846 deg.

2025-01-09T00:49:16.342Z,1736383756.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.293895 target range: 20.900000 and range: 20.90 m.
2025-01-09T00:49:16.389Z,1736383756.389 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.494317
2025-01-09T00:49:16.640Z,1736383756.640 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.745882
2025-01-09T00:49:16.702Z,1736383756.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:49:16.702Z,1736383756.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:16.719Z,1736383756.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-09T00:49:16.724Z,1736383756.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 19.619818 m,
      bearing: 298.014079 deg,
      approach rate: -0.662225 m/s,
      LOS rate: 0.304673 deg/s,
      cmd heading: 303.317855 deg,
      new cmd heading: 303.665853 deg.

2025-01-09T00:49:16.725Z,1736383756.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299969 target range: 20.900000 and range: 20.90 m.
2025-01-09T00:49:16.892Z,1736383756.892 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.997901
2025-01-09T00:49:17.093Z,1736383757.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:49:17.093Z,1736383757.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:17.117Z,1736383757.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:17.123Z,1736383757.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-09T00:49:17.126Z,1736383757.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 19.356886 m,
      bearing: 298.129756 deg,
      approach rate: -0.655347 m/s,
      LOS rate: 0.292236 deg/s,
      cmd heading: 303.665839 deg,
      new cmd heading: 304.017579 deg.

2025-01-09T00:49:17.133Z,1736383757.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.306108 target range: 20.900000 and range: 20.90 m.
2025-01-09T00:49:17.145Z,1736383757.145 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.250061
2025-01-09T00:49:17.396Z,1736383757.396 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.501836
2025-01-09T00:49:17.515Z,1736383757.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:17.549Z,1736383757.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-09T00:49:17.567Z,1736383757.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 19.111217 m,
      bearing: 298.205581 deg,
      approach rate: -0.572142 m/s,
      LOS rate: 0.178859 deg/s,
      cmd heading: 304.017567 deg,
      new cmd heading: 304.247963 deg.

2025-01-09T00:49:17.568Z,1736383757.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310129 target range: 20.900000 and range: 20.90 m.
2025-01-09T00:49:17.648Z,1736383757.648 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.753915
2025-01-09T00:49:17.895Z,1736383757.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:17.901Z,1736383757.901 [DAT](INFO): DAT read: Rx Time:00:49:16.5611

2025-01-09T00:49:17.902Z,1736383757.902 [DAT](INFO): Rx dataTimestamp_ set to:1736383757.901590
2025-01-09T00:49:17.902Z,1736383757.902 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.007962
2025-01-09T00:49:17.924Z,1736383757.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-09T00:49:17.927Z,1736383757.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 18.889778 m,
      bearing: 298.270690 deg,
      approach rate: -0.590200 m/s,
      LOS rate: 0.175571 deg/s,
      cmd heading: 304.247963 deg,
      new cmd heading: 304.445581 deg.

2025-01-09T00:49:17.932Z,1736383757.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313578 target range: 20.900000 and range: 20.90 m.
2025-01-09T00:49:18.152Z,1736383758.152 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.257850
2025-01-09T00:49:18.359Z,1736383758.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:18.371Z,1736383758.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-09T00:49:18.374Z,1736383758.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 18.624001 m,
      bearing: 298.319869 deg,
      approach rate: -0.594023 m/s,
      LOS rate: 0.111484 deg/s,
      cmd heading: 304.445574 deg,
      new cmd heading: 304.595214 deg.

2025-01-09T00:49:18.375Z,1736383758.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316189 target range: 20.900000 and range: 20.90 m.
2025-01-09T00:49:18.413Z,1736383758.413 [DAT](INFO): DAT read: 00:49:16.5611 LVL= 16352, 29457, 16114, 29379, AGC= 51, IDX= 406, 0.25, 1.328,-0.084, 1.366, 0.927, PHS= 0.489,-0.964, 0.436, RAW= 148.2,   0.6, CAL= 151.4,  -8.4, ROT= 358.6,   8.4

2025-01-09T00:49:18.414Z,1736383758.414 [DAT](INFO): got valid direction response:
 00:49:16.5611 LVL= 16352, 29457, 16114, 29379, AGC= 51, IDX= 406, 0.25, 1.328,-0.084, 1.366, 0.927, PHS= 0.489,-0.964, 0.436, RAW= 148.2,   0.6, CAL= 151.4,  -8.4, ROT= 358.6,   8.4

2025-01-09T00:49:18.417Z,1736383758.417 [DAT](INFO): DAT read: Bearing 358.6,   8.4 (Local)

2025-01-09T00:49:18.417Z,1736383758.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,   8.4 (Local)

2025-01-09T00:49:18.420Z,1736383758.420 [DAT](INFO): DAT read: Range 10 to 50 : 18.3 m  (Round-trip  24.5 ms) speed  0.5 m/s

2025-01-09T00:49:18.421Z,1736383758.421 [DAT](INFO): DAT read: user:3779>

2025-01-09T00:49:18.422Z,1736383758.422 [DAT](INFO): DAT read: Tx time:00:49:17.6825

2025-01-09T00:49:18.422Z,1736383758.422 [DAT](INFO): Ping request sent.
2025-01-09T00:49:18.422Z,1736383758.422 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:49:18.423Z,1736383758.423 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-01-09T00:49:18.425Z,1736383758.425 [DAT](INFO): direction in FSK: [0.988977,-0.024170,-0.146083]
2025-01-09T00:49:18.425Z,1736383758.425 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:18.425Z,1736383758.425 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:18.430Z,1736383758.430 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:18.430Z,1736383758.430 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:18.438Z,1736383758.438 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.015761
2025-01-09T00:49:18.657Z,1736383758.657 [DAT](INFO): DAT read: TxSync time:00:49:17.6817

2025-01-09T00:49:18.658Z,1736383758.658 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.235935
2025-01-09T00:49:18.719Z,1736383758.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:18.758Z,1736383758.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 3.528095 s,
      deltaX: -2.600000 m,
      approachRate: -0.736942 m/s,
      rangeRepo size: 4

2025-01-09T00:49:18.765Z,1736383758.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.299999 m,
      bearing: 303.156256 deg,
      lat: 36.904001 deg,
      lon: -122.118977 deg,
      deltaT: 3.528095 s,
      deltaX: -2.600000 m,
      approachRate: -0.736942 m/s,
      posRepo size: 4

2025-01-09T00:49:18.766Z,1736383758.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.30 m.
2025-01-09T00:49:18.781Z,1736383758.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.299999 m,
      nav range: 18.194550 m,
      bearing: 298.950244 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.111484 deg/s,
      cmd heading: 304.595209 deg,
      new cmd heading: 304.724158 deg.

2025-01-09T00:49:18.783Z,1736383758.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318440 target range: 18.299999 and range: 18.30 m.
2025-01-09T00:49:18.909Z,1736383758.909 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.486998
2025-01-09T00:49:19.123Z,1736383759.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:19.135Z,1736383759.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:19.141Z,1736383759.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.30 m.
2025-01-09T00:49:19.148Z,1736383759.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.299999 m,
      nav range: 17.969830 m,
      bearing: 298.996185 deg,
      approach rate: -0.584867 m/s,
      LOS rate: 0.121063 deg/s,
      cmd heading: 304.724163 deg,
      new cmd heading: 304.863708 deg.

2025-01-09T00:49:19.150Z,1736383759.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320876 target range: 18.299999 and range: 18.30 m.
2025-01-09T00:49:19.160Z,1736383759.160 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.738229
2025-01-09T00:49:19.413Z,1736383759.413 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.990718
2025-01-09T00:49:19.535Z,1736383759.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:19.560Z,1736383759.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.30 m.
2025-01-09T00:49:19.563Z,1736383759.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.299999 m,
      nav range: 17.730080 m,
      bearing: 299.022479 deg,
      approach rate: -0.572063 m/s,
      LOS rate: 0.063588 deg/s,
      cmd heading: 304.863718 deg,
      new cmd heading: 304.943667 deg.

2025-01-09T00:49:19.568Z,1736383759.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322271 target range: 18.299999 and range: 18.30 m.
2025-01-09T00:49:19.665Z,1736383759.665 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.243100
2025-01-09T00:49:19.918Z,1736383759.918 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.495608
2025-01-09T00:49:19.932Z,1736383759.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:19.955Z,1736383759.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.30 m.
2025-01-09T00:49:19.966Z,1736383759.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.299999 m,
      nav range: 17.514706 m,
      bearing: 299.042067 deg,
      approach rate: -0.545870 m/s,
      LOS rate: 0.050256 deg/s,
      cmd heading: 304.943658 deg,
      new cmd heading: 305.003144 deg.

2025-01-09T00:49:19.973Z,1736383759.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323309 target range: 18.299999 and range: 18.30 m.
2025-01-09T00:49:20.169Z,1736383760.169 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.746948
2025-01-09T00:49:20.420Z,1736383760.420 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.998254
2025-01-09T00:49:20.471Z,1736383760.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:20.481Z,1736383760.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.30 m.
2025-01-09T00:49:20.485Z,1736383760.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.299999 m,
      nav range: 17.195957 m,
      bearing: 299.028777 deg,
      approach rate: -0.605099 m/s,
      LOS rate: -0.025696 deg/s,
      cmd heading: 305.003136 deg,
      new cmd heading: 304.962528 deg.

2025-01-09T00:49:20.486Z,1736383760.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322600 target range: 18.299999 and range: 18.30 m.
2025-01-09T00:49:20.674Z,1736383760.674 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.251438
2025-01-09T00:49:20.847Z,1736383760.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:20.857Z,1736383760.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.30 m.
2025-01-09T00:49:20.860Z,1736383760.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.299999 m,
      nav range: 16.980421 m,
      bearing: 299.015419 deg,
      approach rate: -0.574616 m/s,
      LOS rate: -0.036067 deg/s,
      cmd heading: 304.962537 deg,
      new cmd heading: 304.921952 deg.

2025-01-09T00:49:20.860Z,1736383760.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321892 target range: 18.299999 and range: 18.30 m.
2025-01-09T00:49:20.924Z,1736383760.924 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.502260
2025-01-09T00:49:21.177Z,1736383761.177 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.755258
2025-01-09T00:49:21.298Z,1736383761.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:21.384Z,1736383761.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:21.386Z,1736383761.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.30 m.
2025-01-09T00:49:21.397Z,1736383761.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.299999 m,
      nav range: 16.721680 m,
      bearing: 298.993824 deg,
      approach rate: -0.488346 m/s,
      LOS rate: -0.041389 deg/s,
      cmd heading: 304.921938 deg,
      new cmd heading: 304.856151 deg.

2025-01-09T00:49:21.398Z,1736383761.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320744 target range: 18.299999 and range: 18.30 m.
2025-01-09T00:49:21.428Z,1736383761.428 [DAT](INFO): DAT read: Rx Time:00:49:20.1083

2025-01-09T00:49:21.429Z,1736383761.429 [DAT](INFO): Rx dataTimestamp_ set to:1736383761.428468
2025-01-09T00:49:21.429Z,1736383761.429 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.007173
2025-01-09T00:49:21.681Z,1736383761.681 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.258953
2025-01-09T00:49:21.733Z,1736383761.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:21.792Z,1736383761.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.30 m.
2025-01-09T00:49:21.818Z,1736383761.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.299999 m,
      nav range: 16.463682 m,
      bearing: 298.980651 deg,
      approach rate: -0.647344 m/s,
      LOS rate: -0.033570 deg/s,
      cmd heading: 304.856150 deg,
      new cmd heading: 304.816012 deg.

2025-01-09T00:49:21.824Z,1736383761.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320043 target range: 18.299999 and range: 18.30 m.
2025-01-09T00:49:21.940Z,1736383761.940 [DAT](INFO): DAT read: 00:49:20.1083 LVL= 18672, 24369, 16178, 27091, AGC= 47, IDX= 411,-0.20,-0.148,-1.544, 0.095,-0.451, PHS= 0.391,-1.046, 0.543, RAW= 155.0,   1.5, CAL= 157.2,  -7.4, ROT= 352.8,   7.4

2025-01-09T00:49:21.941Z,1736383761.941 [DAT](INFO): got valid direction response:
 00:49:20.1083 LVL= 18672, 24369, 16178, 27091, AGC= 47, IDX= 411,-0.20,-0.148,-1.544, 0.095,-0.451, PHS= 0.391,-1.046, 0.543, RAW= 155.0,   1.5, CAL= 157.2,  -7.4, ROT= 352.8,   7.4

2025-01-09T00:49:21.942Z,1736383761.942 [DAT](INFO): DAT read: Bearing 352.8,   7.4 (Local)

2025-01-09T00:49:21.942Z,1736383761.942 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.8,   7.4 (Local)

2025-01-09T00:49:21.944Z,1736383761.944 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m  (Round-trip  21.7 ms) speed  0.4 m/s

2025-01-09T00:49:21.945Z,1736383761.945 [DAT](INFO): DAT read: user:3780>

2025-01-09T00:49:21.945Z,1736383761.945 [DAT](INFO): DAT read: Tx time:00:49:21.2325

2025-01-09T00:49:21.946Z,1736383761.946 [DAT](INFO): Ping request sent.
2025-01-09T00:49:21.946Z,1736383761.946 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:49:21.946Z,1736383761.946 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-01-09T00:49:21.947Z,1736383761.947 [DAT](INFO): direction in FSK: [0.983851,-0.124290,-0.128796]
2025-01-09T00:49:21.948Z,1736383761.948 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:21.948Z,1736383761.948 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:21.956Z,1736383761.956 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:21.956Z,1736383761.956 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:21.961Z,1736383761.961 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.014822
2025-01-09T00:49:22.152Z,1736383762.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:22.186Z,1736383762.186 [DAT](INFO): DAT read: TxSync time:00:49:21.2318

2025-01-09T00:49:22.187Z,1736383762.187 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.240973
2025-01-09T00:49:22.200Z,1736383762.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 3.528837 s,
      deltaX: -2.099998 m,
      approachRate: -0.595096 m/s,
      rangeRepo size: 4

2025-01-09T00:49:22.204Z,1736383762.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.200001 m,
      bearing: 299.317868 deg,
      lat: 36.904001 deg,
      lon: -122.118976 deg,
      deltaT: 3.528837 s,
      deltaX: -2.099998 m,
      approachRate: -0.595096 m/s,
      posRepo size: 4

2025-01-09T00:49:22.206Z,1736383762.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-01-09T00:49:22.213Z,1736383762.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 16.225365 m,
      bearing: 299.158365 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033570 deg/s,
      cmd heading: 304.816016 deg,
      new cmd heading: 304.775129 deg.

2025-01-09T00:49:22.214Z,1736383762.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319329 target range: 16.200001 and range: 16.20 m.
2025-01-09T00:49:22.436Z,1736383762.436 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.490625
2025-01-09T00:49:22.561Z,1736383762.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:22.571Z,1736383762.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-01-09T00:49:22.574Z,1736383762.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.971554 m,
      bearing: 299.133655 deg,
      approach rate: -0.668242 m/s,
      LOS rate: -0.066092 deg/s,
      cmd heading: 304.775117 deg,
      new cmd heading: 304.699807 deg.

2025-01-09T00:49:22.576Z,1736383762.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318015 target range: 16.200001 and range: 16.20 m.
2025-01-09T00:49:22.689Z,1736383762.689 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.743513
2025-01-09T00:49:22.927Z,1736383762.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:22.937Z,1736383762.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-01-09T00:49:22.940Z,1736383762.940 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.994629
2025-01-09T00:49:22.956Z,1736383762.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.744881 m,
      bearing: 299.110950 deg,
      approach rate: -0.619601 m/s,
      LOS rate: -0.062956 deg/s,
      cmd heading: 304.699821 deg,
      new cmd heading: 304.630725 deg.

2025-01-09T00:49:22.957Z,1736383762.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316809 target range: 16.200001 and range: 16.20 m.
2025-01-09T00:49:23.192Z,1736383763.192 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.246442
2025-01-09T00:49:23.366Z,1736383763.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:23.415Z,1736383763.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:23.418Z,1736383763.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-01-09T00:49:23.429Z,1736383763.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.473208 m,
      bearing: 299.082762 deg,
      approach rate: -0.564587 m/s,
      LOS rate: -0.059610 deg/s,
      cmd heading: 304.630726 deg,
      new cmd heading: 304.544676 deg.

2025-01-09T00:49:23.430Z,1736383763.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315307 target range: 16.200001 and range: 16.20 m.
2025-01-09T00:49:23.444Z,1736383763.444 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.498697
2025-01-09T00:49:23.697Z,1736383763.697 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.751658
2025-01-09T00:49:23.807Z,1736383763.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:23.815Z,1736383763.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-01-09T00:49:23.818Z,1736383763.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.188397 m,
      bearing: 299.082936 deg,
      approach rate: -0.716681 m/s,
      LOS rate: 0.000448 deg/s,
      cmd heading: 304.544666 deg,
      new cmd heading: 304.545200 deg.

2025-01-09T00:49:23.819Z,1736383763.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315317 target range: 16.200001 and range: 16.20 m.
2025-01-09T00:49:23.949Z,1736383763.949 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.002773
2025-01-09T00:49:24.165Z,1736383764.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:24.196Z,1736383764.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-01-09T00:49:24.201Z,1736383764.201 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.255179
2025-01-09T00:49:24.202Z,1736383764.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 14.958177 m,
      bearing: 299.078928 deg,
      approach rate: -0.604062 m/s,
      LOS rate: -0.010679 deg/s,
      cmd heading: 304.545212 deg,
      new cmd heading: 304.533003 deg.

2025-01-09T00:49:24.203Z,1736383764.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315104 target range: 16.200001 and range: 16.20 m.
2025-01-09T00:49:24.453Z,1736383764.453 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.507215
2025-01-09T00:49:24.606Z,1736383764.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:24.616Z,1736383764.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-01-09T00:49:24.620Z,1736383764.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 14.665405 m,
      bearing: 299.096724 deg,
      approach rate: -0.699005 m/s,
      LOS rate: 0.043336 deg/s,
      cmd heading: 304.533000 deg,
      new cmd heading: 304.587452 deg.

2025-01-09T00:49:24.621Z,1736383764.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316054 target range: 16.200001 and range: 16.20 m.
2025-01-09T00:49:24.626Z,1736383764.626 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-09T00:39:24.3Z
2025-01-09T00:49:24.626Z,1736383764.626 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-01-09T00:49:24.626Z,1736383764.626 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-01-09T00:49:24.626Z,1736383764.626 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-01-09T00:49:24.626Z,1736383764.626 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-09T00:49:24.626Z,1736383764.626 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-01-09T00:49:24.707Z,1736383764.707 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.760938
2025-01-09T00:49:24.960Z,1736383764.960 [DAT](INFO): DAT read: Rx Time:00:49:23.6558

2025-01-09T00:49:24.961Z,1736383764.961 [DAT](INFO): Rx dataTimestamp_ set to:1736383764.960679
2025-01-09T00:49:24.961Z,1736383764.961 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.015773
2025-01-09T00:49:24.996Z,1736383764.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:25.005Z,1736383765.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-01-09T00:49:25.008Z,1736383765.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 14.407214 m,
      bearing: 299.112102 deg,
      approach rate: -0.662095 m/s,
      LOS rate: 0.040141 deg/s,
      cmd heading: 304.587450 deg,
      new cmd heading: 304.634411 deg.

2025-01-09T00:49:25.009Z,1736383765.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316874 target range: 16.200001 and range: 16.20 m.
2025-01-09T00:49:25.013Z,1736383765.013 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-09T00:49:25.013Z,1736383765.013 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-01-09T00:49:25.013Z,1736383765.013 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-01-09T00:49:25.013Z,1736383765.013 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-09T00:49:25.013Z,1736383765.013 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-01-09T00:49:25.212Z,1736383765.212 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.266435
2025-01-09T00:49:25.471Z,1736383765.471 [DAT](INFO): DAT read: 00:49:23.6558 LVL= 22304, 31985, 16530, 29299, AGC= 52, IDX= 416,-0.13, 3.020, 1.695,-2.993, 2.757, PHS= 0.351,-1.015, 0.530, RAW= 156.1,   1.9, CAL= 158.1,  -7.0, ROT= 351.9,   7.0

2025-01-09T00:49:25.472Z,1736383765.472 [DAT](INFO): got valid direction response:
 00:49:23.6558 LVL= 22304, 31985, 16530, 29299, AGC= 52, IDX= 416,-0.13, 3.020, 1.695,-2.993, 2.757, PHS= 0.351,-1.015, 0.530, RAW= 156.1,   1.9, CAL= 158.1,  -7.0, ROT= 351.9,   7.0

2025-01-09T00:49:25.473Z,1736383765.473 [DAT](INFO): DAT read: Bearing 351.9,   7.0 (Local)

2025-01-09T00:49:25.473Z,1736383765.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9,   7.0 (Local)

2025-01-09T00:49:25.475Z,1736383765.475 [DAT](INFO): DAT read: Range 10 to 50 : 14.3 m  (Round-trip  19.1 ms) speed  0.6 m/s

2025-01-09T00:49:25.477Z,1736383765.477 [DAT](INFO): DAT read: user:3781>

2025-01-09T00:49:25.478Z,1736383765.478 [DAT](INFO): DAT read: Tx time:00:49:24.7826

2025-01-09T00:49:25.478Z,1736383765.478 [DAT](INFO): Ping request sent.
2025-01-09T00:49:25.478Z,1736383765.478 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:49:25.479Z,1736383765.479 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-01-09T00:49:25.480Z,1736383765.480 [DAT](INFO): direction in FSK: [0.982644,-0.139851,-0.121869]
2025-01-09T00:49:25.480Z,1736383765.480 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:25.480Z,1736383765.480 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:25.484Z,1736383765.484 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:25.485Z,1736383765.485 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:25.488Z,1736383765.488 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.009439
2025-01-09T00:49:25.716Z,1736383765.716 [DAT](INFO): DAT read: TxSync time:00:49:24.7818

2025-01-09T00:49:25.717Z,1736383765.717 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.238739
2025-01-09T00:49:25.884Z,1736383765.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:25.897Z,1736383765.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 3.531145 s,
      deltaX: -1.900001 m,
      approachRate: -0.538069 m/s,
      rangeRepo size: 4

2025-01-09T00:49:25.900Z,1736383765.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.300000 m,
      bearing: 298.841284 deg,
      lat: 36.904002 deg,
      lon: -122.118976 deg,
      deltaT: 3.531145 s,
      deltaX: -1.900001 m,
      approachRate: -0.538069 m/s,
      posRepo size: 4

2025-01-09T00:49:25.901Z,1736383765.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.30 m.
2025-01-09T00:49:25.904Z,1736383765.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.300000 m,
      nav range: 13.880145 m,
      bearing: 299.670202 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.040141 deg/s,
      cmd heading: 304.634415 deg,
      new cmd heading: 304.741777 deg.

2025-01-09T00:49:25.905Z,1736383765.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318748 target range: 14.300000 and range: 14.30 m.
2025-01-09T00:49:25.969Z,1736383765.969 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.490546
2025-01-09T00:49:26.220Z,1736383766.220 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.741747
2025-01-09T00:49:26.247Z,1736383766.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:26.255Z,1736383766.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:26.257Z,1736383766.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.30 m.
2025-01-09T00:49:26.260Z,1736383766.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.300000 m,
      nav range: 13.638690 m,
      bearing: 299.718690 deg,
      approach rate: -0.669934 m/s,
      LOS rate: 0.136916 deg/s,
      cmd heading: 304.741785 deg,
      new cmd heading: 304.889825 deg.

2025-01-09T00:49:26.261Z,1736383766.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321332 target range: 14.300000 and range: 14.30 m.
2025-01-09T00:49:26.477Z,1736383766.477 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.998788
2025-01-09T00:49:26.707Z,1736383766.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:26.732Z,1736383766.732 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.253732
2025-01-09T00:49:26.743Z,1736383766.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.30 m.
2025-01-09T00:49:26.746Z,1736383766.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.300000 m,
      nav range: 13.326340 m,
      bearing: 299.812794 deg,
      approach rate: -0.670006 m/s,
      LOS rate: 0.206589 deg/s,
      cmd heading: 304.889836 deg,
      new cmd heading: 305.178763 deg.

2025-01-09T00:49:26.751Z,1736383766.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326374 target range: 14.300000 and range: 14.30 m.
2025-01-09T00:49:26.984Z,1736383766.984 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.505789
2025-01-09T00:49:27.068Z,1736383767.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:27.076Z,1736383767.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.30 m.
2025-01-09T00:49:27.079Z,1736383767.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.300000 m,
      nav range: 13.081088 m,
      bearing: 299.888880 deg,
      approach rate: -0.694744 m/s,
      LOS rate: 0.219577 deg/s,
      cmd heading: 305.178753 deg,
      new cmd heading: 305.411291 deg.

2025-01-09T00:49:27.080Z,1736383767.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330432 target range: 14.300000 and range: 14.30 m.
2025-01-09T00:49:27.236Z,1736383767.236 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.757945
2025-01-09T00:49:27.488Z,1736383767.488 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.009756
2025-01-09T00:49:27.526Z,1736383767.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:27.535Z,1736383767.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.30 m.
2025-01-09T00:49:27.538Z,1736383767.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.300000 m,
      nav range: 12.777042 m,
      bearing: 299.983973 deg,
      approach rate: -0.662592 m/s,
      LOS rate: 0.212162 deg/s,
      cmd heading: 305.411280 deg,
      new cmd heading: 305.703344 deg.

2025-01-09T00:49:27.539Z,1736383767.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.335530 target range: 14.300000 and range: 14.30 m.
2025-01-09T00:49:27.740Z,1736383767.740 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.261886
2025-01-09T00:49:27.905Z,1736383767.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:27.930Z,1736383767.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.30 m.
2025-01-09T00:49:27.937Z,1736383767.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.300000 m,
      nav range: 12.525509 m,
      bearing: 300.065290 deg,
      approach rate: -0.636573 m/s,
      LOS rate: 0.209927 deg/s,
      cmd heading: 305.703339 deg,
      new cmd heading: 305.952187 deg.

2025-01-09T00:49:27.938Z,1736383767.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339873 target range: 14.300000 and range: 14.30 m.
2025-01-09T00:49:27.993Z,1736383767.993 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.514060
2025-01-09T00:49:28.244Z,1736383768.244 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.765660
2025-01-09T00:49:28.281Z,1736383768.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:28.288Z,1736383768.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:28.290Z,1736383768.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.30 m.
2025-01-09T00:49:28.302Z,1736383768.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.300000 m,
      nav range: 12.276368 m,
      bearing: 300.148287 deg,
      approach rate: -0.692048 m/s,
      LOS rate: 0.235222 deg/s,
      cmd heading: 305.952177 deg,
      new cmd heading: 306.206219 deg.

2025-01-09T00:49:28.307Z,1736383768.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344307 target range: 14.300000 and range: 14.30 m.
2025-01-09T00:49:28.500Z,1736383768.500 [DAT](INFO): DAT read: Rx Time:00:49:27.2026

2025-01-09T00:49:28.500Z,1736383768.500 [DAT](INFO): Rx dataTimestamp_ set to:1736383768.500045
2025-01-09T00:49:28.501Z,1736383768.501 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.022357
2025-01-09T00:49:28.719Z,1736383768.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:28.728Z,1736383768.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.30 m.
2025-01-09T00:49:28.731Z,1736383768.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.300000 m,
      nav range: 11.989763 m,
      bearing: 300.250884 deg,
      approach rate: -0.654986 m/s,
      LOS rate: 0.240072 deg/s,
      cmd heading: 306.206232 deg,
      new cmd heading: 306.521377 deg.

2025-01-09T00:49:28.732Z,1736383768.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.349807 target range: 14.300000 and range: 14.30 m.
2025-01-09T00:49:28.748Z,1736383768.748 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.269669
2025-01-09T00:49:29.006Z,1736383769.006 [DAT](INFO): DAT read: 00:49:27.2026 LVL= 17648, 32753, 18258, 32755, AGC= 49, IDX= 414, 0.24,-2.439, 2.442,-2.324,-2.752, PHS= 0.400,-1.042, 0.425, RAW= 150.8,   3.0, CAL= 153.0,  -5.9, ROT= 357.0,   5.9

2025-01-09T00:49:29.008Z,1736383769.008 [DAT](INFO): got valid direction response:
 00:49:27.2026 LVL= 17648, 32753, 18258, 32755, AGC= 49, IDX= 414, 0.24,-2.439, 2.442,-2.324,-2.752, PHS= 0.400,-1.042, 0.425, RAW= 150.8,   3.0, CAL= 153.0,  -5.9, ROT= 357.0,   5.9

2025-01-09T00:49:29.009Z,1736383769.009 [DAT](INFO): DAT read: Bearing 357.0,   5.9 (Local)

2025-01-09T00:49:29.009Z,1736383769.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,   5.9 (Local)

2025-01-09T00:49:29.010Z,1736383769.010 [DAT](INFO): DAT read: Range 10 to 50 : 11.9 m  (Round-trip  15.9 ms) speed  0.6 m/s

2025-01-09T00:49:29.011Z,1736383769.011 [DAT](INFO): DAT read: user:3782>

2025-01-09T00:49:29.012Z,1736383769.012 [DAT](INFO): DAT read: Tx time:00:49:28.2826

2025-01-09T00:49:29.012Z,1736383769.012 [DAT](INFO): Ping request sent.
2025-01-09T00:49:29.012Z,1736383769.012 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:49:29.013Z,1736383769.013 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-01-09T00:49:29.014Z,1736383769.014 [DAT](INFO): direction in FSK: [0.993340,-0.052059,-0.102793]
2025-01-09T00:49:29.014Z,1736383769.014 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:29.014Z,1736383769.014 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:29.018Z,1736383769.018 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:29.018Z,1736383769.018 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:29.022Z,1736383769.022 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.009339
2025-01-09T00:49:29.119Z,1736383769.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:29.172Z,1736383769.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 3.536310 s,
      deltaX: -2.400001 m,
      approachRate: -0.678674 m/s,
      rangeRepo size: 4

2025-01-09T00:49:29.174Z,1736383769.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.900000 m,
      bearing: 303.825592 deg,
      lat: 36.904007 deg,
      lon: -122.118975 deg,
      deltaT: 3.536310 s,
      deltaX: -2.400001 m,
      approachRate: -0.678674 m/s,
      posRepo size: 4

2025-01-09T00:49:29.174Z,1736383769.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-01-09T00:49:29.182Z,1736383769.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 11.941647 m,
      bearing: 302.876870 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.240072 deg/s,
      cmd heading: 306.521377 deg,
      new cmd heading: 306.834661 deg.

2025-01-09T00:49:29.188Z,1736383769.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355275 target range: 11.900000 and range: 11.90 m.
2025-01-09T00:49:29.254Z,1736383769.254 [DAT](INFO): DAT read: TxSync time:00:49:28.2818

2025-01-09T00:49:29.255Z,1736383769.255 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.242277
2025-01-09T00:49:29.504Z,1736383769.504 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.492049
2025-01-09T00:49:29.554Z,1736383769.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:29.563Z,1736383769.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-01-09T00:49:29.566Z,1736383769.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 11.667993 m,
      bearing: 303.035097 deg,
      approach rate: -0.684351 m/s,
      LOS rate: 0.404971 deg/s,
      cmd heading: 306.834664 deg,
      new cmd heading: 307.320465 deg.

2025-01-09T00:49:29.588Z,1736383769.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.363754 target range: 11.900000 and range: 11.90 m.
2025-01-09T00:49:29.756Z,1736383769.756 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.743845
2025-01-09T00:49:29.922Z,1736383769.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:29.931Z,1736383769.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-01-09T00:49:29.934Z,1736383769.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 11.436919 m,
      bearing: 303.176092 deg,
      approach rate: -0.628181 m/s,
      LOS rate: 0.391046 deg/s,
      cmd heading: 307.320455 deg,
      new cmd heading: 307.751979 deg.

2025-01-09T00:49:29.934Z,1736383769.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.371285 target range: 11.900000 and range: 11.90 m.
2025-01-09T00:49:30.010Z,1736383770.010 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.997439
2025-01-09T00:49:30.260Z,1736383770.260 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.247896
2025-01-09T00:49:30.324Z,1736383770.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:30.331Z,1736383770.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:30.353Z,1736383770.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-01-09T00:49:30.360Z,1736383770.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 11.183884 m,
      bearing: 303.332890 deg,
      approach rate: -0.598794 m/s,
      LOS rate: 0.379447 deg/s,
      cmd heading: 307.751986 deg,
      new cmd heading: 308.233009 deg.

2025-01-09T00:49:30.361Z,1736383770.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.379681 target range: 11.900000 and range: 11.90 m.
2025-01-09T00:49:30.512Z,1736383770.512 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.499954
2025-01-09T00:49:30.764Z,1736383770.764 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.752004
2025-01-09T00:49:30.769Z,1736383770.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:30.778Z,1736383770.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-01-09T00:49:30.781Z,1736383770.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 10.917010 m,
      bearing: 303.496840 deg,
      approach rate: -0.628566 m/s,
      LOS rate: 0.395590 deg/s,
      cmd heading: 308.233023 deg,
      new cmd heading: 308.736882 deg.

2025-01-09T00:49:30.782Z,1736383770.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.388475 target range: 11.900000 and range: 11.90 m.
2025-01-09T00:49:31.017Z,1736383771.017 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.004809
2025-01-09T00:49:31.127Z,1736383771.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:31.155Z,1736383771.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-01-09T00:49:31.158Z,1736383771.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 10.702417 m,
      bearing: 303.620404 deg,
      approach rate: -0.569057 m/s,
      LOS rate: 0.334237 deg/s,
      cmd heading: 308.736872 deg,
      new cmd heading: 309.114992 deg.

2025-01-09T00:49:31.159Z,1736383771.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395074 target range: 11.900000 and range: 11.90 m.
2025-01-09T00:49:31.272Z,1736383771.272 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.258185
2025-01-09T00:49:31.523Z,1736383771.523 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.510498
2025-01-09T00:49:31.581Z,1736383771.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:31.590Z,1736383771.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-01-09T00:49:31.593Z,1736383771.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 10.430072 m,
      bearing: 303.787737 deg,
      approach rate: -0.626069 m/s,
      LOS rate: 0.394710 deg/s,
      cmd heading: 309.114991 deg,
      new cmd heading: 309.630085 deg.

2025-01-09T00:49:31.594Z,1736383771.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.404065 target range: 11.900000 and range: 11.90 m.
2025-01-09T00:49:31.772Z,1736383771.772 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.759969
2025-01-09T00:49:31.938Z,1736383771.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:31.951Z,1736383771.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-01-09T00:49:31.954Z,1736383771.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 10.215671 m,
      bearing: 303.919056 deg,
      approach rate: -0.593692 m/s,
      LOS rate: 0.371261 deg/s,
      cmd heading: 309.630097 deg,
      new cmd heading: 310.032313 deg.

2025-01-09T00:49:31.976Z,1736383771.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.411085 target range: 11.900000 and range: 11.90 m.
2025-01-09T00:49:32.024Z,1736383772.024 [DAT](INFO): DAT read: Rx Time:00:49:30.6995

2025-01-09T00:49:32.025Z,1736383772.025 [DAT](INFO): Rx dataTimestamp_ set to:1736383772.024588
2025-01-09T00:49:32.025Z,1736383772.025 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.013072
2025-01-09T00:49:32.276Z,1736383772.276 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.263827
2025-01-09T00:49:32.398Z,1736383772.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:32.434Z,1736383772.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:32.440Z,1736383772.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-01-09T00:49:32.462Z,1736383772.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 9.940060 m,
      bearing: 304.087069 deg,
      approach rate: -0.563611 m/s,
      LOS rate: 0.353105 deg/s,
      cmd heading: 310.032313 deg,
      new cmd heading: 310.550313 deg.

2025-01-09T00:49:32.474Z,1736383772.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.420125 target range: 11.900000 and range: 11.90 m.
2025-01-09T00:49:32.536Z,1736383772.536 [DAT](INFO): DAT read: 00:49:30.6995 LVL= 16960, 28849, 17074, 29635, AGC= 47, IDX= 415,-0.34,-1.349,-2.735,-1.385,-1.632, PHS= 0.371,-1.056, 0.245, RAW= 145.4,   6.5, CAL= 147.7,  -1.9, ROT=   2.3,   1.9

2025-01-09T00:49:32.538Z,1736383772.538 [DAT](INFO): got valid direction response:
 00:49:30.6995 LVL= 16960, 28849, 17074, 29635, AGC= 47, IDX= 415,-0.34,-1.349,-2.735,-1.385,-1.632, PHS= 0.371,-1.056, 0.245, RAW= 145.4,   6.5, CAL= 147.7,  -1.9, ROT=   2.3,   1.9

2025-01-09T00:49:32.538Z,1736383772.538 [DAT](INFO): DAT read: Bearing   2.3,   1.9 (Local)

2025-01-09T00:49:32.539Z,1736383772.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,   1.9 (Local)

2025-01-09T00:49:32.541Z,1736383772.541 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m  (Round-trip  12.7 ms) speed  0.5 m/s

2025-01-09T00:49:32.541Z,1736383772.541 [DAT](INFO): DAT read: user:3783>

2025-01-09T00:49:32.542Z,1736383772.542 [DAT](INFO): DAT read: Tx time:00:49:31.7826

2025-01-09T00:49:32.542Z,1736383772.542 [DAT](INFO): Ping request sent.
2025-01-09T00:49:32.542Z,1736383772.542 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:49:32.543Z,1736383772.543 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-01-09T00:49:32.544Z,1736383772.544 [DAT](INFO): direction in FSK: [0.998645,0.040110,-0.033155]
2025-01-09T00:49:32.544Z,1736383772.544 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:32.544Z,1736383772.544 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:32.548Z,1736383772.548 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:32.548Z,1736383772.548 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:32.552Z,1736383772.552 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.009794
2025-01-09T00:49:32.781Z,1736383772.781 [DAT](INFO): DAT read: TxSync time:00:49:31.7818

2025-01-09T00:49:32.782Z,1736383772.782 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.239937
2025-01-09T00:49:32.931Z,1736383772.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:32.966Z,1736383772.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 3.529170 s,
      deltaX: -2.400000 m,
      approachRate: -0.680046 m/s,
      rangeRepo size: 4

2025-01-09T00:49:32.973Z,1736383772.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.500000 m,
      bearing: 310.658955 deg,
      lat: 36.904009 deg,
      lon: -122.118973 deg,
      deltaT: 3.529170 s,
      deltaX: -2.400000 m,
      approachRate: -0.680046 m/s,
      posRepo size: 4

2025-01-09T00:49:32.974Z,1736383772.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.50 m.
2025-01-09T00:49:32.974Z,1736383772.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.50 m.
2025-01-09T00:49:32.974Z,1736383772.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-01-09T00:49:32.981Z,1736383772.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 9.563590 m,
      bearing: 305.406804 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.353105 deg/s,
      cmd heading: 310.550315 deg,
      new cmd heading: 311.106767 deg.

2025-01-09T00:49:32.982Z,1736383772.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.429837 target range: 9.500000 and range: 9.50 m.
2025-01-09T00:49:33.036Z,1736383773.036 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.493262
2025-01-09T00:49:33.280Z,1736383773.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:33.285Z,1736383773.285 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.742540
2025-01-09T00:49:33.292Z,1736383773.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:33.295Z,1736383773.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 9.343847 m,
      bearing: 305.523083 deg,
      approach rate: -0.674194 m/s,
      LOS rate: 0.365144 deg/s,
      cmd heading: 311.106757 deg,
      new cmd heading: 311.463791 deg.

2025-01-09T00:49:33.312Z,1736383773.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.436069 target range: 9.500000 and range: 9.50 m.
2025-01-09T00:49:33.541Z,1736383773.541 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.997486
2025-01-09T00:49:33.716Z,1736383773.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:33.753Z,1736383773.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:33.760Z,1736383773.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 9.081441 m,
      bearing: 305.652477 deg,
      approach rate: -0.567972 m/s,
      LOS rate: 0.288164 deg/s,
      cmd heading: 311.463784 deg,
      new cmd heading: 311.863178 deg.

2025-01-09T00:49:33.761Z,1736383773.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443039 target range: 9.500000 and range: 9.50 m.
2025-01-09T00:49:33.788Z,1736383773.788 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.245832
2025-01-09T00:49:34.040Z,1736383774.040 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.497825
2025-01-09T00:49:34.090Z,1736383774.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:34.099Z,1736383774.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:34.102Z,1736383774.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 8.856378 m,
      bearing: 305.760827 deg,
      approach rate: -0.652019 m/s,
      LOS rate: 0.321872 deg/s,
      cmd heading: 311.863186 deg,
      new cmd heading: 312.196493 deg.

2025-01-09T00:49:34.103Z,1736383774.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448857 target range: 9.500000 and range: 9.50 m.
2025-01-09T00:49:34.292Z,1736383774.292 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.749706
2025-01-09T00:49:34.555Z,1736383774.555 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.011695
2025-01-09T00:49:34.571Z,1736383774.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:34.578Z,1736383774.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:34.581Z,1736383774.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:34.589Z,1736383774.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 8.566914 m,
      bearing: 305.896410 deg,
      approach rate: -0.600723 m/s,
      LOS rate: 0.290882 deg/s,
      cmd heading: 312.196500 deg,
      new cmd heading: 312.616984 deg.

2025-01-09T00:49:34.591Z,1736383774.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456196 target range: 9.500000 and range: 9.50 m.
2025-01-09T00:49:34.804Z,1736383774.804 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.261733
2025-01-09T00:49:34.926Z,1736383774.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:34.942Z,1736383774.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:34.945Z,1736383774.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 8.352061 m,
      bearing: 305.980475 deg,
      approach rate: -0.594826 m/s,
      LOS rate: 0.238722 deg/s,
      cmd heading: 312.616993 deg,
      new cmd heading: 312.875673 deg.

2025-01-09T00:49:34.946Z,1736383774.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460711 target range: 9.500000 and range: 9.50 m.
2025-01-09T00:49:35.056Z,1736383775.056 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.513748
2025-01-09T00:49:35.309Z,1736383775.309 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.766330
2025-01-09T00:49:35.313Z,1736383775.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:35.323Z,1736383775.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:35.326Z,1736383775.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 8.117246 m,
      bearing: 306.067679 deg,
      approach rate: -0.615753 m/s,
      LOS rate: 0.235288 deg/s,
      cmd heading: 312.875666 deg,
      new cmd heading: 313.144843 deg.

2025-01-09T00:49:35.327Z,1736383775.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465408 target range: 9.500000 and range: 9.50 m.
2025-01-09T00:49:35.563Z,1736383775.563 [DAT](INFO): DAT read: Rx Time:00:49:34.1968

2025-01-09T00:49:35.565Z,1736383775.565 [DAT](INFO): Rx dataTimestamp_ set to:1736383775.563964
2025-01-09T00:49:35.571Z,1736383775.571 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.024266
2025-01-09T00:49:35.764Z,1736383775.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:35.774Z,1736383775.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:35.786Z,1736383775.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 7.848221 m,
      bearing: 306.172334 deg,
      approach rate: -0.596403 m/s,
      LOS rate: 0.239964 deg/s,
      cmd heading: 313.144830 deg,
      new cmd heading: 313.469555 deg.

2025-01-09T00:49:35.791Z,1736383775.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471076 target range: 9.500000 and range: 9.50 m.
2025-01-09T00:49:35.812Z,1736383775.812 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.269788
2025-01-09T00:49:36.071Z,1736383776.071 [DAT](INFO): DAT read: 00:49:34.1968 LVL= 18592, 32241, 17826, 32243, AGC= 47, IDX= 419,-0.10,-0.654,-2.093,-0.639,-0.899, PHS= 0.333,-1.146, 0.257, RAW= 147.4,   7.8, CAL= 148.8,  -0.8, ROT=   1.2,   0.8

2025-01-09T00:49:36.072Z,1736383776.072 [DAT](INFO): got valid direction response:
 00:49:34.1968 LVL= 18592, 32241, 17826, 32243, AGC= 47, IDX= 419,-0.10,-0.654,-2.093,-0.639,-0.899, PHS= 0.333,-1.146, 0.257, RAW= 147.4,   7.8, CAL= 148.8,  -0.8, ROT=   1.2,   0.8

2025-01-09T00:49:36.073Z,1736383776.073 [DAT](INFO): DAT read: Bearing   1.2,   0.8 (Local)

2025-01-09T00:49:36.073Z,1736383776.073 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,   0.8 (Local)

2025-01-09T00:49:36.075Z,1736383776.075 [DAT](INFO): DAT read: Range 10 to 50 : 7.5 m  (Round-trip  10.0 ms) speed  0.5 m/s

2025-01-09T00:49:36.075Z,1736383776.075 [DAT](INFO): DAT read: user:3784>

2025-01-09T00:49:36.076Z,1736383776.076 [DAT](INFO): DAT read: Tx time:00:49:35.2827

2025-01-09T00:49:36.076Z,1736383776.076 [DAT](INFO): Ping request sent.
2025-01-09T00:49:36.076Z,1736383776.076 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:49:36.077Z,1736383776.077 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-01-09T00:49:36.078Z,1736383776.078 [DAT](INFO): direction in FSK: [0.999683,0.020940,-0.013962]
2025-01-09T00:49:36.078Z,1736383776.078 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:36.078Z,1736383776.078 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:36.100Z,1736383776.100 [DAT](INFO): publishing transmit ping time
2025-01-09T00:49:36.101Z,1736383776.101 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:36.108Z,1736383776.108 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.031570
2025-01-09T00:49:36.196Z,1736383776.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:36.222Z,1736383776.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 3.534510 s,
      deltaX: -2.000000 m,
      approachRate: -0.565849 m/s,
      rangeRepo size: 4

2025-01-09T00:49:36.228Z,1736383776.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.500000 m,
      bearing: 312.348710 deg,
      lat: 36.904009 deg,
      lon: -122.118973 deg,
      deltaT: 3.534510 s,
      deltaX: -2.000000 m,
      approachRate: -0.565849 m/s,
      posRepo size: 4

2025-01-09T00:49:36.229Z,1736383776.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.50 m. 9.50 m.
2025-01-09T00:49:36.240Z,1736383776.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 7.590249 m,
      bearing: 306.266291 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.353105 deg/s,
      cmd heading: 313.469565 deg,
      new cmd heading: 313.943658 deg.

2025-01-09T00:49:36.241Z,1736383776.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479351 target range: 9.500000 and range: 7.50 m.
2025-01-09T00:49:36.317Z,1736383776.317 [DAT](INFO): DAT read: TxSync time:00:49:35.2819

2025-01-09T00:49:36.318Z,1736383776.318 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.241351
2025-01-09T00:49:36.570Z,1736383776.570 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.493627
2025-01-09T00:49:36.604Z,1736383776.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:36.615Z,1736383776.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:36.628Z,1736383776.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:36.630Z,1736383776.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 7.346364 m,
      bearing: 306.351289 deg,
      approach rate: -0.613034 m/s,
      LOS rate: 0.220745 deg/s,
      cmd heading: 313.943662 deg,
      new cmd heading: 314.207118 deg.

2025-01-09T00:49:36.640Z,1736383776.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483949 target range: 9.500000 and range: 7.50 m.
2025-01-09T00:49:36.820Z,1736383776.820 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.743748
2025-01-09T00:49:36.000Z,1736383777.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:37.018Z,1736383777.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:37.041Z,1736383777.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 7.109943 m,
      bearing: 306.458249 deg,
      approach rate: -0.593324 m/s,
      LOS rate: 0.277353 deg/s,
      cmd heading: 314.207116 deg,
      new cmd heading: 314.538662 deg.

2025-01-09T00:49:37.042Z,1736383777.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489735 target range: 9.500000 and range: 7.50 m.
2025-01-09T00:49:37.073Z,1736383777.073 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.996655
2025-01-09T00:49:37.324Z,1736383777.324 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.247757
2025-01-09T00:49:37.344Z,1736383777.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:37.378Z,1736383777.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:37.381Z,1736383777.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 6.903968 m,
      bearing: 306.548507 deg,
      approach rate: -0.571779 m/s,
      LOS rate: 0.258029 deg/s,
      cmd heading: 314.538653 deg,
      new cmd heading: 314.817505 deg.

2025-01-09T00:49:37.382Z,1736383777.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494602 target range: 9.500000 and range: 7.50 m.
2025-01-09T00:49:37.581Z,1736383777.581 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.503959
2025-01-09T00:49:37.788Z,1736383777.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:37.813Z,1736383777.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:37.820Z,1736383777.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 6.638439 m,
      bearing: 306.696762 deg,
      approach rate: -0.610188 m/s,
      LOS rate: 0.354318 deg/s,
      cmd heading: 314.817516 deg,
      new cmd heading: 315.280061 deg.

2025-01-09T00:49:37.821Z,1736383777.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502675 target range: 9.500000 and range: 7.50 m.
2025-01-09T00:49:37.828Z,1736383777.828 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.751840
2025-01-09T00:49:38.082Z,1736383778.082 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.005116
2025-01-09T00:49:38.154Z,1736383778.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:38.163Z,1736383778.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:38.166Z,1736383778.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 6.419474 m,
      bearing: 306.795972 deg,
      approach rate: -0.626914 m/s,
      LOS rate: 0.293733 deg/s,
      cmd heading: 315.280057 deg,
      new cmd heading: 315.587835 deg.

2025-01-09T00:49:38.170Z,1736383778.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508047 target range: 9.500000 and range: 7.50 m.
2025-01-09T00:49:38.333Z,1736383778.333 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.256082
2025-01-09T00:49:38.590Z,1736383778.590 [DAT](INFO): DAT read: Rx Time:00:49:37.4193 

2025-01-09T00:49:38.592Z,1736383778.592 [DAT](INFO): Rx dataTimestamp_ set to:1736383778.590211
2025-01-09T00:49:38.596Z,1736383778.596 [DAT](INFO): DAT read: Bearing 359.0,   0.4 (Local)

2025-01-09T00:49:38.597Z,1736383778.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.0,   0.4 (Local)

2025-01-09T00:49:38.603Z,1736383778.603 [DAT](INFO): DAT read: Range 10 to 50 :     5.7 m (trip time 3.8 ms) speed 0.5

2025-01-09T00:49:38.640Z,1736383778.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:38.658Z,1736383778.658 [DAT](INFO): DAT read: 00:49:37.4193 LVL= 19600, 26513, 19586, 27123, AGC= 47, IDX= 153,-0.02, 2.260, 0.809, 2.363, 2.066, PHS= 0.282,-1.210, 0.294, RAW= 150.4,   8.5, CAL= 151.0,  -0.4, ROT= 359.0,   0.4

2025-01-09T00:49:38.677Z,1736383778.677 [DAT](INFO): got valid direction response:
 00:49:37.4193 LVL= 19600, 26513, 19586, 27123, AGC= 47, IDX= 153,-0.02, 2.260, 0.809, 2.363, 2.066, PHS= 0.282,-1.210, 0.294, RAW= 150.4,   8.5, CAL= 151.0,  -0.4, ROT= 359.0,   0.4

2025-01-09T00:49:38.677Z,1736383778.677 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-01-09T00:49:38.678Z,1736383778.678 [DAT](INFO): direction in FSK: [0.999823,-0.017452,-0.006981]
2025-01-09T00:49:38.679Z,1736383778.679 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:38.681Z,1736383778.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:38.693Z,1736383778.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 2.526431 s,
      deltaX: -1.800000 m,
      approachRate: -0.712468 m/s,
      rangeRepo size: 4

2025-01-09T00:49:38.694Z,1736383778.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:38.702Z,1736383778.702 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.625028
2025-01-09T00:49:38.712Z,1736383778.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 6.128498 m,
      bearing: 306.920205 deg,
      approach rate: -0.549117 m/s,
      LOS rate: 0.245579 deg/s,
      cmd heading: 315.587825 deg,
      new cmd heading: 315.978214 deg.

2025-01-09T00:49:38.713Z,1736383778.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514860 target range: 9.500000 and range: 5.70 m.
2025-01-09T00:49:38.836Z,1736383778.836 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.759791
2025-01-09T00:49:39.021Z,1736383779.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:39.037Z,1736383779.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:39.042Z,1736383779.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 5.897814 m,
      bearing: 307.010463 deg,
      approach rate: -0.673907 m/s,
      LOS rate: 0.273987 deg/s,
      cmd heading: 315.978211 deg,
      new cmd heading: 316.259573 deg.

2025-01-09T00:49:39.043Z,1736383779.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519771 target range: 9.500000 and range: 5.70 m.
2025-01-09T00:49:39.090Z,1736383779.090 [DAT](INFO): DAT read: Rx Time:00:49:37.9190 

2025-01-09T00:49:39.091Z,1736383779.091 [DAT](INFO): Rx dataTimestamp_ set to:1736383779.090275
2025-01-09T00:49:39.093Z,1736383779.093 [DAT](INFO): DAT read: Bearing 359.4,   0.4 (Local)

2025-01-09T00:49:39.094Z,1736383779.094 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,   0.4 (Local)

2025-01-09T00:49:39.099Z,1736383779.099 [DAT](INFO): DAT read: Range 10 to 50 :     5.3 m (trip time 3.5 ms) speed 0.5

2025-01-09T00:49:39.112Z,1736383779.112 [DAT](INFO): DAT read: 00:49:37.9190 LVL= 17392, 29393, 17570, 31795, AGC= 44, IDX= 502,-0.00, 1.013,-0.430, 1.103, 0.814, PHS= 0.286,-1.197, 0.285, RAW= 150.0,   8.5, CAL= 150.6,  -0.4, ROT= 359.4,   0.4

2025-01-09T00:49:39.115Z,1736383779.115 [DAT](INFO): got valid direction response:
 00:49:37.9190 LVL= 17392, 29393, 17570, 31795, AGC= 44, IDX= 502,-0.00, 1.013,-0.430, 1.103, 0.814, PHS= 0.286,-1.197, 0.285, RAW= 150.0,   8.5, CAL= 150.6,  -0.4, ROT= 359.4,   0.4

2025-01-09T00:49:39.124Z,1736383779.124 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-01-09T00:49:39.126Z,1736383779.126 [DAT](INFO): direction in FSK: [0.999921,-0.010472,-0.006981]
2025-01-09T00:49:39.126Z,1736383779.126 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:39.140Z,1736383779.140 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.063412
2025-01-09T00:49:39.340Z,1736383779.340 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.263718
2025-01-09T00:49:39.429Z,1736383779.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:39.471Z,1736383779.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 0.500064 s,
      deltaX: -0.400000 m,
      approachRate: -0.799897 m/s,
      rangeRepo size: 4

2025-01-09T00:49:39.477Z,1736383779.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.300000 m,
      bearing: 313.489962 deg,
      lat: 36.904011 deg,
      lon: -122.118967 deg,
      deltaT: 6.561005 s,
      deltaX: -4.200000 m,
      approachRate: -0.640146 m/s,
      posRepo size: 4

2025-01-09T00:49:39.478Z,1736383779.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.30 m. 9.50 m.
2025-01-09T00:49:39.485Z,1736383779.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 5.654312 m,
      bearing: 307.098661 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.353105 deg/s,
      cmd heading: 316.259561 deg,
      new cmd heading: 316.720809 deg.

2025-01-09T00:49:39.486Z,1736383779.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.527821 target range: 9.500000 and range: 5.30 m.
2025-01-09T00:49:39.597Z,1736383779.597 [DAT](INFO): DAT read: Rx Time:00:49:38.4187 

2025-01-09T00:49:39.601Z,1736383779.601 [DAT](INFO): Rx dataTimestamp_ set to:1736383779.598201
2025-01-09T00:49:39.605Z,1736383779.605 [DAT](INFO): DAT read: Bearing 359.7,   0.3 (Local)

2025-01-09T00:49:39.606Z,1736383779.606 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,   0.3 (Local)

2025-01-09T00:49:39.636Z,1736383779.636 [DAT](INFO): DAT read: Range 10 to 50 :     4.8 m (trip time 3.2 ms) speed 0.5

2025-01-09T00:49:39.661Z,1736383779.661 [DAT](INFO): DAT read: 00:49:38.4187 LVL= 18720, 32689, 17842, 32755, AGC= 44, IDX= 499, 0.01,-0.300,-1.739,-0.221,-0.501, PHS= 0.289,-1.191, 0.278, RAW= 149.6,   8.5, CAL= 150.3,  -0.3, ROT= 359.7,   0.3

2025-01-09T00:49:39.667Z,1736383779.667 [DAT](INFO): got valid direction response:
 00:49:38.4187 LVL= 18720, 32689, 17842, 32755, AGC= 44, IDX= 499, 0.01,-0.300,-1.739,-0.221,-0.501, PHS= 0.289,-1.191, 0.278, RAW= 149.6,   8.5, CAL= 150.3,  -0.3, ROT= 359.7,   0.3

2025-01-09T00:49:39.668Z,1736383779.668 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-01-09T00:49:39.669Z,1736383779.669 [DAT](INFO): direction in FSK: [0.999973,-0.005236,-0.005236]
2025-01-09T00:49:39.670Z,1736383779.670 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:39.691Z,1736383779.691 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.602481
2025-01-09T00:49:39.844Z,1736383779.844 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.767913
2025-01-09T00:49:39.846Z,1736383779.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:39.877Z,1736383779.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.507926 s,
      deltaX: -0.500000 m,
      approachRate: -0.984395 m/s,
      rangeRepo size: 4

2025-01-09T00:49:39.879Z,1736383779.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.800000 m,
      bearing: 314.171781 deg,
      lat: 36.904011 deg,
      lon: -122.118967 deg,
      deltaT: 7.068931 s,
      deltaX: -4.700000 m,
      approachRate: -0.664881 m/s,
      posRepo size: 4

2025-01-09T00:49:39.884Z,1736383779.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.80 m. 9.50 m.
2025-01-09T00:49:39.887Z,1736383779.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 5.396777 m,
      bearing: 307.245279 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.353105 deg/s,
      cmd heading: 316.720817 deg,
      new cmd heading: 317.150876 deg.

2025-01-09T00:49:39.888Z,1736383779.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.535327 target range: 9.500000 and range: 4.80 m.
2025-01-09T00:49:40.097Z,1736383780.097 [DAT](INFO): DAT read: Rx Time:00:49:38.9186 

2025-01-09T00:49:40.098Z,1736383780.098 [DAT](INFO): Rx dataTimestamp_ set to:1736383780.097448
2025-01-09T00:49:40.099Z,1736383780.099 [DAT](INFO): DAT read: Bearing   0.3,  -0.1 (Local)

2025-01-09T00:49:40.099Z,1736383780.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3,  -0.1 (Local)

2025-01-09T00:49:40.101Z,1736383780.101 [DAT](INFO): DAT read: Range 10 to 50 :     4.7 m (trip time 3.1 ms) speed 0.5

2025-01-09T00:49:40.106Z,1736383780.106 [DAT](INFO): DAT read: 00:49:38.9186 LVL= 18880, 31889, 17778, 32755, AGC= 43, IDX= 498, 0.01, 0.584,-0.857, 0.643, 0.382, PHS= 0.290,-1.192, 0.258, RAW= 148.9,   8.8, CAL= 149.7,   0.1, ROT=   0.3,  -0.1

2025-01-09T00:49:40.108Z,1736383780.108 [DAT](INFO): got valid direction response:
 00:49:38.9186 LVL= 18880, 31889, 17778, 32755, AGC= 43, IDX= 498, 0.01, 0.584,-0.857, 0.643, 0.382, PHS= 0.290,-1.192, 0.258, RAW= 148.9,   8.8, CAL= 149.7,   0.1, ROT=   0.3,  -0.1

2025-01-09T00:49:40.108Z,1736383780.108 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-01-09T00:49:40.110Z,1736383780.110 [DAT](INFO): direction in FSK: [0.999985,0.005236,0.001745]
2025-01-09T00:49:40.111Z,1736383780.111 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:40.130Z,1736383780.130 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=4.053516
2025-01-09T00:49:40.246Z,1736383780.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:40.298Z,1736383780.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.499247 s,
      deltaX: -0.100000 m,
      approachRate: -0.200302 m/s,
      rangeRepo size: 4

2025-01-09T00:49:40.304Z,1736383780.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.700000 m,
      bearing: 315.076158 deg,
      lat: 36.904011 deg,
      lon: -122.118966 deg,
      deltaT: 7.568178 s,
      deltaX: -4.800000 m,
      approachRate: -0.634235 m/s,
      posRepo size: 4

2025-01-09T00:49:40.305Z,1736383780.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.70 m. 9.50 m.
2025-01-09T00:49:40.312Z,1736383780.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 5.153044 m,
      bearing: 307.379402 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.353105 deg/s,
      cmd heading: 317.150873 deg,
      new cmd heading: 317.596843 deg.

2025-01-09T00:49:40.313Z,1736383780.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.543110 target range: 9.500000 and range: 4.70 m.
2025-01-09T00:49:40.356Z,1736383780.356 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=4.279139
2025-01-09T00:49:40.605Z,1736383780.605 [DAT](INFO): DAT read: Rx Time:00:49:39.4183 

2025-01-09T00:49:40.606Z,1736383780.606 [DAT](INFO): Rx dataTimestamp_ set to:1736383780.605463
2025-01-09T00:49:40.623Z,1736383780.623 [DAT](INFO): DAT read: Bearing   1.0,  -1.0 (Local)

2025-01-09T00:49:40.624Z,1736383780.624 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  -1.0 (Local)

2025-01-09T00:49:40.652Z,1736383780.652 [DAT](INFO): DAT read: Range 10 to 50 :     4.2 m (trip time 2.8 ms) speed 0.5

2025-01-09T00:49:40.680Z,1736383780.680 [DAT](INFO): DAT read: 00:49:39.4183 LVL= 19216, 32753, 17906, 32755, AGC= 43, IDX= 495, 0.01,-0.922,-2.375,-0.894,-1.125, PHS= 0.292,-1.202, 0.228, RAW= 147.8,   9.4, CAL= 149.0,   1.0, ROT=   1.0,  -1.0

2025-01-09T00:49:40.682Z,1736383780.682 [DAT](INFO): got valid direction response:
 00:49:39.4183 LVL= 19216, 32753, 17906, 32755, AGC= 43, IDX= 495, 0.01,-0.922,-2.375,-0.894,-1.125, PHS= 0.292,-1.202, 0.228, RAW= 147.8,   9.4, CAL= 149.0,   1.0, ROT=   1.0,  -1.0

2025-01-09T00:49:40.682Z,1736383780.682 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-01-09T00:49:40.696Z,1736383780.696 [DAT](INFO): direction in FSK: [0.999695,0.017450,0.017452]
2025-01-09T00:49:40.696Z,1736383780.696 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:40.724Z,1736383780.724 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=4.647495
2025-01-09T00:49:40.803Z,1736383780.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:40.834Z,1736383780.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.508015 s,
      deltaX: -0.500000 m,
      approachRate: -0.984223 m/s,
      rangeRepo size: 4

2025-01-09T00:49:40.841Z,1736383780.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.200000 m,
      bearing: 315.974472 deg,
      lat: 36.904010 deg,
      lon: -122.118965 deg,
      deltaT: 8.076193 s,
      deltaX: -5.300000 m,
      approachRate: -0.656250 m/s,
      posRepo size: 4

2025-01-09T00:49:40.842Z,1736383780.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.20 m. 9.50 m.
2025-01-09T00:49:40.848Z,1736383780.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 4.813248 m,
      bearing: 307.577218 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.353105 deg/s,
      cmd heading: 317.596830 deg,
      new cmd heading: 318.165238 deg.

2025-01-09T00:49:40.850Z,1736383780.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553031 target range: 9.500000 and range: 4.20 m.
2025-01-09T00:49:40.852Z,1736383780.852 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=4.775911
2025-01-09T00:49:41.105Z,1736383781.105 [DAT](INFO): DAT read: Rx Time:00:49:39.9182 

2025-01-09T00:49:41.105Z,1736383781.105 [DAT](INFO): Rx dataTimestamp_ set to:1736383781.104966
2025-01-09T00:49:41.107Z,1736383781.107 [DAT](INFO): DAT read: Bearing   2.2,  -2.5 (Local)

2025-01-09T00:49:41.107Z,1736383781.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  -2.5 (Local)

2025-01-09T00:49:41.109Z,1736383781.109 [DAT](INFO): DAT read: Range 10 to 50 :     4.1 m (trip time 2.7 ms) speed 0.5

2025-01-09T00:49:41.114Z,1736383781.114 [DAT](INFO): DAT read: 00:49:39.9182 LVL= 20944, 32753, 19122, 32755, AGC= 43, IDX= 510,-0.01,-0.279,-1.743,-0.302,-0.480, PHS= 0.290,-1.216, 0.175, RAW= 146.1,  10.4, CAL= 147.8,   2.5, ROT=   2.2,  -2.5

2025-01-09T00:49:41.115Z,1736383781.115 [DAT](INFO): got valid direction response:
 00:49:39.9182 LVL= 20944, 32753, 19122, 32755, AGC= 43, IDX= 510,-0.01,-0.279,-1.743,-0.302,-0.480, PHS= 0.290,-1.216, 0.175, RAW= 146.1,  10.4, CAL= 147.8,   2.5, ROT=   2.2,  -2.5

2025-01-09T00:49:41.116Z,1736383781.116 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-01-09T00:49:41.116Z,1736383781.116 [DAT](INFO): direction in FSK: [0.998312,0.038351,0.043619]
2025-01-09T00:49:41.117Z,1736383781.117 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:41.124Z,1736383781.124 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=5.047689
2025-01-09T00:49:41.218Z,1736383781.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:41.245Z,1736383781.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.499503 s,
      deltaX: -0.100000 m,
      approachRate: -0.200199 m/s,
      rangeRepo size: 4

2025-01-09T00:49:41.251Z,1736383781.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.100000 m,
      bearing: 317.607088 deg,
      lat: 36.904010 deg,
      lon: -122.118964 deg,
      deltaT: 8.575696 s,
      deltaX: -5.400000 m,
      approachRate: -0.629687 m/s,
      posRepo size: 4

2025-01-09T00:49:41.252Z,1736383781.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.10 m. 9.50 m.
2025-01-09T00:49:41.259Z,1736383781.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 4.559750 m,
      bearing: 307.704029 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.353105 deg/s,
      cmd heading: 318.165238 deg,
      new cmd heading: 318.600551 deg.

2025-01-09T00:49:41.260Z,1736383781.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560628 target range: 9.500000 and range: 4.10 m.
2025-01-09T00:49:41.358Z,1736383781.358 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=5.281693
2025-01-09T00:49:41.569Z,1736383781.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:41.578Z,1736383781.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:41.601Z,1736383781.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-01-09T00:49:41.610Z,1736383781.610 [DAT](INFO): DAT read: Rx Time:00:49:40.4179 

2025-01-09T00:49:41.612Z,1736383781.612 [DAT](INFO): Rx dataTimestamp_ set to:1736383781.610707
2025-01-09T00:49:41.616Z,1736383781.616 [DAT](INFO): DAT read: Bearing   3.9,  -4.6 (Local)

2025-01-09T00:49:41.617Z,1736383781.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.9,  -4.6 (Local)

2025-01-09T00:49:41.626Z,1736383781.626 [DAT](INFO): DAT read: Range 10 to 50 :     3.6 m (trip time 2.4 ms) speed 0.5

2025-01-09T00:49:41.630Z,1736383781.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 4.345133 m,
      bearing: 307.804149 deg,
      approach rate: -0.603239 m/s,
      LOS rate: 0.295313 deg/s,
      cmd heading: 318.600540 deg,
      new cmd heading: 318.915731 deg.

2025-01-09T00:49:41.634Z,1736383781.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.566130 target range: 9.500000 and range: 4.10 m.
2025-01-09T00:49:41.684Z,1736383781.684 [DAT](INFO): DAT read: 00:49:40.4179 LVL= 23136, 32753, 20210, 32755, AGC= 43, IDX= 507,-0.04,-1.834, 2.981,-1.922,-2.030, PHS= 0.284,-1.226, 0.104, RAW= 143.8,  11.7, CAL= 146.1,   4.6, ROT=   3.9,  -4.6

2025-01-09T00:49:41.685Z,1736383781.685 [DAT](INFO): got valid direction response:
 00:49:40.4179 LVL= 23136, 32753, 20210, 32755, AGC= 43, IDX= 507,-0.04,-1.834, 2.981,-1.922,-2.030, PHS= 0.284,-1.226, 0.104, RAW= 143.8,  11.7, CAL= 146.1,   4.6, ROT=   3.9,  -4.6

2025-01-09T00:49:41.686Z,1736383781.686 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-01-09T00:49:41.703Z,1736383781.703 [DAT](INFO): direction in FSK: [0.994471,0.067796,0.080199]
2025-01-09T00:49:41.704Z,1736383781.704 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:41.714Z,1736383781.714 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=5.630469
2025-01-09T00:49:41.861Z,1736383781.861 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=5.783997
2025-01-09T00:49:42.001Z,1736383782.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:42.031Z,1736383782.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.505741 s,
      deltaX: -0.500000 m,
      approachRate: -0.988648 m/s,
      rangeRepo size: 4

2025-01-09T00:49:42.035Z,1736383782.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.600000 m,
      bearing: 319.623743 deg,
      lat: 36.904010 deg,
      lon: -122.118964 deg,
      deltaT: 9.081437 s,
      deltaX: -5.900000 m,
      approachRate: -0.649677 m/s,
      posRepo size: 4

2025-01-09T00:49:42.041Z,1736383782.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.60 m. 9.50 m.
2025-01-09T00:49:42.049Z,1736383782.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 4.075162 m,
      bearing: 308.012838 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.353105 deg/s,
      cmd heading: 318.915739 deg,
      new cmd heading: 319.371047 deg.

2025-01-09T00:49:42.055Z,1736383782.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574076 target range: 9.500000 and range: 3.60 m.
2025-01-09T00:49:42.116Z,1736383782.116 [DAT](INFO): DAT read: Rx Time:00:49:40.9178 

2025-01-09T00:49:42.116Z,1736383782.116 [DAT](INFO): Rx dataTimestamp_ set to:1736383782.115742
2025-01-09T00:49:42.118Z,1736383782.118 [DAT](INFO): DAT read: Bearing   5.4,  -5.8 (Local)

2025-01-09T00:49:42.119Z,1736383782.119 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.4,  -5.8 (Local)

2025-01-09T00:49:42.122Z,1736383782.122 [DAT](INFO): DAT read: Range 10 to 50 :     3.5 m (trip time 2.3 ms) speed 0.5

2025-01-09T00:49:42.137Z,1736383782.137 [DAT](INFO): DAT read: 00:49:40.9178 LVL= 26544, 32753, 20338, 32755, AGC= 43, IDX= 506,-0.07,-0.571,-2.093,-0.720,-0.779, PHS= 0.296,-1.267, 0.056, RAW= 141.8,  12.5, CAL= 144.6,   5.8, ROT=   5.4,  -5.8

2025-01-09T00:49:42.138Z,1736383782.138 [DAT](INFO): got valid direction response:
 00:49:40.9178 LVL= 26544, 32753, 20338, 32755, AGC= 43, IDX= 506,-0.07,-0.571,-2.093,-0.720,-0.779, PHS= 0.296,-1.267, 0.056, RAW= 141.8,  12.5, CAL= 144.6,   5.8, ROT=   5.4,  -5.8

2025-01-09T00:49:42.139Z,1736383782.139 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-01-09T00:49:42.154Z,1736383782.154 [DAT](INFO): direction in FSK: [0.990465,0.093627,0.101056]
2025-01-09T00:49:42.154Z,1736383782.154 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:42.164Z,1736383782.164 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=6.087548
2025-01-09T00:49:42.364Z,1736383782.364 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=6.287700
2025-01-09T00:49:42.437Z,1736383782.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:42.485Z,1736383782.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.505035 s,
      deltaX: -0.100000 m,
      approachRate: -0.198006 m/s,
      rangeRepo size: 4

2025-01-09T00:49:42.490Z,1736383782.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.500000 m,
      bearing: 321.262225 deg,
      lat: 36.904010 deg,
      lon: -122.118964 deg,
      deltaT: 9.586472 s,
      deltaX: -6.000000 m,
      approachRate: -0.625882 m/s,
      posRepo size: 4

2025-01-09T00:49:42.500Z,1736383782.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.50 m. 9.50 m.
2025-01-09T00:49:42.510Z,1736383782.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 3.803124 m,
      bearing: 308.227686 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.353105 deg/s,
      cmd heading: 319.371040 deg,
      new cmd heading: 319.845495 deg.

2025-01-09T00:49:42.511Z,1736383782.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582357 target range: 9.500000 and range: 3.50 m.
2025-01-09T00:49:42.625Z,1736383782.625 [DAT](INFO): DAT read: Rx Time:00:49:41.4175 

2025-01-09T00:49:42.626Z,1736383782.626 [DAT](INFO): Rx dataTimestamp_ set to:1736383782.625298
2025-01-09T00:49:42.633Z,1736383782.633 [DAT](INFO): DAT read: Bearing   6.9,  -9.9 (Local)

2025-01-09T00:49:42.634Z,1736383782.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.9,  -9.9 (Local)

2025-01-09T00:49:42.642Z,1736383782.642 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed 0.5

2025-01-09T00:49:42.662Z,1736383782.662 [DAT](INFO): DAT read: 00:49:41.4175 LVL= 32752, 32753, 22754, 32755, AGC= 42, IDX= 503,-0.11,-2.200, 2.525,-2.403,-2.350, PHS= 0.238,-1.362,-0.056, RAW= 140.1,  15.8, CAL= 143.1,   9.9, ROT=   6.9,  -9.9

2025-01-09T00:49:42.684Z,1736383782.684 [DAT](INFO): got valid direction response:
 00:49:41.4175 LVL= 32752, 32753, 22754, 32755, AGC= 42, IDX= 503,-0.11,-2.200, 2.525,-2.403,-2.350, PHS= 0.238,-1.362,-0.056, RAW= 140.1,  15.8, CAL= 143.1,   9.9, ROT=   6.9,  -9.9

2025-01-09T00:49:42.685Z,1736383782.685 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-01-09T00:49:42.686Z,1736383782.686 [DAT](INFO): direction in FSK: [0.977975,0.118348,0.171929]
2025-01-09T00:49:42.686Z,1736383782.686 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:42.706Z,1736383782.706 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=6.629862
2025-01-09T00:49:42.869Z,1736383782.869 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=6.792828
2025-01-09T00:49:42.905Z,1736383782.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:42.972Z,1736383782.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.509556 s,
      deltaX: -0.500000 m,
      approachRate: -0.981246 m/s,
      rangeRepo size: 4

2025-01-09T00:49:42.974Z,1736383782.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.000000 m,
      bearing: 322.366553 deg,
      lat: 36.904010 deg,
      lon: -122.118963 deg,
      deltaT: 10.096028 s,
      deltaX: -6.500000 m,
      approachRate: -0.643818 m/s,
      posRepo size: 4

2025-01-09T00:49:42.975Z,1736383782.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-01-09T00:49:42.979Z,1736383782.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-01-09T00:49:43.121Z,1736383783.121 [DAT](INFO): DAT read: Rx Time:00:49:41.9173 

2025-01-09T00:49:43.121Z,1736383783.121 [DAT](INFO): Rx dataTimestamp_ set to:1736383783.121227
2025-01-09T00:49:43.123Z,1736383783.123 [DAT](INFO): DAT read: Bearing   6.0, -10.7 (Local)

2025-01-09T00:49:43.123Z,1736383783.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.0, -10.7 (Local)

2025-01-09T00:49:43.126Z,1736383783.126 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.4

2025-01-09T00:49:43.134Z,1736383783.134 [DAT](INFO): DAT read: 00:49:41.9173 LVL= 32752, 32753, 25138, 32755, AGC= 43, IDX= 501,-0.22,-1.321,-2.896,-1.495,-1.441, PHS= 0.208,-1.408,-0.057, RAW= 141.2,  16.5, CAL= 144.0,  10.7, ROT=   6.0, -10.7

2025-01-09T00:49:43.137Z,1736383783.137 [DAT](INFO): got valid direction response:
 00:49:41.9173 LVL= 32752, 32753, 25138, 32755, AGC= 43, IDX= 501,-0.22,-1.321,-2.896,-1.495,-1.441, PHS= 0.208,-1.408,-0.057, RAW= 141.2,  16.5, CAL= 144.0,  10.7, ROT=   6.0, -10.7

2025-01-09T00:49:43.137Z,1736383783.137 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-01-09T00:49:43.138Z,1736383783.138 [DAT](INFO): direction in FSK: [0.977230,0.102711,0.185667]
2025-01-09T00:49:43.138Z,1736383783.138 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:43.146Z,1736383783.146 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=7.069466
2025-01-09T00:49:43.269Z,1736383783.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:43.309Z,1736383783.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.495929 s,
      deltaX: -0.300000 m,
      approachRate: -0.604925 m/s,
      rangeRepo size: 4

2025-01-09T00:49:43.311Z,1736383783.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.700000 m,
      bearing: 321.696481 deg,
      lat: 36.904010 deg,
      lon: -122.118963 deg,
      deltaT: 0.495929 s,
      deltaX: -0.300000 m,
      approachRate: -0.604925 m/s,
      posRepo size: 4

2025-01-09T00:49:43.373Z,1736383783.373 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=7.296498
2025-01-09T00:49:43.633Z,1736383783.633 [DAT](INFO): DAT read: Rx Time:00:49:42.4173 

2025-01-09T00:49:43.634Z,1736383783.634 [DAT](INFO): Rx dataTimestamp_ set to:1736383783.633713
2025-01-09T00:49:43.636Z,1736383783.636 [DAT](INFO): DAT read: Bearing 355.2,   2.6 (Local)

2025-01-09T00:49:43.637Z,1736383783.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2,   2.6 (Local)

2025-01-09T00:49:43.640Z,1736383783.640 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.5

2025-01-09T00:49:43.684Z,1736383783.684 [DAT](INFO): DAT read: 00:49:42.4173 LVL= 32752, 32753, 27250, 32755, AGC= 47, IDX= 498,-0.33,-1.582, 3.070,-1.347,-1.815, PHS= 0.320,-1.352, 0.464, RAW= 154.1,   6.5, CAL= 154.8,  -2.6, ROT= 355.2,   2.6

2025-01-09T00:49:43.701Z,1736383783.701 [DAT](INFO): got valid direction response:
 00:49:42.4173 LVL= 32752, 32753, 27250, 32755, AGC= 47, IDX= 498,-0.33,-1.582, 3.070,-1.347,-1.815, PHS= 0.320,-1.352, 0.464, RAW= 154.1,   6.5, CAL= 154.8,  -2.6, ROT= 355.2,   2.6

2025-01-09T00:49:43.703Z,1736383783.703 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-01-09T00:49:43.720Z,1736383783.720 [DAT](INFO): direction in FSK: [0.995467,-0.083592,-0.045363]
2025-01-09T00:49:43.720Z,1736383783.720 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:43.734Z,1736383783.734 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=7.657855
2025-01-09T00:49:43.840Z,1736383783.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:43.873Z,1736383783.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.512486 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:49:43.876Z,1736383783.876 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=7.799811
2025-01-09T00:49:43.879Z,1736383783.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.700000 m,
      bearing: 313.299882 deg,
      lat: 36.904010 deg,
      lon: -122.118963 deg,
      deltaT: 0.512486 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:49:44.130Z,1736383784.130 [DAT](INFO): DAT read: Rx Time:00:49:42.9172 

2025-01-09T00:49:44.130Z,1736383784.130 [DAT](INFO): Rx dataTimestamp_ set to:1736383784.129701
2025-01-09T00:49:44.132Z,1736383784.132 [DAT](INFO): DAT read: Bearing 353.9,   8.0 (Local)

2025-01-09T00:49:44.133Z,1736383784.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,   8.0 (Local)

2025-01-09T00:49:44.135Z,1736383784.135 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.5

2025-01-09T00:49:44.140Z,1736383784.140 [DAT](INFO): DAT read: 00:49:42.9172 LVL= 12000, 32753, 25842, 27955, AGC= 39, IDX= 496, 0.36,-2.329, 2.266,-2.109,-2.748, PHS= 0.508,-1.222, 0.637, RAW= 153.6,   0.9, CAL= 156.1,  -8.0, ROT= 353.9,   8.0

2025-01-09T00:49:44.141Z,1736383784.141 [DAT](INFO): got valid direction response:
 00:49:42.9172 LVL= 12000, 32753, 25842, 27955, AGC= 39, IDX= 496, 0.36,-2.329, 2.266,-2.109,-2.748, PHS= 0.508,-1.222, 0.637, RAW= 153.6,   0.9, CAL= 156.1,  -8.0, ROT= 353.9,   8.0

2025-01-09T00:49:44.141Z,1736383784.141 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-01-09T00:49:44.142Z,1736383784.142 [DAT](INFO): direction in FSK: [0.984661,-0.105230,-0.139173]
2025-01-09T00:49:44.143Z,1736383784.143 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:44.149Z,1736383784.149 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=8.072517
2025-01-09T00:49:44.260Z,1736383784.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:44.302Z,1736383784.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.495988 s,
      deltaX: -0.100000 m,
      approachRate: -0.201618 m/s,
      rangeRepo size: 4

2025-01-09T00:49:44.309Z,1736383784.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.600000 m,
      bearing: 312.959320 deg,
      lat: 36.904009 deg,
      lon: -122.118964 deg,
      deltaT: 0.495988 s,
      deltaX: -0.100000 m,
      approachRate: -0.201618 m/s,
      posRepo size: 4

2025-01-09T00:49:44.383Z,1736383784.383 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=8.305607
2025-01-09T00:49:44.634Z,1736383784.634 [DAT](INFO): DAT read: Rx Time:00:49:43.4166 

2025-01-09T00:49:44.634Z,1736383784.634 [DAT](INFO): Rx dataTimestamp_ set to:1736383784.633888
2025-01-09T00:49:44.636Z,1736383784.636 [DAT](INFO): DAT read: Bearing 349.5, -15.1 (Local)

2025-01-09T00:49:44.636Z,1736383784.636 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.5, -15.1 (Local)

2025-01-09T00:49:44.638Z,1736383784.638 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.5

2025-01-09T00:49:44.673Z,1736383784.673 [DAT](INFO): DAT read: 00:49:43.4166 LVL= 10992, 30449, 21362, 26675, AGC= 35, IDX= 493, 0.11,-1.093,-2.339,-0.742,-0.854, PHS=-0.151,-1.438, 0.109, RAW= 159.0,  20.0, CAL= 160.5,  15.1, ROT= 349.5, -15.1

2025-01-09T00:49:44.690Z,1736383784.690 [DAT](INFO): got valid direction response:
 00:49:43.4166 LVL= 10992, 30449, 21362, 26675, AGC= 35, IDX= 493, 0.11,-1.093,-2.339,-0.742,-0.854, PHS=-0.151,-1.438, 0.109, RAW= 159.0,  20.0, CAL= 160.5,  15.1, ROT= 349.5, -15.1

2025-01-09T00:49:44.701Z,1736383784.701 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-01-09T00:49:44.710Z,1736383784.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:44.716Z,1736383784.716 [DAT](INFO): direction in FSK: [0.949306,-0.175944,0.260505]
2025-01-09T00:49:44.716Z,1736383784.716 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:44.739Z,1736383784.739 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=8.661892
2025-01-09T00:49:44.778Z,1736383784.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504187 s,
      deltaX: -0.900000 m,
      approachRate: -1.785052 m/s,
      rangeRepo size: 4

2025-01-09T00:49:44.785Z,1736383784.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.700000 m,
      bearing: 305.491147 deg,
      lat: 36.904009 deg,
      lon: -122.118968 deg,
      deltaT: 0.504187 s,
      deltaX: -0.900000 m,
      approachRate: -1.785052 m/s,
      posRepo size: 4

2025-01-09T00:49:44.885Z,1736383784.885 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=8.808136
2025-01-09T00:49:45.139Z,1736383785.139 [DAT](INFO): DAT read: Rx Time:00:49:43.9166 

2025-01-09T00:49:45.140Z,1736383785.140 [DAT](INFO): Rx dataTimestamp_ set to:1736383785.139785
2025-01-09T00:49:45.142Z,1736383785.142 [DAT](INFO): DAT read: Bearing  34.4,  -5.1 (Local)

2025-01-09T00:49:45.142Z,1736383785.142 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.4,  -5.1 (Local)

2025-01-09T00:49:45.145Z,1736383785.145 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.4

2025-01-09T00:49:45.149Z,1736383785.149 [DAT](INFO): DAT read: 00:49:43.9166 LVL= 14448, 25697, 20450, 21315, AGC= 33, IDX= 509,-0.35, 1.998,-0.186, 0.478, 1.043, PHS= 1.043,-1.182,-0.568, RAW= 105.5,   7.2, CAL= 115.6,   5.1, ROT=  34.4,  -5.1

2025-01-09T00:49:45.150Z,1736383785.150 [DAT](INFO): got valid direction response:
 00:49:43.9166 LVL= 14448, 25697, 20450, 21315, AGC= 33, IDX= 509,-0.35, 1.998,-0.186, 0.478, 1.043, PHS= 1.043,-1.182,-0.568, RAW= 105.5,   7.2, CAL= 115.6,   5.1, ROT=  34.4,  -5.1

2025-01-09T00:49:45.151Z,1736383785.151 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-01-09T00:49:45.156Z,1736383785.156 [DAT](INFO): direction in FSK: [0.821847,0.562730,0.088894]
2025-01-09T00:49:45.156Z,1736383785.156 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:45.160Z,1736383785.160 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.082995
2025-01-09T00:49:45.164Z,1736383785.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:45.195Z,1736383785.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.505897 s,
      deltaX: -0.200000 m,
      approachRate: -0.395337 m/s,
      rangeRepo size: 4

2025-01-09T00:49:45.201Z,1736383785.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 352.080135 deg,
      lat: 36.904009 deg,
      lon: -122.118968 deg,
      deltaT: 0.505897 s,
      deltaX: -0.200000 m,
      approachRate: -0.395337 m/s,
      posRepo size: 4

2025-01-09T00:49:45.389Z,1736383785.389 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.311980
2025-01-09T00:49:45.512Z,1736383785.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:45.523Z,1736383785.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:45.641Z,1736383785.641 [DAT](INFO): DAT read: Rx Time:00:49:44.4166 

2025-01-09T00:49:45.641Z,1736383785.641 [DAT](INFO): Rx dataTimestamp_ set to:1736383785.641003
2025-01-09T00:49:45.643Z,1736383785.643 [DAT](INFO): DAT read: Bearing  28.8, -33.6 (Local)

2025-01-09T00:49:45.643Z,1736383785.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.8, -33.6 (Local)

2025-01-09T00:49:45.645Z,1736383785.645 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.4

2025-01-09T00:49:45.650Z,1736383785.650 [DAT](INFO): DAT read: 00:49:44.4166 LVL= 20032, 24753, 22130, 23283, AGC= 34, IDX= 506, 0.09, 0.019,-2.167,-1.238,-0.196, PHS= 0.303,-1.924,-1.046, RAW= 113.1,  25.9, CAL= 121.2,  33.6, ROT=  28.8, -33.6

2025-01-09T00:49:45.657Z,1736383785.657 [DAT](INFO): got valid direction response:
 00:49:44.4166 LVL= 20032, 24753, 22130, 23283, AGC= 34, IDX= 506, 0.09, 0.019,-2.167,-1.238,-0.196, PHS= 0.303,-1.924,-1.046, RAW= 113.1,  25.9, CAL= 121.2,  33.6, ROT=  28.8, -33.6

2025-01-09T00:49:45.657Z,1736383785.657 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-01-09T00:49:45.658Z,1736383785.658 [DAT](INFO): direction in FSK: [0.729894,0.401263,0.553392]
2025-01-09T00:49:45.659Z,1736383785.659 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:45.709Z,1736383785.709 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.632495
2025-01-09T00:49:45.832Z,1736383785.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:49:45.896Z,1736383785.896 [DAT](INFO): DAT read: Rx Time:00:49:44.9164 

2025-01-09T00:49:45.897Z,1736383785.897 [DAT](INFO): Rx dataTimestamp_ set to:1736383785.896512
2025-01-09T00:49:45.900Z,1736383785.900 [DAT](INFO): DAT read: Bearing  57.5, -32.5 (Local)

2025-01-09T00:49:45.901Z,1736383785.901 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.5, -32.5 (Local)

2025-01-09T00:49:45.904Z,1736383785.904 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.826224
2025-01-09T00:49:46.018Z,1736383786.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:46.048Z,1736383786.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.501218 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:49:46.056Z,1736383786.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 343.148740 deg,
      lat: 36.904009 deg,
      lon: -122.118968 deg,
      deltaT: 0.501218 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:49:46.146Z,1736383786.146 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.1

2025-01-09T00:49:46.151Z,1736383786.151 [DAT](INFO): DAT read: 00:49:44.9164 LVL= 14608, 20465, 16530, 22003, AGC= 25, IDX= 505, 0.23, 1.831, 0.004, 0.045, 1.480, PHS= 0.439,-1.429,-1.438, RAW=  89.8,  24.6, CAL=  92.5,  32.5, ROT=  57.5, -32.5

2025-01-09T00:49:46.152Z,1736383786.152 [DAT](INFO): got valid direction response:
 00:49:44.9164 LVL= 14608, 20465, 16530, 22003, AGC= 25, IDX= 505, 0.23, 1.831, 0.004, 0.045, 1.480, PHS= 0.439,-1.429,-1.438, RAW=  89.8,  24.6, CAL=  92.5,  32.5, ROT=  57.5, -32.5

2025-01-09T00:49:46.152Z,1736383786.152 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-01-09T00:49:46.153Z,1736383786.153 [DAT](INFO): direction in FSK: [0.453154,0.711309,0.537300]
2025-01-09T00:49:46.153Z,1736383786.153 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:46.157Z,1736383786.157 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.080363
2025-01-09T00:49:46.400Z,1736383786.400 [DAT](INFO): DAT read: Rx Time:00:49:45.4163 

2025-01-09T00:49:46.401Z,1736383786.401 [DAT](INFO): Rx dataTimestamp_ set to:1736383786.400220
2025-01-09T00:49:46.404Z,1736383786.404 [DAT](INFO): DAT read: Bearing  52.5, -43.1 (Local)

2025-01-09T00:49:46.404Z,1736383786.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.5, -43.1 (Local)

2025-01-09T00:49:46.406Z,1736383786.406 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.329371
2025-01-09T00:49:46.513Z,1736383786.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:46.544Z,1736383786.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.502876 s,
      deltaX: -0.300000 m,
      approachRate: -0.596568 m/s,
      rangeRepo size: 4

2025-01-09T00:49:46.546Z,1736383786.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 15.801071 deg,
      lat: 36.904009 deg,
      lon: -122.118963 deg,
      deltaT: 0.502876 s,
      deltaX: -0.300000 m,
      approachRate: -0.596568 m/s,
      posRepo size: 4

2025-01-09T00:49:46.652Z,1736383786.652 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:49:46.702Z,1736383786.702 [DAT](INFO): DAT read: 00:49:45.4163 LVL= 16640, 16209, 13522, 17123, AGC= 26, IDX= 504, 0.12, 2.863, 1.117, 1.385, 2.901, PHS= 0.050,-1.737,-1.519, RAW=  96.4,  33.9, CAL=  97.5,  43.1, ROT=  52.5, -43.1

2025-01-09T00:49:46.710Z,1736383786.710 [DAT](INFO): got valid direction response:
 00:49:45.4163 LVL= 16640, 16209, 13522, 17123, AGC= 26, IDX= 504, 0.12, 2.863, 1.117, 1.385, 2.901, PHS= 0.050,-1.737,-1.519, RAW=  96.4,  33.9, CAL=  97.5,  43.1, ROT=  52.5, -43.1

2025-01-09T00:49:46.725Z,1736383786.725 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-01-09T00:49:46.748Z,1736383786.748 [DAT](INFO): direction in FSK: [0.444495,0.579277,0.683274]
2025-01-09T00:49:46.748Z,1736383786.748 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:46.753Z,1736383786.753 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.676077
2025-01-09T00:49:46.836Z,1736383786.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:49:46.901Z,1736383786.901 [DAT](INFO): DAT read: Rx Time:00:49:45.9164 

2025-01-09T00:49:46.901Z,1736383786.901 [DAT](INFO): Rx dataTimestamp_ set to:1736383786.901079
2025-01-09T00:49:46.903Z,1736383786.903 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-01-09T00:49:46.903Z,1736383786.903 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-01-09T00:49:46.904Z,1736383786.904 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.827600
2025-01-09T00:49:46.969Z,1736383786.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:46.984Z,1736383786.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.757200 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:49:46.986Z,1736383786.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 11.833778 deg,
      lat: 36.904010 deg,
      lon: -122.118963 deg,
      deltaT: 0.757200 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:49:47.154Z,1736383787.154 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=11.077400
2025-01-09T00:49:47.302Z,1736383787.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:47.409Z,1736383787.409 [DAT](INFO): DAT read: Rx Time:00:49:46.4162 

2025-01-09T00:49:47.412Z,1736383787.412 [DAT](INFO): Rx dataTimestamp_ set to:1736383787.409767
2025-01-09T00:49:47.416Z,1736383787.416 [DAT](INFO): DAT read: Bearing  83.7, -51.6 (Local)

2025-01-09T00:49:47.418Z,1736383787.418 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.7, -51.6 (Local)

2025-01-09T00:49:47.423Z,1736383787.423 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.1

2025-01-09T00:49:47.442Z,1736383787.442 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-01-09T00:49:47.450Z,1736383787.450 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=11.373377
2025-01-09T00:49:47.662Z,1736383787.662 [DAT](INFO): DAT read: 00:49:46.4162 LVL= 12672, 15633, 17506, 20931, AGC= 25, IDX= 504,-0.01,-2.721, 2.928, 2.571,-2.318, PHS=-0.315,-0.991,-1.398, RAW=  68.2,  45.3, CAL=  66.3,  51.6, ROT=  83.7, -51.6

2025-01-09T00:49:47.669Z,1736383787.669 [DAT](INFO): got valid direction response:
 00:49:46.4162 LVL= 12672, 15633, 17506, 20931, AGC= 25, IDX= 504,-0.01,-2.721, 2.928, 2.571,-2.318, PHS=-0.315,-0.991,-1.398, RAW=  68.2,  45.3, CAL=  66.3,  51.6, ROT=  83.7, -51.6

2025-01-09T00:49:47.669Z,1736383787.669 [DAT](INFO): #Rx 33: Read direction message, but no range.
2025-01-09T00:49:47.671Z,1736383787.671 [DAT](INFO): direction in FSK: [0.068161,0.617397,0.783693]
2025-01-09T00:49:47.676Z,1736383787.676 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=11.599523
2025-01-09T00:49:47.782Z,1736383787.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:47.843Z,1736383787.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.508688 s,
      deltaX: -0.300000 m,
      approachRate: -0.589753 m/s,
      rangeRepo size: 4

2025-01-09T00:49:47.857Z,1736383787.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 62.116594 deg,
      lat: 36.904010 deg,
      lon: -122.118963 deg,
      deltaT: 0.508688 s,
      deltaX: -0.300000 m,
      approachRate: -0.589753 m/s,
      posRepo size: 4

2025-01-09T00:49:47.913Z,1736383787.913 [DAT](INFO): DAT read: Rx Time:00:49:46.9163 

2025-01-09T00:49:47.915Z,1736383787.915 [DAT](INFO): Rx dataTimestamp_ set to:1736383787.913479
2025-01-09T00:49:47.919Z,1736383787.919 [DAT](INFO): DAT read: Bearing 103.0, -56.6 (Local)

2025-01-09T00:49:47.921Z,1736383787.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing 103.0, -56.6 (Local)

2025-01-09T00:49:47.948Z,1736383787.948 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:49:47.959Z,1736383787.959 [DAT](INFO): DAT read: 00:49:46.9163 LVL=  9024, 12705, 11090, 12627, AGC= 25, IDX= 505,-0.21, 2.822, 2.537, 1.947,-2.781, PHS=-0.592,-0.919,-1.558, RAW=  49.4,  51.9, CAL=  47.0,  56.6, ROT= 103.0, -56.6

2025-01-09T00:49:47.965Z,1736383787.965 [DAT](INFO): got valid direction response:
 00:49:46.9163 LVL=  9024, 12705, 11090, 12627, AGC= 25, IDX= 505,-0.21, 2.822, 2.537, 1.947,-2.781, PHS=-0.592,-0.919,-1.558, RAW=  49.4,  51.9, CAL=  47.0,  56.6, ROT= 103.0, -56.6

2025-01-09T00:49:47.965Z,1736383787.965 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-01-09T00:49:47.972Z,1736383787.972 [DAT](INFO): direction in FSK: [-0.123831,0.536372,0.834848]
2025-01-09T00:49:47.972Z,1736383787.972 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:47.988Z,1736383787.988 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=11.906347
2025-01-09T00:49:48.162Z,1736383788.162 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=12.085155
2025-01-09T00:49:48.301Z,1736383788.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:48.332Z,1736383788.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.503712 s,
      deltaX: 0.200000 m,
      approachRate: 0.397052 m/s,
      rangeRepo size: 4

2025-01-09T00:49:48.339Z,1736383788.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 91.976530 deg,
      lat: 36.904009 deg,
      lon: -122.118963 deg,
      deltaT: 0.503712 s,
      deltaX: 0.200000 m,
      approachRate: 0.397052 m/s,
      posRepo size: 4

2025-01-09T00:49:48.418Z,1736383788.418 [DAT](INFO): DAT read: Rx Time:00:49:47.4162 

2025-01-09T00:49:48.419Z,1736383788.419 [DAT](INFO): Rx dataTimestamp_ set to:1736383788.418059
2025-01-09T00:49:48.424Z,1736383788.424 [DAT](INFO): DAT read: Bearing  98.2, -54.5 (Local)

2025-01-09T00:49:48.425Z,1736383788.425 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.2, -54.5 (Local)

2025-01-09T00:49:48.456Z,1736383788.456 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:48.474Z,1736383788.474 [DAT](INFO): DAT read: 00:49:47.4162 LVL= 12832, 15057, 14114, 10979, AGC= 26, IDX= 503, 0.47,-0.437,-0.866,-1.492, 0.209, PHS=-0.558,-1.028,-1.704, RAW=  54.1,  49.4, CAL=  51.8,  54.5, ROT=  98.2, -54.5

2025-01-09T00:49:48.488Z,1736383788.488 [DAT](INFO): got valid direction response:
 00:49:47.4162 LVL= 12832, 15057, 14114, 10979, AGC= 26, IDX= 503, 0.47,-0.437,-0.866,-1.492, 0.209, PHS=-0.558,-1.028,-1.704, RAW=  54.1,  49.4, CAL=  51.8,  54.5, ROT=  98.2, -54.5

2025-01-09T00:49:48.491Z,1736383788.491 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-01-09T00:49:48.519Z,1736383788.519 [DAT](INFO): direction in FSK: [-0.082825,0.574766,0.814116]
2025-01-09T00:49:48.520Z,1736383788.520 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:48.528Z,1736383788.528 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=12.451546
2025-01-09T00:49:48.605Z,1736383788.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:48.634Z,1736383788.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504580 s,
      deltaX: -0.200000 m,
      approachRate: -0.396369 m/s,
      rangeRepo size: 4

2025-01-09T00:49:48.656Z,1736383788.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 87.529123 deg,
      lat: 36.904009 deg,
      lon: -122.118963 deg,
      deltaT: 0.504580 s,
      deltaX: -0.200000 m,
      approachRate: -0.396369 m/s,
      posRepo size: 4

2025-01-09T00:49:48.657Z,1736383788.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 0.90 m.
2025-01-09T00:49:48.665Z,1736383788.665 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=12.588169
2025-01-09T00:49:48.921Z,1736383788.921 [DAT](INFO): DAT read: Rx Time:00:49:47.9163 

2025-01-09T00:49:48.922Z,1736383788.922 [DAT](INFO): Rx dataTimestamp_ set to:1736383788.921306
2025-01-09T00:49:48.935Z,1736383788.935 [DAT](INFO): DAT read: Bearing  91.5, -51.5 (Local)

2025-01-09T00:49:48.952Z,1736383788.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.5, -51.5 (Local)

2025-01-09T00:49:48.960Z,1736383788.960 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:49:48.971Z,1736383788.971 [DAT](INFO): DAT read: 00:49:47.9163 LVL= 11744, 14401, 14322, 12067, AGC= 25, IDX= 504, 0.33, 2.550, 1.932, 1.352, 3.061, PHS=-0.423,-1.083,-1.712, RAW=  60.8,  45.5, CAL=  58.5,  51.5, ROT=  91.5, -51.5

2025-01-09T00:49:48.976Z,1736383788.976 [DAT](INFO): got valid direction response:
 00:49:47.9163 LVL= 11744, 14401, 14322, 12067, AGC= 25, IDX= 504, 0.33, 2.550, 1.932, 1.352, 3.061, PHS=-0.423,-1.083,-1.712, RAW=  60.8,  45.5, CAL=  58.5,  51.5, ROT=  91.5, -51.5

2025-01-09T00:49:48.977Z,1736383788.977 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-01-09T00:49:48.978Z,1736383788.978 [DAT](INFO): direction in FSK: [-0.016296,0.622301,0.782608]
2025-01-09T00:49:48.978Z,1736383788.978 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:48.993Z,1736383788.993 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=12.916780
2025-01-09T00:49:49.163Z,1736383789.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:49.170Z,1736383789.170 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=13.093300
2025-01-09T00:49:49.202Z,1736383789.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.503247 s,
      deltaX: 0.200000 m,
      approachRate: 0.397419 m/s,
      rangeRepo size: 4

2025-01-09T00:49:49.208Z,1736383789.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 81.190125 deg,
      lat: 36.904009 deg,
      lon: -122.118963 deg,
      deltaT: 0.503247 s,
      deltaX: 0.200000 m,
      approachRate: 0.397419 m/s,
      posRepo size: 4

2025-01-09T00:49:49.424Z,1736383789.424 [DAT](INFO): DAT read: Rx Time:00:49:48.4162 

2025-01-09T00:49:49.426Z,1736383789.426 [DAT](INFO): Rx dataTimestamp_ set to:1736383789.424913
2025-01-09T00:49:49.432Z,1736383789.432 [DAT](INFO): DAT read: Bearing  83.1, -49.2 (Local)

2025-01-09T00:49:49.433Z,1736383789.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.1, -49.2 (Local)

2025-01-09T00:49:49.464Z,1736383789.464 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:49.481Z,1736383789.481 [DAT](INFO): DAT read: 00:49:48.4162 LVL= 11648, 14305, 11890, 12227, AGC= 24, IDX= 503, 0.28, 2.440, 1.577, 1.105, 2.830, PHS=-0.302,-1.206,-1.728, RAW=  68.8,  42.5, CAL=  66.9,  49.2, ROT=  83.1, -49.2

2025-01-09T00:49:49.487Z,1736383789.487 [DAT](INFO): got valid direction response:
 00:49:48.4162 LVL= 11648, 14305, 11890, 12227, AGC= 24, IDX= 503, 0.28, 2.440, 1.577, 1.105, 2.830, PHS=-0.302,-1.206,-1.728, RAW=  68.8,  42.5, CAL=  66.9,  49.2, ROT=  83.1, -49.2

2025-01-09T00:49:49.488Z,1736383789.488 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-01-09T00:49:49.489Z,1736383789.489 [DAT](INFO): direction in FSK: [0.078500,0.648688,0.756995]
2025-01-09T00:49:49.489Z,1736383789.489 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:49.512Z,1736383789.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:49.528Z,1736383789.528 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=13.451595
2025-01-09T00:49:49.560Z,1736383789.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503607 s,
      deltaX: -0.200000 m,
      approachRate: -0.397135 m/s,
      rangeRepo size: 4

2025-01-09T00:49:49.562Z,1736383789.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 70.566891 deg,
      lat: 36.904009 deg,
      lon: -122.118962 deg,
      deltaT: 0.503607 s,
      deltaX: -0.200000 m,
      approachRate: -0.397135 m/s,
      posRepo size: 4

2025-01-09T00:49:49.674Z,1736383789.674 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=13.597275
2025-01-09T00:49:49.929Z,1736383789.929 [DAT](INFO): DAT read: Rx Time:00:49:48.9162 

2025-01-09T00:49:49.931Z,1736383789.931 [DAT](INFO): Rx dataTimestamp_ set to:1736383789.929567
2025-01-09T00:49:49.935Z,1736383789.935 [DAT](INFO): DAT read: Bearing  79.0, -47.1 (Local)

2025-01-09T00:49:49.937Z,1736383789.937 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.0, -47.1 (Local)

2025-01-09T00:49:49.947Z,1736383789.947 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:49.993Z,1736383789.993 [DAT](INFO): DAT read: 00:49:48.9162 LVL= 17072, 18561, 16242, 18979, AGC= 26, IDX= 503, 0.41, 1.488, 0.468, 0.055, 1.781, PHS=-0.204,-1.266,-1.728, RAW=  72.8,  39.9, CAL=  71.0,  47.1, ROT=  79.0, -47.1

2025-01-09T00:49:49.994Z,1736383789.994 [DAT](INFO): got valid direction response:
 00:49:48.9162 LVL= 17072, 18561, 16242, 18979, AGC= 26, IDX= 503, 0.41, 1.488, 0.468, 0.055, 1.781, PHS=-0.204,-1.266,-1.728, RAW=  72.8,  39.9, CAL=  71.0,  47.1, ROT=  79.0, -47.1

2025-01-09T00:49:49.994Z,1736383789.994 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-01-09T00:49:49.995Z,1736383789.995 [DAT](INFO): direction in FSK: [0.129888,0.668214,0.732543]
2025-01-09T00:49:50.012Z,1736383790.012 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:50.019Z,1736383790.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:50.023Z,1736383790.023 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=13.938397
2025-01-09T00:49:50.063Z,1736383790.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504654 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:49:50.069Z,1736383790.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 65.096653 deg,
      lat: 36.904011 deg,
      lon: -122.118962 deg,
      deltaT: 0.504654 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:49:50.178Z,1736383790.178 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=14.100618
2025-01-09T00:49:50.356Z,1736383790.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:50.362Z,1736383790.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:50.435Z,1736383790.435 [DAT](INFO): DAT read: Rx Time:00:49:49.4161 

2025-01-09T00:49:50.437Z,1736383790.437 [DAT](INFO): Rx dataTimestamp_ set to:1736383790.435799
2025-01-09T00:49:50.441Z,1736383790.441 [DAT](INFO): DAT read: Bearing  76.5, -44.6 (Local)

2025-01-09T00:49:50.442Z,1736383790.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.5, -44.6 (Local)

2025-01-09T00:49:50.450Z,1736383790.450 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:49:50.467Z,1736383790.467 [DAT](INFO): DAT read: 00:49:49.4161 LVL= 18000, 18737, 17394, 21555, AGC= 27, IDX= 503,-0.50,-1.150,-2.313,-2.694,-0.969, PHS=-0.093,-1.296,-1.727, RAW=  75.3,  36.9, CAL=  73.5,  44.6, ROT=  76.5, -44.6

2025-01-09T00:49:50.472Z,1736383790.472 [DAT](INFO): got valid direction response:
 00:49:49.4161 LVL= 18000, 18737, 17394, 21555, AGC= 27, IDX= 503,-0.50,-1.150,-2.313,-2.694,-0.969, PHS=-0.093,-1.296,-1.727, RAW=  75.3,  36.9, CAL=  73.5,  44.6, ROT=  76.5, -44.6

2025-01-09T00:49:50.473Z,1736383790.473 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-01-09T00:49:50.474Z,1736383790.474 [DAT](INFO): direction in FSK: [0.166219,0.692353,0.702153]
2025-01-09T00:49:50.474Z,1736383790.474 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:50.488Z,1736383790.488 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=14.411289
2025-01-09T00:49:50.681Z,1736383790.681 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=14.604469
2025-01-09T00:49:50.837Z,1736383790.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:50.853Z,1736383790.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.506232 s,
      deltaX: -0.100000 m,
      approachRate: -0.197538 m/s,
      rangeRepo size: 4

2025-01-09T00:49:50.855Z,1736383790.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 62.114400 deg,
      lat: 36.904012 deg,
      lon: -122.118962 deg,
      deltaT: 0.506232 s,
      deltaX: -0.100000 m,
      approachRate: -0.197538 m/s,
      posRepo size: 4

2025-01-09T00:49:50.937Z,1736383790.937 [DAT](INFO): DAT read: Rx Time:00:49:49.9162 

2025-01-09T00:49:50.939Z,1736383790.939 [DAT](INFO): Rx dataTimestamp_ set to:1736383790.937917
2025-01-09T00:49:50.950Z,1736383790.950 [DAT](INFO): DAT read: Bearing  75.0, -43.8 (Local)

2025-01-09T00:49:50.951Z,1736383790.951 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.0, -43.8 (Local)

2025-01-09T00:49:50.957Z,1736383790.957 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:50.980Z,1736383790.980 [DAT](INFO): DAT read: 00:49:49.9162 LVL= 16048, 16945, 15442, 19635, AGC= 27, IDX= 504,-0.37,-0.675,-1.909,-2.264,-0.530, PHS=-0.057,-1.332,-1.737, RAW=  76.7,  36.0, CAL=  75.0,  43.8, ROT=  75.0, -43.8

2025-01-09T00:49:50.981Z,1736383790.981 [DAT](INFO): got valid direction response:
 00:49:49.9162 LVL= 16048, 16945, 15442, 19635, AGC= 27, IDX= 504,-0.37,-0.675,-1.909,-2.264,-0.530, PHS=-0.057,-1.332,-1.737, RAW=  76.7,  36.0, CAL=  75.0,  43.8, ROT=  75.0, -43.8

2025-01-09T00:49:50.982Z,1736383790.982 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-01-09T00:49:50.988Z,1736383790.988 [DAT](INFO): direction in FSK: [0.186805,0.697167,0.692143]
2025-01-09T00:49:50.989Z,1736383790.989 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:51.012Z,1736383791.012 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=14.935899
2025-01-09T00:49:51.177Z,1736383791.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:51.184Z,1736383791.184 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=15.107779
2025-01-09T00:49:51.215Z,1736383791.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.502118 s,
      deltaX: 0.100000 m,
      approachRate: 0.199156 m/s,
      rangeRepo size: 4

2025-01-09T00:49:51.222Z,1736383791.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 60.303617 deg,
      lat: 36.904013 deg,
      lon: -122.118962 deg,
      deltaT: 0.502118 s,
      deltaX: 0.100000 m,
      approachRate: 0.199156 m/s,
      posRepo size: 4

2025-01-09T00:49:51.442Z,1736383791.442 [DAT](INFO): DAT read: Rx Time:00:49:50.4162 

2025-01-09T00:49:51.444Z,1736383791.444 [DAT](INFO): Rx dataTimestamp_ set to:1736383791.442557
2025-01-09T00:49:51.445Z,1736383791.445 [DAT](INFO): DAT read: Bearing  74.3, -45.1 (Local)

2025-01-09T00:49:51.445Z,1736383791.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.3, -45.1 (Local)

2025-01-09T00:49:51.447Z,1736383791.447 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:51.453Z,1736383791.453 [DAT](INFO): DAT read: 00:49:50.4162 LVL= 16464, 18001, 15138, 20003, AGC= 27, IDX= 503,-0.29,-1.846,-3.071, 2.881,-1.649, PHS=-0.109,-1.375,-1.756, RAW=  77.3,  37.5, CAL=  75.7,  45.1, ROT=  74.3, -45.1

2025-01-09T00:49:51.454Z,1736383791.454 [DAT](INFO): got valid direction response:
 00:49:50.4162 LVL= 16464, 18001, 15138, 20003, AGC= 27, IDX= 503,-0.29,-1.846,-3.071, 2.881,-1.649, PHS=-0.109,-1.375,-1.756, RAW=  77.3,  37.5, CAL=  75.7,  45.1, ROT=  74.3, -45.1

2025-01-09T00:49:51.454Z,1736383791.454 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-01-09T00:49:51.461Z,1736383791.461 [DAT](INFO): direction in FSK: [0.191009,0.679537,0.708340]
2025-01-09T00:49:51.461Z,1736383791.461 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:51.473Z,1736383791.473 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=15.396709
2025-01-09T00:49:51.597Z,1736383791.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:51.624Z,1736383791.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504640 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:49:51.626Z,1736383791.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 61.518425 deg,
      lat: 36.904014 deg,
      lon: -122.118962 deg,
      deltaT: 0.504640 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:49:51.690Z,1736383791.690 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=15.613115
2025-01-09T00:49:51.945Z,1736383791.945 [DAT](INFO): DAT read: Rx Time:00:49:50.9163 

2025-01-09T00:49:51.945Z,1736383791.945 [DAT](INFO): Rx dataTimestamp_ set to:1736383791.944782
2025-01-09T00:49:51.946Z,1736383791.946 [DAT](INFO): DAT read: Bearing  73.0, -46.0 (Local)

2025-01-09T00:49:51.947Z,1736383791.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.0, -46.0 (Local)

2025-01-09T00:49:51.949Z,1736383791.949 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:49:51.954Z,1736383791.954 [DAT](INFO): DAT read: 00:49:50.9163 LVL= 15344, 17137, 14290, 18771, AGC= 27, IDX= 504,-0.25,-0.777,-2.035,-2.333,-0.542, PHS=-0.147,-1.446,-1.795, RAW=  78.4,  38.5, CAL=  77.0,  46.0, ROT=  73.0, -46.0

2025-01-09T00:49:51.959Z,1736383791.959 [DAT](INFO): got valid direction response:
 00:49:50.9163 LVL= 15344, 17137, 14290, 18771, AGC= 27, IDX= 504,-0.25,-0.777,-2.035,-2.333,-0.542, PHS=-0.147,-1.446,-1.795, RAW=  78.4,  38.5, CAL=  77.0,  46.0, ROT=  73.0, -46.0

2025-01-09T00:49:51.959Z,1736383791.959 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-01-09T00:49:51.960Z,1736383791.960 [DAT](INFO): direction in FSK: [0.203098,0.664305,0.719340]
2025-01-09T00:49:51.961Z,1736383791.961 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:51.964Z,1736383791.964 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=15.887950
2025-01-09T00:49:52.081Z,1736383792.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:52.120Z,1736383792.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.502225 s,
      deltaX: 0.200000 m,
      approachRate: 0.398228 m/s,
      rangeRepo size: 4

2025-01-09T00:49:52.122Z,1736383792.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 59.781136 deg,
      lat: 36.904014 deg,
      lon: -122.118962 deg,
      deltaT: 0.502225 s,
      deltaX: 0.200000 m,
      approachRate: 0.398228 m/s,
      posRepo size: 4

2025-01-09T00:49:52.197Z,1736383792.197 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=16.120008
2025-01-09T00:49:52.449Z,1736383792.449 [DAT](INFO): DAT read: Rx Time:00:49:51.4162 

2025-01-09T00:49:52.450Z,1736383792.450 [DAT](INFO): Rx dataTimestamp_ set to:1736383792.449597
2025-01-09T00:49:52.451Z,1736383792.451 [DAT](INFO): DAT read: Bearing  72.8, -46.4 (Local)

2025-01-09T00:49:52.452Z,1736383792.452 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.8, -46.4 (Local)

2025-01-09T00:49:52.454Z,1736383792.454 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:52.459Z,1736383792.459 [DAT](INFO): DAT read: 00:49:51.4162 LVL= 17488, 19649, 16658, 21939, AGC= 28, IDX= 503,-0.21,-1.299,-2.576,-2.872,-1.046, PHS=-0.165,-1.483,-1.829, RAW=  78.6,  38.9, CAL=  77.2,  46.4, ROT=  72.8, -46.4

2025-01-09T00:49:52.460Z,1736383792.460 [DAT](INFO): got valid direction response:
 00:49:51.4162 LVL= 17488, 19649, 16658, 21939, AGC= 28, IDX= 503,-0.21,-1.299,-2.576,-2.872,-1.046, PHS=-0.165,-1.483,-1.829, RAW=  78.6,  38.9, CAL=  77.2,  46.4, ROT=  72.8, -46.4

2025-01-09T00:49:52.460Z,1736383792.460 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-01-09T00:49:52.461Z,1736383792.461 [DAT](INFO): direction in FSK: [0.203926,0.658779,0.724172]
2025-01-09T00:49:52.461Z,1736383792.461 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:52.469Z,1736383792.469 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=16.392241
2025-01-09T00:49:52.497Z,1736383792.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:52.535Z,1736383792.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504815 s,
      deltaX: -0.200000 m,
      approachRate: -0.396185 m/s,
      rangeRepo size: 4

2025-01-09T00:49:52.537Z,1736383792.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 63.327837 deg,
      lat: 36.904015 deg,
      lon: -122.118962 deg,
      deltaT: 0.504815 s,
      deltaX: -0.200000 m,
      approachRate: -0.396185 m/s,
      posRepo size: 4

2025-01-09T00:49:52.701Z,1736383792.701 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=16.624264
2025-01-09T00:49:52.881Z,1736383792.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:52.944Z,1736383792.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:52.953Z,1736383792.953 [DAT](INFO): DAT read: Rx Time:00:49:51.9163 

2025-01-09T00:49:52.954Z,1736383792.954 [DAT](INFO): Rx dataTimestamp_ set to:1736383792.953387
2025-01-09T00:49:52.956Z,1736383792.956 [DAT](INFO): DAT read: Bearing  71.8, -46.7 (Local)

2025-01-09T00:49:52.956Z,1736383792.956 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.8, -46.7 (Local)

2025-01-09T00:49:52.958Z,1736383792.958 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:49:52.963Z,1736383792.963 [DAT](INFO): DAT read: 00:49:51.9163 LVL= 15648, 18865, 16018, 20307, AGC= 28, IDX= 504,-0.16,-0.417,-1.733,-2.006,-0.146, PHS=-0.182,-1.539,-1.862, RAW=  79.6,  39.4, CAL=  78.2,  46.7, ROT=  71.8, -46.7

2025-01-09T00:49:52.964Z,1736383792.964 [DAT](INFO): got valid direction response:
 00:49:51.9163 LVL= 15648, 18865, 16018, 20307, AGC= 28, IDX= 504,-0.16,-0.417,-1.733,-2.006,-0.146, PHS=-0.182,-1.539,-1.862, RAW=  79.6,  39.4, CAL=  78.2,  46.7, ROT=  71.8, -46.7

2025-01-09T00:49:52.964Z,1736383792.964 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-01-09T00:49:52.965Z,1736383792.965 [DAT](INFO): direction in FSK: [0.214205,0.651508,0.727773]
2025-01-09T00:49:52.966Z,1736383792.966 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:52.970Z,1736383792.970 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=16.893356
2025-01-09T00:49:53.204Z,1736383793.204 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=17.127625
2025-01-09T00:49:53.276Z,1736383793.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:53.294Z,1736383793.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.503790 s,
      deltaX: 0.200000 m,
      approachRate: 0.396991 m/s,
      rangeRepo size: 4

2025-01-09T00:49:53.296Z,1736383793.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 65.413807 deg,
      lat: 36.904015 deg,
      lon: -122.118961 deg,
      deltaT: 0.503790 s,
      deltaX: 0.200000 m,
      approachRate: 0.396991 m/s,
      posRepo size: 4

2025-01-09T00:49:53.457Z,1736383793.457 [DAT](INFO): DAT read: Rx Time:00:49:52.4162 

2025-01-09T00:49:53.457Z,1736383793.457 [DAT](INFO): Rx dataTimestamp_ set to:1736383793.457202
2025-01-09T00:49:53.459Z,1736383793.459 [DAT](INFO): DAT read: Bearing  71.6, -47.4 (Local)

2025-01-09T00:49:53.459Z,1736383793.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.6, -47.4 (Local)

2025-01-09T00:49:53.461Z,1736383793.461 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:53.467Z,1736383793.467 [DAT](INFO): DAT read: 00:49:52.4162 LVL= 17616, 19953, 17954, 23219, AGC= 28, IDX= 503,-0.12,-1.788,-3.124, 2.887,-1.485, PHS=-0.215,-1.591,-1.914, RAW=  79.7,  40.1, CAL=  78.4,  47.4, ROT=  71.6, -47.4

2025-01-09T00:49:53.472Z,1736383793.472 [DAT](INFO): got valid direction response:
 00:49:52.4162 LVL= 17616, 19953, 17954, 23219, AGC= 28, IDX= 503,-0.12,-1.788,-3.124, 2.887,-1.485, PHS=-0.215,-1.591,-1.914, RAW=  79.7,  40.1, CAL=  78.4,  47.4, ROT=  71.6, -47.4

2025-01-09T00:49:53.473Z,1736383793.473 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-01-09T00:49:53.480Z,1736383793.480 [DAT](INFO): direction in FSK: [0.213655,0.642271,0.736097]
2025-01-09T00:49:53.480Z,1736383793.480 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:53.521Z,1736383793.521 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=17.443966
2025-01-09T00:49:53.695Z,1736383793.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:53.708Z,1736383793.708 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=17.631762
2025-01-09T00:49:53.746Z,1736383793.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503815 s,
      deltaX: -0.200000 m,
      approachRate: -0.396971 m/s,
      rangeRepo size: 4

2025-01-09T00:49:53.757Z,1736383793.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 66.170588 deg,
      lat: 36.904015 deg,
      lon: -122.118961 deg,
      deltaT: 0.503815 s,
      deltaX: -0.200000 m,
      approachRate: -0.396971 m/s,
      posRepo size: 4

2025-01-09T00:49:53.961Z,1736383793.961 [DAT](INFO): DAT read: Rx Time:00:49:52.9162 

2025-01-09T00:49:53.961Z,1736383793.961 [DAT](INFO): Rx dataTimestamp_ set to:1736383793.961162
2025-01-09T00:49:53.963Z,1736383793.963 [DAT](INFO): DAT read: Bearing  71.0, -47.4 (Local)

2025-01-09T00:49:53.963Z,1736383793.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.0, -47.4 (Local)

2025-01-09T00:49:53.965Z,1736383793.965 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:53.982Z,1736383793.982 [DAT](INFO): DAT read: 00:49:52.9162 LVL= 17760, 23777, 18226, 24243, AGC= 29, IDX= 503,-0.06,-1.293,-2.661,-2.923,-0.984, PHS=-0.221,-1.630,-1.942, RAW=  80.2,  40.2, CAL=  79.0,  47.4, ROT=  71.0, -47.4

2025-01-09T00:49:54.004Z,1736383794.004 [DAT](INFO): got valid direction response:
 00:49:52.9162 LVL= 17760, 23777, 18226, 24243, AGC= 29, IDX= 503,-0.06,-1.293,-2.661,-2.923,-0.984, PHS=-0.221,-1.630,-1.942, RAW=  80.2,  40.2, CAL=  79.0,  47.4, ROT=  71.0, -47.4

2025-01-09T00:49:54.004Z,1736383794.004 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-01-09T00:49:54.005Z,1736383794.005 [DAT](INFO): direction in FSK: [0.220369,0.639999,0.736097]
2025-01-09T00:49:54.005Z,1736383794.005 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:54.014Z,1736383794.014 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=17.937302
2025-01-09T00:49:54.213Z,1736383794.213 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=18.136066
2025-01-09T00:49:54.296Z,1736383794.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:54.314Z,1736383794.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503960 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:49:54.317Z,1736383794.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 67.317639 deg,
      lat: 36.904015 deg,
      lon: -122.118960 deg,
      deltaT: 0.503960 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:49:54.466Z,1736383794.466 [DAT](INFO): DAT read: Rx Time:00:49:53.4161 

2025-01-09T00:49:54.467Z,1736383794.467 [DAT](INFO): Rx dataTimestamp_ set to:1736383794.466506
2025-01-09T00:49:54.468Z,1736383794.468 [DAT](INFO): DAT read: Bearing  70.6, -48.7 (Local)

2025-01-09T00:49:54.468Z,1736383794.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.6, -48.7 (Local)

2025-01-09T00:49:54.471Z,1736383794.471 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:49:54.476Z,1736383794.476 [DAT](INFO): DAT read: 00:49:53.4161 LVL= 22576, 25729, 23250, 28323, AGC= 29, IDX= 502, 0.05,-2.573, 2.347, 2.100,-2.203, PHS=-0.282,-1.687,-1.984, RAW=  80.6,  41.6, CAL=  79.4,  48.7, ROT=  70.6, -48.7

2025-01-09T00:49:54.477Z,1736383794.477 [DAT](INFO): got valid direction response:
 00:49:53.4161 LVL= 22576, 25729, 23250, 28323, AGC= 29, IDX= 502, 0.05,-2.573, 2.347, 2.100,-2.203, PHS=-0.282,-1.687,-1.984, RAW=  80.6,  41.6, CAL=  79.4,  48.7, ROT=  70.6, -48.7

2025-01-09T00:49:54.477Z,1736383794.477 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-01-09T00:49:54.478Z,1736383794.478 [DAT](INFO): direction in FSK: [0.219227,0.622529,0.751264]
2025-01-09T00:49:54.478Z,1736383794.478 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:54.487Z,1736383794.487 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=18.405951
2025-01-09T00:49:54.651Z,1736383794.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:54.695Z,1736383794.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.505344 s,
      deltaX: -0.100000 m,
      approachRate: -0.197885 m/s,
      rangeRepo size: 4

2025-01-09T00:49:54.702Z,1736383794.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 67.429273 deg,
      lat: 36.904015 deg,
      lon: -122.118960 deg,
      deltaT: 0.505344 s,
      deltaX: -0.100000 m,
      approachRate: -0.197885 m/s,
      posRepo size: 4

2025-01-09T00:49:54.717Z,1736383794.717 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=18.640524
2025-01-09T00:49:54.969Z,1736383794.969 [DAT](INFO): DAT read: Rx Time:00:49:53.9162 

2025-01-09T00:49:54.970Z,1736383794.970 [DAT](INFO): Rx dataTimestamp_ set to:1736383794.969351
2025-01-09T00:49:54.971Z,1736383794.971 [DAT](INFO): DAT read: Bearing  70.1, -49.5 (Local)

2025-01-09T00:49:54.971Z,1736383794.971 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.1, -49.5 (Local)

2025-01-09T00:49:54.973Z,1736383794.973 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:54.978Z,1736383794.978 [DAT](INFO): DAT read: 00:49:53.9162 LVL= 19184, 23969, 21282, 26339, AGC= 29, IDX= 503, 0.14,-2.188, 2.729, 2.499,-1.778, PHS=-0.323,-1.730,-2.010, RAW=  81.1,  42.5, CAL=  79.9,  49.5, ROT=  70.1, -49.5

2025-01-09T00:49:54.980Z,1736383794.980 [DAT](INFO): got valid direction response:
 00:49:53.9162 LVL= 19184, 23969, 21282, 26339, AGC= 29, IDX= 503, 0.14,-2.188, 2.729, 2.499,-1.778, PHS=-0.323,-1.730,-2.010, RAW=  81.1,  42.5, CAL=  79.9,  49.5, ROT=  70.1, -49.5

2025-01-09T00:49:54.980Z,1736383794.980 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-01-09T00:49:54.981Z,1736383794.981 [DAT](INFO): direction in FSK: [0.221059,0.610668,0.760406]
2025-01-09T00:49:54.981Z,1736383794.981 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:54.986Z,1736383794.986 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=18.909031
2025-01-09T00:49:55.170Z,1736383795.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:55.186Z,1736383795.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.502845 s,
      deltaX: 0.100000 m,
      approachRate: 0.198868 m/s,
      rangeRepo size: 4

2025-01-09T00:49:55.188Z,1736383795.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 67.855748 deg,
      lat: 36.904015 deg,
      lon: -122.118960 deg,
      deltaT: 0.502845 s,
      deltaX: 0.100000 m,
      approachRate: 0.198868 m/s,
      posRepo size: 4

2025-01-09T00:49:55.220Z,1736383795.220 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=19.143890
2025-01-09T00:49:55.474Z,1736383795.474 [DAT](INFO): DAT read: Rx Time:00:49:54.4161 

2025-01-09T00:49:55.474Z,1736383795.474 [DAT](INFO): Rx dataTimestamp_ set to:1736383795.474092
2025-01-09T00:49:55.476Z,1736383795.476 [DAT](INFO): DAT read: Bearing  71.4, -48.7 (Local)

2025-01-09T00:49:55.477Z,1736383795.477 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.4, -48.7 (Local)

2025-01-09T00:49:55.479Z,1736383795.479 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:49:55.490Z,1736383795.490 [DAT](INFO): DAT read: 00:49:54.4161 LVL= 18976, 24113, 20082, 23539, AGC= 29, IDX= 502, 0.19,-2.590, 2.355, 2.088,-2.219, PHS=-0.283,-1.662,-1.979, RAW=  79.9,  41.6, CAL=  78.6,  48.7, ROT=  71.4, -48.7

2025-01-09T00:49:55.491Z,1736383795.491 [DAT](INFO): got valid direction response:
 00:49:54.4161 LVL= 18976, 24113, 20082, 23539, AGC= 29, IDX= 502, 0.19,-2.590, 2.355, 2.088,-2.219, PHS=-0.283,-1.662,-1.979, RAW=  79.9,  41.6, CAL=  78.6,  48.7, ROT=  71.4, -48.7

2025-01-09T00:49:55.491Z,1736383795.491 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-01-09T00:49:55.492Z,1736383795.492 [DAT](INFO): direction in FSK: [0.210514,0.625529,0.751264]
2025-01-09T00:49:55.493Z,1736383795.493 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:55.496Z,1736383795.496 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=19.419527
2025-01-09T00:49:55.577Z,1736383795.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:55.611Z,1736383795.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.504741 s,
      deltaX: -0.100000 m,
      approachRate: -0.198121 m/s,
      rangeRepo size: 4

2025-01-09T00:49:55.618Z,1736383795.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 71.150471 deg,
      lat: 36.904014 deg,
      lon: -122.118960 deg,
      deltaT: 0.504741 s,
      deltaX: -0.100000 m,
      approachRate: -0.198121 m/s,
      posRepo size: 4

2025-01-09T00:49:55.725Z,1736383795.725 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=19.648258
2025-01-09T00:49:55.977Z,1736383795.977 [DAT](INFO): DAT read: Rx Time:00:49:54.9162 

2025-01-09T00:49:55.978Z,1736383795.978 [DAT](INFO): Rx dataTimestamp_ set to:1736383795.977247
2025-01-09T00:49:55.979Z,1736383795.979 [DAT](INFO): DAT read: Bearing  72.5, -46.9 (Local)

2025-01-09T00:49:55.979Z,1736383795.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.5, -46.9 (Local)

2025-01-09T00:49:55.982Z,1736383795.982 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:56.002Z,1736383796.002 [DAT](INFO): DAT read: 00:49:54.9162 LVL= 16240, 24705, 18594, 20275, AGC= 29, IDX= 503, 0.20,-1.382,-2.735,-3.043,-1.091, PHS=-0.203,-1.597,-1.955, RAW=  78.9,  39.6, CAL=  77.5,  46.9, ROT=  72.5, -46.9

2025-01-09T00:49:56.040Z,1736383796.040 [DAT](INFO): got valid direction response:
 00:49:54.9162 LVL= 16240, 24705, 18594, 20275, AGC= 29, IDX= 503, 0.20,-1.382,-2.735,-3.043,-1.091, PHS=-0.203,-1.597,-1.955, RAW=  78.9,  39.6, CAL=  77.5,  46.9, ROT=  72.5, -46.9

2025-01-09T00:49:56.041Z,1736383796.041 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-01-09T00:49:56.043Z,1736383796.043 [DAT](INFO): direction in FSK: [0.205464,0.651650,0.730162]
2025-01-09T00:49:56.059Z,1736383796.059 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:56.063Z,1736383796.063 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=19.986160
2025-01-09T00:49:56.176Z,1736383796.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:56.199Z,1736383796.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503155 s,
      deltaX: 0.100000 m,
      approachRate: 0.198746 m/s,
      rangeRepo size: 4

2025-01-09T00:49:56.205Z,1736383796.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 74.937369 deg,
      lat: 36.904014 deg,
      lon: -122.118960 deg,
      deltaT: 0.503155 s,
      deltaX: 0.100000 m,
      approachRate: 0.198746 m/s,
      posRepo size: 4

2025-01-09T00:49:56.228Z,1736383796.228 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=20.151783
2025-01-09T00:49:56.481Z,1736383796.481 [DAT](INFO): DAT read: Rx Time:00:49:55.4161 

2025-01-09T00:49:56.482Z,1736383796.482 [DAT](INFO): Rx dataTimestamp_ set to:1736383796.481307
2025-01-09T00:49:56.484Z,1736383796.484 [DAT](INFO): DAT read: Bearing  72.9, -46.9 (Local)

2025-01-09T00:49:56.484Z,1736383796.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.9, -46.9 (Local)

2025-01-09T00:49:56.486Z,1736383796.486 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:49:56.492Z,1736383796.492 [DAT](INFO): DAT read: 00:49:55.4161 LVL= 15824, 23201, 18818, 19427, AGC= 29, IDX= 502, 0.27,-2.435, 2.512, 2.195,-2.149, PHS=-0.198,-1.575,-1.943, RAW=  78.5,  39.5, CAL=  77.1,  46.9, ROT=  72.9, -46.9

2025-01-09T00:49:56.493Z,1736383796.493 [DAT](INFO): got valid direction response:
 00:49:55.4161 LVL= 15824, 23201, 18818, 19427, AGC= 29, IDX= 502, 0.27,-2.435, 2.512, 2.195,-2.149, PHS=-0.198,-1.575,-1.943, RAW=  78.5,  39.5, CAL=  77.1,  46.9, ROT=  72.9, -46.9

2025-01-09T00:49:56.493Z,1736383796.493 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-01-09T00:49:56.494Z,1736383796.494 [DAT](INFO): direction in FSK: [0.200910,0.653068,0.730162]
2025-01-09T00:49:56.494Z,1736383796.494 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:56.498Z,1736383796.498 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=20.421164
2025-01-09T00:49:56.671Z,1736383796.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:56.710Z,1736383796.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.504060 s,
      deltaX: -0.100000 m,
      approachRate: -0.198389 m/s,
      rangeRepo size: 4

2025-01-09T00:49:56.713Z,1736383796.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 79.647838 deg,
      lat: 36.904014 deg,
      lon: -122.118960 deg,
      deltaT: 0.504060 s,
      deltaX: -0.100000 m,
      approachRate: -0.198389 m/s,
      posRepo size: 4

2025-01-09T00:49:56.733Z,1736383796.733 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=20.655842
2025-01-09T00:49:56.986Z,1736383796.986 [DAT](INFO): DAT read: Rx Time:00:49:55.9162 

2025-01-09T00:49:56.986Z,1736383796.986 [DAT](INFO): Rx dataTimestamp_ set to:1736383796.985927
2025-01-09T00:49:56.988Z,1736383796.988 [DAT](INFO): DAT read: Bearing  73.4, -46.6 (Local)

2025-01-09T00:49:56.988Z,1736383796.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.4, -46.6 (Local)

2025-01-09T00:49:56.990Z,1736383796.990 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:56.995Z,1736383796.995 [DAT](INFO): DAT read: 00:49:55.9162 LVL= 15568, 22337, 19026, 19043, AGC= 29, IDX= 503, 0.32,-1.301,-2.627,-2.957,-1.024, PHS=-0.188,-1.556,-1.935, RAW=  78.1,  39.3, CAL=  76.6,  46.6, ROT=  73.4, -46.6

2025-01-09T00:49:56.996Z,1736383796.996 [DAT](INFO): got valid direction response:
 00:49:55.9162 LVL= 15568, 22337, 19026, 19043, AGC= 29, IDX= 503, 0.32,-1.301,-2.627,-2.957,-1.024, PHS=-0.188,-1.556,-1.935, RAW=  78.1,  39.3, CAL=  76.6,  46.6, ROT=  73.4, -46.6

2025-01-09T00:49:56.996Z,1736383796.996 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-01-09T00:49:56.997Z,1736383796.997 [DAT](INFO): direction in FSK: [0.196293,0.658452,0.726575]
2025-01-09T00:49:56.997Z,1736383796.997 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:57.002Z,1736383797.002 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=20.925468
2025-01-09T00:49:57.177Z,1736383797.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:57.208Z,1736383797.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504620 s,
      deltaX: 0.100000 m,
      approachRate: 0.198169 m/s,
      rangeRepo size: 4

2025-01-09T00:49:57.210Z,1736383797.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 80.271166 deg,
      lat: 36.904014 deg,
      lon: -122.118960 deg,
      deltaT: 0.504620 s,
      deltaX: 0.100000 m,
      approachRate: 0.198169 m/s,
      posRepo size: 4

2025-01-09T00:49:57.236Z,1736383797.236 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=21.159836
2025-01-09T00:49:57.489Z,1736383797.489 [DAT](INFO): DAT read: Rx Time:00:49:56.4162 

2025-01-09T00:49:57.490Z,1736383797.490 [DAT](INFO): Rx dataTimestamp_ set to:1736383797.489258
2025-01-09T00:49:57.491Z,1736383797.491 [DAT](INFO): DAT read: Bearing  73.7, -46.7 (Local)

2025-01-09T00:49:57.492Z,1736383797.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.7, -46.7 (Local)

2025-01-09T00:49:57.494Z,1736383797.494 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:57.499Z,1736383797.499 [DAT](INFO): DAT read: 00:49:56.4162 LVL= 15600, 23025, 19170, 19315, AGC= 29, IDX= 502, 0.38,-2.420, 2.551, 2.215,-2.139, PHS=-0.194,-1.546,-1.933, RAW=  77.8,  39.4, CAL=  76.3,  46.7, ROT=  73.7, -46.7

2025-01-09T00:49:57.504Z,1736383797.504 [DAT](INFO): got valid direction response:
 00:49:56.4162 LVL= 15600, 23025, 19170, 19315, AGC= 29, IDX= 502, 0.38,-2.420, 2.551, 2.215,-2.139, PHS=-0.194,-1.546,-1.933, RAW=  77.8,  39.4, CAL=  76.3,  46.7, ROT=  73.7, -46.7

2025-01-09T00:49:57.504Z,1736383797.504 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-01-09T00:49:57.505Z,1736383797.505 [DAT](INFO): direction in FSK: [0.192486,0.658252,0.727773]
2025-01-09T00:49:57.505Z,1736383797.505 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:57.512Z,1736383797.512 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=21.435467
2025-01-09T00:49:57.601Z,1736383797.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:57.623Z,1736383797.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503331 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:49:57.629Z,1736383797.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 84.431540 deg,
      lat: 36.904013 deg,
      lon: -122.118960 deg,
      deltaT: 0.503331 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:49:57.741Z,1736383797.741 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=21.664125
2025-01-09T00:49:57.993Z,1736383797.993 [DAT](INFO): DAT read: Rx Time:00:49:56.9163 

2025-01-09T00:49:57.993Z,1736383797.993 [DAT](INFO): Rx dataTimestamp_ set to:1736383797.993115
2025-01-09T00:49:57.995Z,1736383797.995 [DAT](INFO): DAT read: Bearing  74.1, -46.8 (Local)

2025-01-09T00:49:57.995Z,1736383797.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.1, -46.8 (Local)

2025-01-09T00:49:57.997Z,1736383797.997 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:49:58.003Z,1736383798.003 [DAT](INFO): DAT read: 00:49:56.9163 LVL= 15520, 23953, 19490, 19299, AGC= 29, IDX= 502, 0.42,-1.943, 3.052, 2.709,-1.657, PHS=-0.197,-1.526,-1.920, RAW=  77.4,  39.5, CAL=  75.9,  46.8, ROT=  74.1, -46.8

2025-01-09T00:49:58.004Z,1736383798.004 [DAT](INFO): got valid direction response:
 00:49:56.9163 LVL= 15520, 23953, 19490, 19299, AGC= 29, IDX= 502, 0.42,-1.943, 3.052, 2.709,-1.657, PHS=-0.197,-1.526,-1.920, RAW=  77.4,  39.5, CAL=  75.9,  46.8, ROT=  74.1, -46.8

2025-01-09T00:49:58.004Z,1736383798.004 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-01-09T00:49:58.005Z,1736383798.005 [DAT](INFO): direction in FSK: [0.187538,0.658357,0.728969]
2025-01-09T00:49:58.006Z,1736383798.006 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:58.013Z,1736383798.013 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=21.936819
2025-01-09T00:49:58.018Z,1736383798.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:58.056Z,1736383798.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.503857 s,
      deltaX: 0.200000 m,
      approachRate: 0.396938 m/s,
      rangeRepo size: 4

2025-01-09T00:49:58.058Z,1736383798.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 86.706611 deg,
      lat: 36.904013 deg,
      lon: -122.118959 deg,
      deltaT: 0.503857 s,
      deltaX: 0.200000 m,
      approachRate: 0.396938 m/s,
      posRepo size: 4

2025-01-09T00:49:58.244Z,1736383798.244 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=22.167906
2025-01-09T00:49:58.370Z,1736383798.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:58.380Z,1736383798.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:49:58.498Z,1736383798.498 [DAT](INFO): DAT read: Rx Time:00:49:57.4162 

2025-01-09T00:49:58.501Z,1736383798.501 [DAT](INFO): Rx dataTimestamp_ set to:1736383798.500360
2025-01-09T00:49:58.502Z,1736383798.502 [DAT](INFO): DAT read: Bearing  74.1, -46.4 (Local)

2025-01-09T00:49:58.503Z,1736383798.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.1, -46.4 (Local)

2025-01-09T00:49:58.528Z,1736383798.528 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:58.538Z,1736383798.538 [DAT](INFO): DAT read: 00:49:57.4162 LVL= 13680, 21745, 16994, 17507, AGC= 28, IDX= 501, 0.49, 3.122, 1.824, 1.476,-2.892, PHS=-0.181,-1.520,-1.918, RAW=  77.4,  39.1, CAL=  75.9,  46.4, ROT=  74.1, -46.4

2025-01-09T00:49:58.544Z,1736383798.544 [DAT](INFO): got valid direction response:
 00:49:57.4162 LVL= 13680, 21745, 16994, 17507, AGC= 28, IDX= 501, 0.49, 3.122, 1.824, 1.476,-2.892, PHS=-0.181,-1.520,-1.918, RAW=  77.4,  39.1, CAL=  75.9,  46.4, ROT=  74.1, -46.4

2025-01-09T00:49:58.545Z,1736383798.545 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-01-09T00:49:58.546Z,1736383798.546 [DAT](INFO): direction in FSK: [0.188928,0.663236,0.724172]
2025-01-09T00:49:58.546Z,1736383798.546 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:58.554Z,1736383798.554 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=22.477198
2025-01-09T00:49:58.748Z,1736383798.748 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=22.671644
2025-01-09T00:49:58.808Z,1736383798.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:58.823Z,1736383798.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.507245 s,
      deltaX: -0.200000 m,
      approachRate: -0.394287 m/s,
      rangeRepo size: 4

2025-01-09T00:49:58.825Z,1736383798.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 88.702694 deg,
      lat: 36.904012 deg,
      lon: -122.118959 deg,
      deltaT: 0.507245 s,
      deltaX: -0.200000 m,
      approachRate: -0.394287 m/s,
      posRepo size: 4

2025-01-09T00:49:59.002Z,1736383799.002 [DAT](INFO): DAT read: Rx Time:00:49:57.9163 

2025-01-09T00:49:59.002Z,1736383799.002 [DAT](INFO): Rx dataTimestamp_ set to:1736383799.002008
2025-01-09T00:49:59.004Z,1736383799.004 [DAT](INFO): DAT read: Bearing  73.7, -46.2 (Local)

2025-01-09T00:49:59.004Z,1736383799.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.7, -46.2 (Local)

2025-01-09T00:49:59.006Z,1736383799.006 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:49:59.011Z,1736383799.011 [DAT](INFO): DAT read: 00:49:57.9163 LVL= 13376, 22065, 16786, 17555, AGC= 28, IDX= 503,-0.45,-2.783, 2.181, 1.844,-2.526, PHS=-0.169,-1.529,-1.916, RAW=  77.8,  38.8, CAL=  76.3,  46.2, ROT=  73.7, -46.2

2025-01-09T00:49:59.012Z,1736383799.012 [DAT](INFO): got valid direction response:
 00:49:57.9163 LVL= 13376, 22065, 16786, 17555, AGC= 28, IDX= 503,-0.45,-2.783, 2.181, 1.844,-2.526, PHS=-0.169,-1.529,-1.916, RAW=  77.8,  38.8, CAL=  76.3,  46.2, ROT=  73.7, -46.2

2025-01-09T00:49:59.012Z,1736383799.012 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-01-09T00:49:59.013Z,1736383799.013 [DAT](INFO): direction in FSK: [0.194262,0.664323,0.721760]
2025-01-09T00:49:59.014Z,1736383799.014 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:59.018Z,1736383799.018 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=22.941622
2025-01-09T00:49:59.210Z,1736383799.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:59.225Z,1736383799.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.501648 s,
      deltaX: 0.200000 m,
      approachRate: 0.398686 m/s,
      rangeRepo size: 4

2025-01-09T00:49:59.227Z,1736383799.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 88.327455 deg,
      lat: 36.904012 deg,
      lon: -122.118958 deg,
      deltaT: 0.501648 s,
      deltaX: 0.200000 m,
      approachRate: 0.398686 m/s,
      posRepo size: 4

2025-01-09T00:49:59.252Z,1736383799.252 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=23.175825
2025-01-09T00:49:59.505Z,1736383799.505 [DAT](INFO): DAT read: Rx Time:00:49:58.4162 

2025-01-09T00:49:59.505Z,1736383799.505 [DAT](INFO): Rx dataTimestamp_ set to:1736383799.505081
2025-01-09T00:49:59.507Z,1736383799.507 [DAT](INFO): DAT read: Bearing  74.5, -44.8 (Local)

2025-01-09T00:49:59.507Z,1736383799.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.5, -44.8 (Local)

2025-01-09T00:49:59.509Z,1736383799.509 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:49:59.514Z,1736383799.514 [DAT](INFO): DAT read: 00:49:58.4162 LVL= 14976, 24113, 18994, 19347, AGC= 29, IDX= 502,-0.41, 2.255, 0.907, 0.534, 2.451, PHS=-0.108,-1.496,-1.920, RAW=  77.1,  37.2, CAL=  75.5,  44.8, ROT=  74.5, -44.8

2025-01-09T00:49:59.515Z,1736383799.515 [DAT](INFO): got valid direction response:
 00:49:58.4162 LVL= 14976, 24113, 18994, 19347, AGC= 29, IDX= 502,-0.41, 2.255, 0.907, 0.534, 2.451, PHS=-0.108,-1.496,-1.920, RAW=  77.1,  37.2, CAL=  75.5,  44.8, ROT=  74.5, -44.8

2025-01-09T00:49:59.515Z,1736383799.515 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-01-09T00:49:59.517Z,1736383799.517 [DAT](INFO): direction in FSK: [0.189625,0.683764,0.704634]
2025-01-09T00:49:59.518Z,1736383799.518 [DAT](INFO): publishing direction and range info
2025-01-09T00:49:59.522Z,1736383799.522 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=23.445158
2025-01-09T00:49:59.602Z,1736383799.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:49:59.651Z,1736383799.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503073 s,
      deltaX: -0.200000 m,
      approachRate: -0.397557 m/s,
      rangeRepo size: 4

2025-01-09T00:49:59.668Z,1736383799.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 95.192825 deg,
      lat: 36.904011 deg,
      lon: -122.118958 deg,
      deltaT: 0.503073 s,
      deltaX: -0.200000 m,
      approachRate: -0.397557 m/s,
      posRepo size: 4

2025-01-09T00:49:59.757Z,1736383799.757 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=23.680040
2025-01-09T00:50:00.009Z,1736383800.009 [DAT](INFO): DAT read: Rx Time:00:49:58.9163 

2025-01-09T00:50:00.009Z,1736383800.009 [DAT](INFO): Rx dataTimestamp_ set to:1736383800.009115
2025-01-09T00:50:00.011Z,1736383800.011 [DAT](INFO): DAT read: Bearing  74.4, -45.4 (Local)

2025-01-09T00:50:00.011Z,1736383800.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.4, -45.4 (Local)

2025-01-09T00:50:00.013Z,1736383800.013 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:00.019Z,1736383800.019 [DAT](INFO): DAT read: 00:49:58.9163 LVL= 13376, 21793, 17314, 16883, AGC= 28, IDX= 503,-0.36,-3.014, 1.955, 1.594,-2.795, PHS=-0.131,-1.486,-1.897, RAW=  77.2,  37.8, CAL=  75.6,  45.4, ROT=  74.4, -45.4

2025-01-09T00:50:00.020Z,1736383800.020 [DAT](INFO): got valid direction response:
 00:49:58.9163 LVL= 13376, 21793, 17314, 16883, AGC= 28, IDX= 503,-0.36,-3.014, 1.955, 1.594,-2.795, PHS=-0.131,-1.486,-1.897, RAW=  77.2,  37.8, CAL=  75.6,  45.4, ROT=  74.4, -45.4

2025-01-09T00:50:00.020Z,1736383800.020 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-01-09T00:50:00.021Z,1736383800.021 [DAT](INFO): direction in FSK: [0.188823,0.676288,0.712026]
2025-01-09T00:50:00.021Z,1736383800.021 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:00.026Z,1736383800.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:00.041Z,1736383800.041 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=23.964872
2025-01-09T00:50:00.067Z,1736383800.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504034 s,
      deltaX: 0.200000 m,
      approachRate: 0.396799 m/s,
      rangeRepo size: 4

2025-01-09T00:50:00.069Z,1736383800.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 96.797268 deg,
      lat: 36.904011 deg,
      lon: -122.118957 deg,
      deltaT: 0.504034 s,
      deltaX: 0.200000 m,
      approachRate: 0.396799 m/s,
      posRepo size: 4

2025-01-09T00:50:00.261Z,1736383800.261 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=24.184155
2025-01-09T00:50:00.444Z,1736383800.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:00.461Z,1736383800.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:00.513Z,1736383800.513 [DAT](INFO): DAT read: Rx Time:00:49:59.4162 

2025-01-09T00:50:00.513Z,1736383800.513 [DAT](INFO): Rx dataTimestamp_ set to:1736383800.513150
2025-01-09T00:50:00.515Z,1736383800.515 [DAT](INFO): DAT read: Bearing  75.3, -44.2 (Local)

2025-01-09T00:50:00.515Z,1736383800.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.3, -44.2 (Local)

2025-01-09T00:50:00.518Z,1736383800.518 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:00.527Z,1736383800.527 [DAT](INFO): DAT read: 00:49:59.4162 LVL= 15088, 24049, 19442, 18787, AGC= 29, IDX= 502,-0.37, 2.516, 1.190, 0.797, 2.685, PHS=-0.081,-1.448,-1.891, RAW=  76.4,  36.5, CAL=  74.7,  44.2, ROT=  75.3, -44.2

2025-01-09T00:50:00.534Z,1736383800.534 [DAT](INFO): got valid direction response:
 00:49:59.4162 LVL= 15088, 24049, 19442, 18787, AGC= 29, IDX= 502,-0.37, 2.516, 1.190, 0.797, 2.685, PHS=-0.081,-1.448,-1.891, RAW=  76.4,  36.5, CAL=  74.7,  44.2, ROT=  75.3, -44.2

2025-01-09T00:50:00.535Z,1736383800.535 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-01-09T00:50:00.541Z,1736383800.541 [DAT](INFO): direction in FSK: [0.181922,0.693444,0.697165]
2025-01-09T00:50:00.541Z,1736383800.541 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:00.550Z,1736383800.550 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=24.473408
2025-01-09T00:50:00.764Z,1736383800.764 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=24.687784
2025-01-09T00:50:00.821Z,1736383800.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:00.837Z,1736383800.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504035 s,
      deltaX: -0.200000 m,
      approachRate: -0.396798 m/s,
      rangeRepo size: 4

2025-01-09T00:50:00.839Z,1736383800.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 101.997007 deg,
      lat: 36.904010 deg,
      lon: -122.118957 deg,
      deltaT: 0.504035 s,
      deltaX: -0.200000 m,
      approachRate: -0.396798 m/s,
      posRepo size: 4

2025-01-09T00:50:01.018Z,1736383801.018 [DAT](INFO): DAT read: Rx Time:00:49:59.9163 

2025-01-09T00:50:01.018Z,1736383801.018 [DAT](INFO): Rx dataTimestamp_ set to:1736383801.017786
2025-01-09T00:50:01.019Z,1736383801.019 [DAT](INFO): DAT read: Bearing  75.4, -44.8 (Local)

2025-01-09T00:50:01.020Z,1736383801.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.4, -44.8 (Local)

2025-01-09T00:50:01.022Z,1736383801.022 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:01.027Z,1736383801.027 [DAT](INFO): DAT read: 00:49:59.9163 LVL= 13840, 21393, 17234, 16851, AGC= 28, IDX= 503,-0.33,-2.177, 2.827, 2.444,-1.984, PHS=-0.104,-1.424,-1.858, RAW=  76.3,  37.1, CAL=  74.6,  44.8, ROT=  75.4, -44.8

2025-01-09T00:50:01.028Z,1736383801.028 [DAT](INFO): got valid direction response:
 00:49:59.9163 LVL= 13840, 21393, 17234, 16851, AGC= 28, IDX= 503,-0.33,-2.177, 2.827, 2.444,-1.984, PHS=-0.104,-1.424,-1.858, RAW=  76.3,  37.1, CAL=  74.6,  44.8, ROT=  75.4, -44.8

2025-01-09T00:50:01.028Z,1736383801.028 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-01-09T00:50:01.029Z,1736383801.029 [DAT](INFO): direction in FSK: [0.178861,0.686658,0.704634]
2025-01-09T00:50:01.029Z,1736383801.029 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:01.034Z,1736383801.034 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=24.957706
2025-01-09T00:50:01.225Z,1736383801.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:01.239Z,1736383801.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504636 s,
      deltaX: 0.200000 m,
      approachRate: 0.396325 m/s,
      rangeRepo size: 4

2025-01-09T00:50:01.241Z,1736383801.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 103.787445 deg,
      lat: 36.904010 deg,
      lon: -122.118957 deg,
      deltaT: 0.504636 s,
      deltaX: 0.200000 m,
      approachRate: 0.396325 m/s,
      posRepo size: 4

2025-01-09T00:50:01.274Z,1736383801.274 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=25.197206
2025-01-09T00:50:01.522Z,1736383801.522 [DAT](INFO): DAT read: Rx Time:00:50:00.4162 

2025-01-09T00:50:01.522Z,1736383801.522 [DAT](INFO): Rx dataTimestamp_ set to:1736383801.522007
2025-01-09T00:50:01.524Z,1736383801.524 [DAT](INFO): DAT read: Bearing  75.6, -45.1 (Local)

2025-01-09T00:50:01.525Z,1736383801.525 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.6, -45.1 (Local)

2025-01-09T00:50:01.528Z,1736383801.528 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:01.533Z,1736383801.533 [DAT](INFO): DAT read: 00:50:00.4162 LVL= 13888, 18673, 15730, 16419, AGC= 27, IDX= 502,-0.31, 2.608, 1.353, 0.969, 2.817, PHS=-0.121,-1.417,-1.851, RAW=  76.1,  37.5, CAL=  74.4,  45.1, ROT=  75.6, -45.1

2025-01-09T00:50:01.534Z,1736383801.534 [DAT](INFO): got valid direction response:
 00:50:00.4162 LVL= 13888, 18673, 15730, 16419, AGC= 27, IDX= 502,-0.31, 2.608, 1.353, 0.969, 2.817, PHS=-0.121,-1.417,-1.851, RAW=  76.1,  37.5, CAL=  74.4,  45.1, ROT=  75.6, -45.1

2025-01-09T00:50:01.534Z,1736383801.534 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-01-09T00:50:01.539Z,1736383801.539 [DAT](INFO): direction in FSK: [0.175543,0.683695,0.708340]
2025-01-09T00:50:01.556Z,1736383801.556 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:01.559Z,1736383801.559 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=25.482374
2025-01-09T00:50:01.629Z,1736383801.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:01.689Z,1736383801.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504221 s,
      deltaX: -0.200000 m,
      approachRate: -0.396652 m/s,
      rangeRepo size: 4

2025-01-09T00:50:01.696Z,1736383801.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 105.460435 deg,
      lat: 36.904009 deg,
      lon: -122.118956 deg,
      deltaT: 0.504221 s,
      deltaX: -0.200000 m,
      approachRate: -0.396652 m/s,
      posRepo size: 4

2025-01-09T00:50:01.773Z,1736383801.773 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=25.696299
2025-01-09T00:50:02.025Z,1736383802.025 [DAT](INFO): DAT read: Rx Time:00:50:00.9162 

2025-01-09T00:50:02.025Z,1736383802.025 [DAT](INFO): Rx dataTimestamp_ set to:1736383802.025190
2025-01-09T00:50:02.027Z,1736383802.027 [DAT](INFO): DAT read: Bearing  76.6, -46.3 (Local)

2025-01-09T00:50:02.027Z,1736383802.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.6, -46.3 (Local)

2025-01-09T00:50:02.029Z,1736383802.029 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:02.035Z,1736383802.035 [DAT](INFO): DAT read: 00:50:00.9162 LVL= 13840, 17281, 14706, 15827, AGC= 26, IDX= 502,-0.27,-3.114, 1.998, 1.606,-2.851, PHS=-0.175,-1.387,-1.829, RAW=  75.0,  39.0, CAL=  73.4,  46.3, ROT=  76.6, -46.3

2025-01-09T00:50:02.036Z,1736383802.036 [DAT](INFO): got valid direction response:
 00:50:00.9162 LVL= 13840, 17281, 14706, 15827, AGC= 26, IDX= 502,-0.27,-3.114, 1.998, 1.606,-2.851, PHS=-0.175,-1.387,-1.829, RAW=  75.0,  39.0, CAL=  73.4,  46.3, ROT=  76.6, -46.3

2025-01-09T00:50:02.036Z,1736383802.036 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-01-09T00:50:02.037Z,1736383802.037 [DAT](INFO): direction in FSK: [0.160111,0.672074,0.722967]
2025-01-09T00:50:02.037Z,1736383802.037 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:02.045Z,1736383802.045 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=25.968655
2025-01-09T00:50:02.093Z,1736383802.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:02.132Z,1736383802.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503183 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:02.135Z,1736383802.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 107.745529 deg,
      lat: 36.904009 deg,
      lon: -122.118956 deg,
      deltaT: 0.503183 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:02.276Z,1736383802.276 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=26.199827
2025-01-09T00:50:02.529Z,1736383802.529 [DAT](INFO): DAT read: Rx Time:00:50:01.4161 

2025-01-09T00:50:02.530Z,1736383802.530 [DAT](INFO): Rx dataTimestamp_ set to:1736383802.529399
2025-01-09T00:50:02.532Z,1736383802.532 [DAT](INFO): DAT read: Bearing  77.8, -46.4 (Local)

2025-01-09T00:50:02.533Z,1736383802.533 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.8, -46.4 (Local)

2025-01-09T00:50:02.540Z,1736383802.540 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:50:02.557Z,1736383802.557 [DAT](INFO): DAT read: 00:50:01.4161 LVL= 12128, 16369, 13522, 13363, AGC= 25, IDX= 501,-0.21, 1.884, 0.759, 0.344, 2.153, PHS=-0.181,-1.347,-1.812, RAW=  73.9,  39.0, CAL=  72.2,  46.4, ROT=  77.8, -46.4

2025-01-09T00:50:02.558Z,1736383802.558 [DAT](INFO): got valid direction response:
 00:50:01.4161 LVL= 12128, 16369, 13522, 13363, AGC= 25, IDX= 501,-0.21, 1.884, 0.759, 0.344, 2.153, PHS=-0.181,-1.347,-1.812, RAW=  73.9,  39.0, CAL=  72.2,  46.4, ROT=  77.8, -46.4

2025-01-09T00:50:02.558Z,1736383802.558 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-01-09T00:50:02.575Z,1736383802.575 [DAT](INFO): direction in FSK: [0.145734,0.674045,0.724172]
2025-01-09T00:50:02.575Z,1736383802.575 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:02.579Z,1736383802.579 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=26.502249
2025-01-09T00:50:02.647Z,1736383802.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:02.693Z,1736383802.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.504209 s,
      deltaX: -0.100000 m,
      approachRate: -0.198330 m/s,
      rangeRepo size: 4

2025-01-09T00:50:02.695Z,1736383802.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 111.263760 deg,
      lat: 36.904009 deg,
      lon: -122.118956 deg,
      deltaT: 0.504209 s,
      deltaX: -0.100000 m,
      approachRate: -0.198330 m/s,
      posRepo size: 4

2025-01-09T00:50:02.783Z,1736383802.783 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=26.705877
2025-01-09T00:50:03.034Z,1736383803.034 [DAT](INFO): DAT read: Rx Time:00:50:01.9162 

2025-01-09T00:50:03.034Z,1736383803.034 [DAT](INFO): Rx dataTimestamp_ set to:1736383803.034062
2025-01-09T00:50:03.036Z,1736383803.036 [DAT](INFO): DAT read: Bearing  79.5, -47.1 (Local)

2025-01-09T00:50:03.036Z,1736383803.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.5, -47.1 (Local)

2025-01-09T00:50:03.038Z,1736383803.038 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:03.043Z,1736383803.043 [DAT](INFO): DAT read: 00:50:01.9162 LVL= 11808, 16897, 13874, 12579, AGC= 25, IDX= 502,-0.14, 2.928, 1.876, 1.433,-3.050, PHS=-0.217,-1.310,-1.803, RAW=  72.3,  40.0, CAL=  70.5,  47.1, ROT=  79.5, -47.1

2025-01-09T00:50:03.044Z,1736383803.044 [DAT](INFO): got valid direction response:
 00:50:01.9162 LVL= 11808, 16897, 13874, 12579, AGC= 25, IDX= 502,-0.14, 2.928, 1.876, 1.433,-3.050, PHS=-0.217,-1.310,-1.803, RAW=  72.3,  40.0, CAL=  70.5,  47.1, ROT=  79.5, -47.1

2025-01-09T00:50:03.045Z,1736383803.045 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-01-09T00:50:03.045Z,1736383803.045 [DAT](INFO): direction in FSK: [0.124052,0.669322,0.732543]
2025-01-09T00:50:03.046Z,1736383803.046 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:03.054Z,1736383803.054 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=26.977079
2025-01-09T00:50:03.169Z,1736383803.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:03.208Z,1736383803.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504663 s,
      deltaX: 0.100000 m,
      approachRate: 0.198152 m/s,
      rangeRepo size: 4

2025-01-09T00:50:03.210Z,1736383803.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 114.164860 deg,
      lat: 36.904009 deg,
      lon: -122.118956 deg,
      deltaT: 0.504663 s,
      deltaX: 0.100000 m,
      approachRate: 0.198152 m/s,
      posRepo size: 4

2025-01-09T00:50:03.285Z,1736383803.285 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=27.208384
2025-01-09T00:50:03.537Z,1736383803.537 [DAT](INFO): DAT read: Rx Time:00:50:02.4161 

2025-01-09T00:50:03.537Z,1736383803.537 [DAT](INFO): Rx dataTimestamp_ set to:1736383803.537135
2025-01-09T00:50:03.539Z,1736383803.539 [DAT](INFO): DAT read: Bearing  81.2, -47.7 (Local)

2025-01-09T00:50:03.539Z,1736383803.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.2, -47.7 (Local)

2025-01-09T00:50:03.541Z,1736383803.541 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:50:03.546Z,1736383803.546 [DAT](INFO): DAT read: 00:50:02.4161 LVL= 11184, 16081, 12418, 11587, AGC= 25, IDX= 501,-0.05, 1.015, 0.019,-0.455, 1.352, PHS=-0.249,-1.286,-1.810, RAW=  70.7,  40.7, CAL=  68.8,  47.7, ROT=  81.2, -47.7

2025-01-09T00:50:03.547Z,1736383803.547 [DAT](INFO): got valid direction response:
 00:50:02.4161 LVL= 11184, 16081, 12418, 11587, AGC= 25, IDX= 501,-0.05, 1.015, 0.019,-0.455, 1.352, PHS=-0.249,-1.286,-1.810, RAW=  70.7,  40.7, CAL=  68.8,  47.7, ROT=  81.2, -47.7

2025-01-09T00:50:03.547Z,1736383803.547 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-01-09T00:50:03.548Z,1736383803.548 [DAT](INFO): direction in FSK: [0.102961,0.665090,0.739631]
2025-01-09T00:50:03.549Z,1736383803.549 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:03.553Z,1736383803.553 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=27.476521
2025-01-09T00:50:03.720Z,1736383803.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:03.753Z,1736383803.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.503073 s,
      deltaX: -0.100000 m,
      approachRate: -0.198778 m/s,
      rangeRepo size: 4

2025-01-09T00:50:03.760Z,1736383803.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 117.639657 deg,
      lat: 36.904009 deg,
      lon: -122.118956 deg,
      deltaT: 0.503073 s,
      deltaX: -0.100000 m,
      approachRate: -0.198778 m/s,
      posRepo size: 4

2025-01-09T00:50:03.790Z,1736383803.790 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=27.713066
2025-01-09T00:50:04.041Z,1736383804.041 [DAT](INFO): DAT read: Rx Time:00:50:02.9163 

2025-01-09T00:50:04.042Z,1736383804.042 [DAT](INFO): Rx dataTimestamp_ set to:1736383804.041281
2025-01-09T00:50:04.043Z,1736383804.043 [DAT](INFO): DAT read: Bearing  85.3, -50.7 (Local)

2025-01-09T00:50:04.043Z,1736383804.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.3, -50.7 (Local)

2025-01-09T00:50:04.045Z,1736383804.045 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:04.051Z,1736383804.051 [DAT](INFO): DAT read: 00:50:02.9163 LVL= 10912, 15473, 12946, 11331, AGC= 26, IDX= 502, 0.06, 3.016, 2.202, 1.686,-2.797, PHS=-0.383,-1.238,-1.803, RAW=  66.7,  44.3, CAL=  64.7,  50.7, ROT=  85.3, -50.7

2025-01-09T00:50:04.052Z,1736383804.052 [DAT](INFO): got valid direction response:
 00:50:02.9163 LVL= 10912, 15473, 12946, 11331, AGC= 26, IDX= 502, 0.06, 3.016, 2.202, 1.686,-2.797, PHS=-0.383,-1.238,-1.803, RAW=  66.7,  44.3, CAL=  64.7,  50.7, ROT=  85.3, -50.7

2025-01-09T00:50:04.052Z,1736383804.052 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-01-09T00:50:04.053Z,1736383804.053 [DAT](INFO): direction in FSK: [0.051898,0.631251,0.773840]
2025-01-09T00:50:04.053Z,1736383804.053 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:04.057Z,1736383804.057 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=27.980446
2025-01-09T00:50:04.244Z,1736383804.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:04.258Z,1736383804.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504146 s,
      deltaX: 0.300000 m,
      approachRate: 0.595066 m/s,
      rangeRepo size: 4

2025-01-09T00:50:04.277Z,1736383804.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 123.541983 deg,
      lat: 36.904009 deg,
      lon: -122.118956 deg,
      deltaT: 0.504146 s,
      deltaX: 0.300000 m,
      approachRate: 0.595066 m/s,
      posRepo size: 4

2025-01-09T00:50:04.292Z,1736383804.292 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=28.215832
2025-01-09T00:50:04.546Z,1736383804.546 [DAT](INFO): DAT read: Rx Time:00:50:03.4163 

2025-01-09T00:50:04.546Z,1736383804.546 [DAT](INFO): Rx dataTimestamp_ set to:1736383804.545962
2025-01-09T00:50:04.548Z,1736383804.548 [DAT](INFO): DAT read: Bearing  85.6, -52.4 (Local)

2025-01-09T00:50:04.548Z,1736383804.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.6, -52.4 (Local)

2025-01-09T00:50:04.551Z,1736383804.551 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:04.555Z,1736383804.555 [DAT](INFO): DAT read: 00:50:03.4163 LVL= 11248, 13745, 11602, 10147, AGC= 25, IDX= 501, 0.21, 0.588,-0.192,-0.700, 1.131, PHS=-0.455,-1.276,-1.834, RAW=  66.3,  46.4, CAL=  64.4,  52.4, ROT=  85.6, -52.4

2025-01-09T00:50:04.556Z,1736383804.556 [DAT](INFO): got valid direction response:
 00:50:03.4163 LVL= 11248, 13745, 11602, 10147, AGC= 25, IDX= 501, 0.21, 0.588,-0.192,-0.700, 1.131, PHS=-0.455,-1.276,-1.834, RAW=  66.3,  46.4, CAL=  64.4,  52.4, ROT=  85.6, -52.4

2025-01-09T00:50:04.557Z,1736383804.557 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-01-09T00:50:04.558Z,1736383804.558 [DAT](INFO): direction in FSK: [0.046810,0.608347,0.792290]
2025-01-09T00:50:04.558Z,1736383804.558 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:04.561Z,1736383804.561 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=28.484795
2025-01-09T00:50:04.724Z,1736383804.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:04.738Z,1736383804.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504681 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:04.741Z,1736383804.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 123.981726 deg,
      lat: 36.904009 deg,
      lon: -122.118955 deg,
      deltaT: 0.504681 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:04.800Z,1736383804.800 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=28.722885
2025-01-09T00:50:05.054Z,1736383805.054 [DAT](INFO): DAT read: Rx Time:00:50:03.9164 

2025-01-09T00:50:05.055Z,1736383805.055 [DAT](INFO): Rx dataTimestamp_ set to:1736383805.054270
2025-01-09T00:50:05.057Z,1736383805.057 [DAT](INFO): DAT read: Bearing  85.2, -55.2 (Local)

2025-01-09T00:50:05.058Z,1736383805.058 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.2, -55.2 (Local)

2025-01-09T00:50:05.061Z,1736383805.061 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-01-09T00:50:05.099Z,1736383805.099 [DAT](INFO): DAT read: 00:50:03.9164 LVL= 10864, 12993, 11826,  9395, AGC= 25, IDX= 502, 0.33, 1.107, 0.376,-0.091, 1.750, PHS=-0.555,-1.328,-1.844, RAW=  66.5,  49.6, CAL=  64.8,  55.2, ROT=  85.2, -55.2

2025-01-09T00:50:05.101Z,1736383805.101 [DAT](INFO): got valid direction response:
 00:50:03.9164 LVL= 10864, 12993, 11826,  9395, AGC= 25, IDX= 502, 0.33, 1.107, 0.376,-0.091, 1.750, PHS=-0.555,-1.328,-1.844, RAW=  66.5,  49.6, CAL=  64.8,  55.2, ROT=  85.2, -55.2

2025-01-09T00:50:05.101Z,1736383805.101 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-01-09T00:50:05.102Z,1736383805.102 [DAT](INFO): direction in FSK: [0.047756,0.568712,0.821149]
2025-01-09T00:50:05.102Z,1736383805.102 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:05.135Z,1736383805.135 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=29.057995
2025-01-09T00:50:05.205Z,1736383805.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:05.240Z,1736383805.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.508308 s,
      deltaX: 0.100000 m,
      approachRate: 0.196731 m/s,
      rangeRepo size: 4

2025-01-09T00:50:05.242Z,1736383805.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 124.627350 deg,
      lat: 36.904009 deg,
      lon: -122.118954 deg,
      deltaT: 0.508308 s,
      deltaX: 0.100000 m,
      approachRate: 0.196731 m/s,
      posRepo size: 4

2025-01-09T00:50:05.304Z,1736383805.304 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=29.227812
2025-01-09T00:50:05.558Z,1736383805.558 [DAT](INFO): DAT read: Rx Time:00:50:04.4163 

2025-01-09T00:50:05.558Z,1736383805.558 [DAT](INFO): Rx dataTimestamp_ set to:1736383805.557935
2025-01-09T00:50:05.560Z,1736383805.560 [DAT](INFO): DAT read: Bearing  85.0, -57.2 (Local)

2025-01-09T00:50:05.560Z,1736383805.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.0, -57.2 (Local)

2025-01-09T00:50:05.562Z,1736383805.562 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:05.573Z,1736383805.573 [DAT](INFO): DAT read: 00:50:04.4163 LVL= 10592, 14721, 11666, 11763, AGC= 26, IDX= 501, 0.48,-0.686,-1.349,-1.766, 0.007, PHS=-0.605,-1.309,-1.776, RAW=  66.7,  51.9, CAL=  65.0,  57.2, ROT=  85.0, -57.2

2025-01-09T00:50:05.574Z,1736383805.574 [DAT](INFO): got valid direction response:
 00:50:04.4163 LVL= 10592, 14721, 11666, 11763, AGC= 26, IDX= 501, 0.48,-0.686,-1.349,-1.766, 0.007, PHS=-0.605,-1.309,-1.776, RAW=  66.7,  51.9, CAL=  65.0,  57.2, ROT=  85.0, -57.2

2025-01-09T00:50:05.574Z,1736383805.574 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-01-09T00:50:05.575Z,1736383805.575 [DAT](INFO): direction in FSK: [0.047213,0.539647,0.840567]
2025-01-09T00:50:05.576Z,1736383805.576 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:05.595Z,1736383805.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:05.579Z,1736383805.579 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=29.502396
2025-01-09T00:50:05.647Z,1736383805.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.503665 s,
      deltaX: -0.100000 m,
      approachRate: -0.198545 m/s,
      rangeRepo size: 4

2025-01-09T00:50:05.662Z,1736383805.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 124.755789 deg,
      lat: 36.904009 deg,
      lon: -122.118954 deg,
      deltaT: 0.503665 s,
      deltaX: -0.100000 m,
      approachRate: -0.198545 m/s,
      posRepo size: 4

2025-01-09T00:50:05.808Z,1736383805.808 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=29.731926
2025-01-09T00:50:05.994Z,1736383805.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:06.045Z,1736383806.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:06.061Z,1736383806.061 [DAT](INFO): DAT read: Rx Time:00:50:04.9164 

2025-01-09T00:50:06.061Z,1736383806.061 [DAT](INFO): Rx dataTimestamp_ set to:1736383806.061050
2025-01-09T00:50:06.063Z,1736383806.063 [DAT](INFO): DAT read: Bearing  84.8, -58.5 (Local)

2025-01-09T00:50:06.063Z,1736383806.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.8, -58.5 (Local)

2025-01-09T00:50:06.065Z,1736383806.065 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-01-09T00:50:06.071Z,1736383806.071 [DAT](INFO): DAT read: 00:50:04.9164 LVL= 10800, 12897, 11442, 11987, AGC= 26, IDX= 503,-0.47,-0.266,-0.879,-1.259, 0.441, PHS=-0.619,-1.272,-1.702, RAW=  66.8,  53.4, CAL=  65.2,  58.5, ROT=  84.8, -58.5

2025-01-09T00:50:06.073Z,1736383806.073 [DAT](INFO): got valid direction response:
 00:50:04.9164 LVL= 10800, 12897, 11442, 11987, AGC= 26, IDX= 503,-0.47,-0.266,-0.879,-1.259, 0.441, PHS=-0.619,-1.272,-1.702, RAW=  66.8,  53.4, CAL=  65.2,  58.5, ROT=  84.8, -58.5

2025-01-09T00:50:06.074Z,1736383806.074 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-01-09T00:50:06.075Z,1736383806.075 [DAT](INFO): direction in FSK: [0.047355,0.520348,0.852640]
2025-01-09T00:50:06.075Z,1736383806.075 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:06.087Z,1736383806.087 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=30.010344
2025-01-09T00:50:06.312Z,1736383806.312 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=30.235693
2025-01-09T00:50:06.544Z,1736383806.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:06.557Z,1736383806.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.503115 s,
      deltaX: 0.100000 m,
      approachRate: 0.198762 m/s,
      rangeRepo size: 4

2025-01-09T00:50:06.562Z,1736383806.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 124.731826 deg,
      lat: 36.904009 deg,
      lon: -122.118954 deg,
      deltaT: 0.503115 s,
      deltaX: 0.100000 m,
      approachRate: 0.198762 m/s,
      posRepo size: 4

2025-01-09T00:50:06.584Z,1736383806.584 [DAT](INFO): DAT read: Rx Time:00:50:05.4163 

2025-01-09T00:50:06.584Z,1736383806.584 [DAT](INFO): Rx dataTimestamp_ set to:1736383806.584084
2025-01-09T00:50:06.586Z,1736383806.586 [DAT](INFO): DAT read: Bearing  85.6, -60.9 (Local)

2025-01-09T00:50:06.586Z,1736383806.586 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.6, -60.9 (Local)

2025-01-09T00:50:06.588Z,1736383806.588 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:06.602Z,1736383806.602 [DAT](INFO): DAT read: 00:50:05.4163 LVL= 10976, 11457, 11042, 11987, AGC= 26, IDX= 502,-0.45,-0.933,-1.468,-1.818,-0.168, PHS=-0.678,-1.253,-1.654, RAW=  65.9,  56.2, CAL=  64.4,  60.9, ROT=  85.6, -60.9

2025-01-09T00:50:06.603Z,1736383806.603 [DAT](INFO): got valid direction response:
 00:50:05.4163 LVL= 10976, 11457, 11042, 11987, AGC= 26, IDX= 502,-0.45,-0.933,-1.468,-1.818,-0.168, PHS=-0.678,-1.253,-1.654, RAW=  65.9,  56.2, CAL=  64.4,  60.9, ROT=  85.6, -60.9

2025-01-09T00:50:06.603Z,1736383806.603 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-01-09T00:50:06.612Z,1736383806.612 [DAT](INFO): direction in FSK: [0.037311,0.484902,0.873772]
2025-01-09T00:50:06.612Z,1736383806.612 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:06.624Z,1736383806.624 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=30.547445
2025-01-09T00:50:06.817Z,1736383806.817 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=30.740534
2025-01-09T00:50:06.981Z,1736383806.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:07.056Z,1736383807.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.523034 s,
      deltaX: -0.100000 m,
      approachRate: -0.191192 m/s,
      rangeRepo size: 4

2025-01-09T00:50:07.058Z,1736383807.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 124.098947 deg,
      lat: 36.904010 deg,
      lon: -122.118954 deg,
      deltaT: 0.523034 s,
      deltaX: -0.100000 m,
      approachRate: -0.191192 m/s,
      posRepo size: 4

2025-01-09T00:50:07.069Z,1736383807.069 [DAT](INFO): DAT read: Rx Time:00:50:05.9163 

2025-01-09T00:50:07.070Z,1736383807.070 [DAT](INFO): Rx dataTimestamp_ set to:1736383807.069340
2025-01-09T00:50:07.071Z,1736383807.071 [DAT](INFO): DAT read: Bearing  83.6, -62.1 (Local)

2025-01-09T00:50:07.071Z,1736383807.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.6, -62.1 (Local)

2025-01-09T00:50:07.073Z,1736383807.073 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:07.080Z,1736383807.080 [DAT](INFO): DAT read: 00:50:05.9163 LVL= 12384, 10833, 11922, 10627, AGC= 25, IDX= 502,-0.45,-0.258,-0.809,-1.124, 0.553, PHS=-0.723,-1.315,-1.681, RAW=  67.8,  57.5, CAL=  66.4,  62.1, ROT=  83.6, -62.1

2025-01-09T00:50:07.081Z,1736383807.081 [DAT](INFO): got valid direction response:
 00:50:05.9163 LVL= 12384, 10833, 11922, 10627, AGC= 25, IDX= 502,-0.45,-0.258,-0.809,-1.124, 0.553, PHS=-0.723,-1.315,-1.681, RAW=  67.8,  57.5, CAL=  66.4,  62.1, ROT=  83.6, -62.1

2025-01-09T00:50:07.081Z,1736383807.081 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-01-09T00:50:07.083Z,1736383807.083 [DAT](INFO): direction in FSK: [0.052160,0.465014,0.883766]
2025-01-09T00:50:07.083Z,1736383807.083 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:07.087Z,1736383807.087 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=31.010223
2025-01-09T00:50:07.321Z,1736383807.321 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=31.244600
2025-01-09T00:50:07.561Z,1736383807.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:07.573Z,1736383807.573 [DAT](INFO): DAT read: Rx Time:00:50:06.4162 

2025-01-09T00:50:07.573Z,1736383807.573 [DAT](INFO): Rx dataTimestamp_ set to:1736383807.573143
2025-01-09T00:50:07.575Z,1736383807.575 [DAT](INFO): DAT read: Bearing  83.6, -61.4 (Local)

2025-01-09T00:50:07.579Z,1736383807.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.6, -61.4 (Local)

2025-01-09T00:50:07.583Z,1736383807.583 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:07.594Z,1736383807.594 [DAT](INFO): DAT read: 00:50:06.4162 LVL= 12432, 10673, 11922, 10899, AGC= 25, IDX= 501,-0.38,-1.573,-2.134,-2.455,-0.785, PHS=-0.700,-1.302,-1.673, RAW=  67.8,  56.8, CAL=  66.4,  61.4, ROT=  83.6, -61.4

2025-01-09T00:50:07.595Z,1736383807.595 [DAT](INFO): got valid direction response:
 00:50:06.4162 LVL= 12432, 10673, 11922, 10899, AGC= 25, IDX= 501,-0.38,-1.573,-2.134,-2.455,-0.785, PHS=-0.700,-1.302,-1.673, RAW=  67.8,  56.8, CAL=  66.4,  61.4, ROT=  83.6, -61.4

2025-01-09T00:50:07.606Z,1736383807.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.485256 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:07.608Z,1736383807.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 119.880749 deg,
      lat: 36.904010 deg,
      lon: -122.118954 deg,
      deltaT: 0.485256 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:07.611Z,1736383807.611 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-01-09T00:50:07.612Z,1736383807.612 [DAT](INFO): direction in FSK: [0.053359,0.475709,0.877983]
2025-01-09T00:50:07.612Z,1736383807.612 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:07.624Z,1736383807.624 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=31.547539
2025-01-09T00:50:07.824Z,1736383807.824 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=31.747803
2025-01-09T00:50:08.077Z,1736383808.077 [DAT](INFO): DAT read: Rx Time:00:50:06.9164 

2025-01-09T00:50:08.078Z,1736383808.078 [DAT](INFO): Rx dataTimestamp_ set to:1736383808.077370
2025-01-09T00:50:08.079Z,1736383808.079 [DAT](INFO): DAT read: Bearing  82.8, -59.0 (Local)

2025-01-09T00:50:08.079Z,1736383808.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.8, -59.0 (Local)

2025-01-09T00:50:08.081Z,1736383808.081 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-01-09T00:50:08.087Z,1736383808.087 [DAT](INFO): DAT read: 00:50:06.9164 LVL= 12608, 10609, 12242, 10339, AGC= 25, IDX= 502,-0.30,-1.227,-1.855,-2.196,-0.516, PHS=-0.623,-1.292,-1.682, RAW=  68.6,  53.9, CAL=  67.2,  59.0, ROT=  82.8, -59.0

2025-01-09T00:50:08.088Z,1736383808.088 [DAT](INFO): got valid direction response:
 00:50:06.9164 LVL= 12608, 10609, 12242, 10339, AGC= 25, IDX= 502,-0.30,-1.227,-1.855,-2.196,-0.516, PHS=-0.623,-1.292,-1.682, RAW=  68.6,  53.9, CAL=  67.2,  59.0, ROT=  82.8, -59.0

2025-01-09T00:50:08.089Z,1736383808.089 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-01-09T00:50:08.089Z,1736383808.089 [DAT](INFO): direction in FSK: [0.064551,0.510977,0.857167]
2025-01-09T00:50:08.090Z,1736383808.090 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:08.093Z,1736383808.093 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=32.016781
2025-01-09T00:50:08.201Z,1736383808.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:08.232Z,1736383808.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 1.008030 s,
      deltaX: 0.100000 m,
      approachRate: 0.099203 m/s,
      rangeRepo size: 4

2025-01-09T00:50:08.235Z,1736383808.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 114.831773 deg,
      lat: 36.904010 deg,
      lon: -122.118954 deg,
      deltaT: 1.008030 s,
      deltaX: 0.100000 m,
      approachRate: 0.099203 m/s,
      posRepo size: 4

2025-01-09T00:50:08.328Z,1736383808.328 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=32.251842
2025-01-09T00:50:08.582Z,1736383808.582 [DAT](INFO): DAT read: Rx Time:00:50:07.4163 

2025-01-09T00:50:08.582Z,1736383808.582 [DAT](INFO): Rx dataTimestamp_ set to:1736383808.581765
2025-01-09T00:50:08.583Z,1736383808.583 [DAT](INFO): DAT read: Bearing  81.9, -57.5 (Local)

2025-01-09T00:50:08.584Z,1736383808.584 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.9, -57.5 (Local)

2025-01-09T00:50:08.586Z,1736383808.586 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:08.593Z,1736383808.593 [DAT](INFO): DAT read: 00:50:07.4163 LVL= 12576, 11137, 12386, 10739, AGC= 25, IDX= 501,-0.22,-2.489, 3.105, 2.757,-1.816, PHS=-0.584,-1.315,-1.713, RAW=  69.6,  52.2, CAL=  68.1,  57.5, ROT=  81.9, -57.5

2025-01-09T00:50:08.595Z,1736383808.595 [DAT](INFO): got valid direction response:
 00:50:07.4163 LVL= 12576, 11137, 12386, 10739, AGC= 25, IDX= 501,-0.22,-2.489, 3.105, 2.757,-1.816, PHS=-0.584,-1.315,-1.713, RAW=  69.6,  52.2, CAL=  68.1,  57.5, ROT=  81.9, -57.5

2025-01-09T00:50:08.604Z,1736383808.604 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-01-09T00:50:08.607Z,1736383808.607 [DAT](INFO): direction in FSK: [0.075706,0.531939,0.843391]
2025-01-09T00:50:08.607Z,1736383808.607 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:08.662Z,1736383808.662 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=32.562202
2025-01-09T00:50:08.752Z,1736383808.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:08.785Z,1736383808.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504395 s,
      deltaX: -0.100000 m,
      approachRate: -0.198257 m/s,
      rangeRepo size: 4

2025-01-09T00:50:08.787Z,1736383808.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 111.627851 deg,
      lat: 36.904011 deg,
      lon: -122.118953 deg,
      deltaT: 0.504395 s,
      deltaX: -0.100000 m,
      approachRate: -0.198257 m/s,
      posRepo size: 4

2025-01-09T00:50:08.833Z,1736383808.833 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=32.755840
2025-01-09T00:50:09.085Z,1736383809.085 [DAT](INFO): DAT read: Rx Time:00:50:07.9164 

2025-01-09T00:50:09.086Z,1736383809.086 [DAT](INFO): Rx dataTimestamp_ set to:1736383809.085282
2025-01-09T00:50:09.087Z,1736383809.087 [DAT](INFO): DAT read: Bearing  82.7, -55.2 (Local)

2025-01-09T00:50:09.087Z,1736383809.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.7, -55.2 (Local)

2025-01-09T00:50:09.089Z,1736383809.089 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-01-09T00:50:09.094Z,1736383809.094 [DAT](INFO): DAT read: 00:50:07.9164 LVL= 11248, 14129, 11698, 11923, AGC= 26, IDX= 502,-0.13,-1.423,-2.150,-2.538,-0.826, PHS=-0.508,-1.276,-1.714, RAW=  69.0,  49.5, CAL=  67.3,  55.2, ROT=  82.7, -55.2

2025-01-09T00:50:09.097Z,1736383809.097 [DAT](INFO): got valid direction response:
 00:50:07.9164 LVL= 11248, 14129, 11698, 11923, AGC= 26, IDX= 502,-0.13,-1.423,-2.150,-2.538,-0.826, PHS=-0.508,-1.276,-1.714, RAW=  69.0,  49.5, CAL=  67.3,  55.2, ROT=  82.7, -55.2

2025-01-09T00:50:09.098Z,1736383809.098 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-01-09T00:50:09.098Z,1736383809.098 [DAT](INFO): direction in FSK: [0.072518,0.566088,0.821149]
2025-01-09T00:50:09.099Z,1736383809.099 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:09.103Z,1736383809.103 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=33.026131
2025-01-09T00:50:09.228Z,1736383809.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:09.254Z,1736383809.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.503517 s,
      deltaX: 0.100000 m,
      approachRate: 0.198603 m/s,
      rangeRepo size: 4

2025-01-09T00:50:09.260Z,1736383809.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 110.905836 deg,
      lat: 36.904011 deg,
      lon: -122.118953 deg,
      deltaT: 0.503517 s,
      deltaX: 0.100000 m,
      approachRate: 0.198603 m/s,
      posRepo size: 4

2025-01-09T00:50:09.338Z,1736383809.338 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=33.261795
2025-01-09T00:50:09.548Z,1736383809.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:09.567Z,1736383809.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:09.589Z,1736383809.589 [DAT](INFO): DAT read: Rx Time:00:50:08.4163 

2025-01-09T00:50:09.589Z,1736383809.589 [DAT](INFO): Rx dataTimestamp_ set to:1736383809.589220
2025-01-09T00:50:09.591Z,1736383809.591 [DAT](INFO): DAT read: Bearing  82.1, -53.8 (Local)

2025-01-09T00:50:09.591Z,1736383809.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.1, -53.8 (Local)

2025-01-09T00:50:09.593Z,1736383809.593 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:09.600Z,1736383809.600 [DAT](INFO): DAT read: 00:50:08.4163 LVL=  9952, 12577, 10546, 10291, AGC= 25, IDX= 501,-0.08,-2.704, 2.786, 2.381,-2.147, PHS=-0.469,-1.303,-1.759, RAW=  69.6,  47.8, CAL=  67.9,  53.8, ROT=  82.1, -53.8

2025-01-09T00:50:09.601Z,1736383809.601 [DAT](INFO): got valid direction response:
 00:50:08.4163 LVL=  9952, 12577, 10546, 10291, AGC= 25, IDX= 501,-0.08,-2.704, 2.786, 2.381,-2.147, PHS=-0.469,-1.303,-1.759, RAW=  69.6,  47.8, CAL=  67.9,  53.8, ROT=  82.1, -53.8

2025-01-09T00:50:09.601Z,1736383809.601 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-01-09T00:50:09.602Z,1736383809.602 [DAT](INFO): direction in FSK: [0.081176,0.585001,0.806960]
2025-01-09T00:50:09.602Z,1736383809.602 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:09.632Z,1736383809.632 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=33.538261
2025-01-09T00:50:09.842Z,1736383809.842 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=33.765247
2025-01-09T00:50:09.970Z,1736383809.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:09.985Z,1736383809.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.503938 s,
      deltaX: -0.100000 m,
      approachRate: -0.198437 m/s,
      rangeRepo size: 4

2025-01-09T00:50:09.987Z,1736383809.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 106.509052 deg,
      lat: 36.904011 deg,
      lon: -122.118953 deg,
      deltaT: 0.503938 s,
      deltaX: -0.100000 m,
      approachRate: -0.198437 m/s,
      posRepo size: 4

2025-01-09T00:50:10.102Z,1736383810.102 [DAT](INFO): DAT read: Rx Time:00:50:08.9163 

2025-01-09T00:50:10.102Z,1736383810.102 [DAT](INFO): Rx dataTimestamp_ set to:1736383810.101848
2025-01-09T00:50:10.104Z,1736383810.104 [DAT](INFO): DAT read: Bearing  82.2, -52.2 (Local)

2025-01-09T00:50:10.104Z,1736383810.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.2, -52.2 (Local)

2025-01-09T00:50:10.106Z,1736383810.106 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:10.111Z,1736383810.111 [DAT](INFO): DAT read: 00:50:08.9163 LVL= 10976, 15665, 11922, 11027, AGC= 26, IDX= 501,-0.04,-2.794, 2.646, 2.211,-2.284, PHS=-0.421,-1.306,-1.790, RAW=  69.6,  46.0, CAL=  67.8,  52.2, ROT=  82.2, -52.2

2025-01-09T00:50:10.112Z,1736383810.112 [DAT](INFO): got valid direction response:
 00:50:08.9163 LVL= 10976, 15665, 11922, 11027, AGC= 26, IDX= 501,-0.04,-2.794, 2.646, 2.211,-2.284, PHS=-0.421,-1.306,-1.790, RAW=  69.6,  46.0, CAL=  67.8,  52.2, ROT=  82.2, -52.2

2025-01-09T00:50:10.112Z,1736383810.112 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-01-09T00:50:10.113Z,1736383810.113 [DAT](INFO): direction in FSK: [0.083181,0.607236,0.790155]
2025-01-09T00:50:10.114Z,1736383810.114 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:10.121Z,1736383810.121 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=34.044830
2025-01-09T00:50:10.344Z,1736383810.344 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=34.267586
2025-01-09T00:50:10.380Z,1736383810.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:10.464Z,1736383810.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.512628 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:10.466Z,1736383810.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 105.084066 deg,
      lat: 36.904011 deg,
      lon: -122.118953 deg,
      deltaT: 0.512628 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:10.598Z,1736383810.598 [DAT](INFO): DAT read: Rx Time:00:50:09.4162 

2025-01-09T00:50:10.599Z,1736383810.599 [DAT](INFO): Rx dataTimestamp_ set to:1736383810.598551
2025-01-09T00:50:10.606Z,1736383810.606 [DAT](INFO): DAT read: Bearing  81.1, -53.7 (Local)

2025-01-09T00:50:10.606Z,1736383810.606 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.1, -53.7 (Local)

2025-01-09T00:50:10.609Z,1736383810.609 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:10.627Z,1736383810.627 [DAT](INFO): DAT read: 00:50:09.4162 LVL= 12096, 12945, 10738,  9651, AGC= 24, IDX= 500,-0.04, 2.835, 1.982, 1.573,-2.875, PHS=-0.485,-1.379,-1.838, RAW=  70.5,  47.7, CAL=  68.9,  53.7, ROT=  81.1, -53.7

2025-01-09T00:50:10.638Z,1736383810.638 [DAT](INFO): got valid direction response:
 00:50:09.4162 LVL= 12096, 12945, 10738,  9651, AGC= 24, IDX= 500,-0.04, 2.835, 1.982, 1.573,-2.875, PHS=-0.485,-1.379,-1.838, RAW=  70.5,  47.7, CAL=  68.9,  53.7, ROT=  81.1, -53.7

2025-01-09T00:50:10.643Z,1736383810.643 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-01-09T00:50:10.644Z,1736383810.644 [DAT](INFO): direction in FSK: [0.091591,0.584885,0.805928]
2025-01-09T00:50:10.645Z,1736383810.645 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:10.660Z,1736383810.660 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=34.583496
2025-01-09T00:50:10.755Z,1736383810.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:10.786Z,1736383810.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.496703 s,
      deltaX: -0.200000 m,
      approachRate: -0.402655 m/s,
      rangeRepo size: 4

2025-01-09T00:50:10.796Z,1736383810.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 101.789883 deg,
      lat: 36.904011 deg,
      lon: -122.118954 deg,
      deltaT: 0.496703 s,
      deltaX: -0.200000 m,
      approachRate: -0.402655 m/s,
      posRepo size: 4

2025-01-09T00:50:10.849Z,1736383810.849 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=34.772705
2025-01-09T00:50:11.103Z,1736383811.103 [DAT](INFO): DAT read: Rx Time:00:50:09.9163 

2025-01-09T00:50:11.103Z,1736383811.103 [DAT](INFO): Rx dataTimestamp_ set to:1736383811.103136
2025-01-09T00:50:11.105Z,1736383811.105 [DAT](INFO): DAT read: Bearing  83.7, -52.9 (Local)

2025-01-09T00:50:11.105Z,1736383811.105 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.7, -52.9 (Local)

2025-01-09T00:50:11.107Z,1736383811.107 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:11.112Z,1736383811.112 [DAT](INFO): DAT read: 00:50:09.9163 LVL= 10656, 16001, 11842, 10803, AGC= 26, IDX= 501, 0.05,-1.587,-2.401,-2.869,-1.036, PHS=-0.463,-1.318,-1.836, RAW=  68.1,  46.8, CAL=  66.3,  52.9, ROT=  83.7, -52.9

2025-01-09T00:50:11.113Z,1736383811.113 [DAT](INFO): got valid direction response:
 00:50:09.9163 LVL= 10656, 16001, 11842, 10803, AGC= 26, IDX= 501, 0.05,-1.587,-2.401,-2.869,-1.036, PHS=-0.463,-1.318,-1.836, RAW=  68.1,  46.8, CAL=  66.3,  52.9, ROT=  83.7, -52.9

2025-01-09T00:50:11.113Z,1736383811.113 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-01-09T00:50:11.114Z,1736383811.114 [DAT](INFO): direction in FSK: [0.066193,0.599565,0.797584]
2025-01-09T00:50:11.114Z,1736383811.114 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:11.119Z,1736383811.119 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=35.042877
2025-01-09T00:50:11.235Z,1736383811.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:11.261Z,1736383811.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504585 s,
      deltaX: 0.200000 m,
      approachRate: 0.396365 m/s,
      rangeRepo size: 4

2025-01-09T00:50:11.263Z,1736383811.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 102.307068 deg,
      lat: 36.904011 deg,
      lon: -122.118954 deg,
      deltaT: 0.504585 s,
      deltaX: 0.200000 m,
      approachRate: 0.396365 m/s,
      posRepo size: 4

2025-01-09T00:50:11.356Z,1736383811.356 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=35.279804
2025-01-09T00:50:11.568Z,1736383811.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:11.575Z,1736383811.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:11.610Z,1736383811.610 [DAT](INFO): DAT read: Rx Time:00:50:10.4163 

2025-01-09T00:50:11.612Z,1736383811.612 [DAT](INFO): Rx dataTimestamp_ set to:1736383811.610835
2025-01-09T00:50:11.615Z,1736383811.615 [DAT](INFO): DAT read: Bearing  83.5, -54.1 (Local)

2025-01-09T00:50:11.615Z,1736383811.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.5, -54.1 (Local)

2025-01-09T00:50:11.618Z,1736383811.618 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:11.624Z,1736383811.624 [DAT](INFO): DAT read: 00:50:10.4163 LVL= 11584, 12753, 10466,  9699, AGC= 24, IDX= 500, 0.07,-2.858, 2.624, 2.168,-2.256, PHS=-0.514,-1.356,-1.862, RAW=  68.2,  48.2, CAL=  66.5,  54.1, ROT=  83.5, -54.1

2025-01-09T00:50:11.625Z,1736383811.625 [DAT](INFO): got valid direction response:
 00:50:10.4163 LVL= 11584, 12753, 10466,  9699, AGC= 24, IDX= 500, 0.07,-2.858, 2.624, 2.168,-2.256, PHS=-0.514,-1.356,-1.862, RAW=  68.2,  48.2, CAL=  66.5,  54.1, ROT=  83.5, -54.1

2025-01-09T00:50:11.625Z,1736383811.625 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-01-09T00:50:11.626Z,1736383811.626 [DAT](INFO): direction in FSK: [0.066379,0.582603,0.810042]
2025-01-09T00:50:11.626Z,1736383811.626 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:11.638Z,1736383811.638 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=35.561546
2025-01-09T00:50:11.860Z,1736383811.860 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=35.783707
2025-01-09T00:50:12.004Z,1736383812.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:12.018Z,1736383812.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.507699 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:12.021Z,1736383812.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 100.758081 deg,
      lat: 36.904011 deg,
      lon: -122.118956 deg,
      deltaT: 0.507699 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:12.117Z,1736383812.117 [DAT](INFO): DAT read: Rx Time:00:50:10.9164 

2025-01-09T00:50:12.119Z,1736383812.119 [DAT](INFO): Rx dataTimestamp_ set to:1736383812.117770
2025-01-09T00:50:12.130Z,1736383812.130 [DAT](INFO): DAT read: Bearing  87.3, -54.1 (Local)

2025-01-09T00:50:12.130Z,1736383812.130 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.3, -54.1 (Local)

2025-01-09T00:50:12.156Z,1736383812.156 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-01-09T00:50:12.183Z,1736383812.183 [DAT](INFO): DAT read: 00:50:10.9164 LVL= 10192, 15345, 10898, 10531, AGC= 26, IDX= 501, 0.12,-1.068,-1.788,-2.312,-0.449, PHS=-0.530,-1.291,-1.865, RAW=  64.6,  48.3, CAL=  62.7,  54.1, ROT=  87.3, -54.1

2025-01-09T00:50:12.192Z,1736383812.192 [DAT](INFO): got valid direction response:
 00:50:10.9164 LVL= 10192, 15345, 10898, 10531, AGC= 26, IDX= 501, 0.12,-1.068,-1.788,-2.312,-0.449, PHS=-0.530,-1.291,-1.865, RAW=  64.6,  48.3, CAL=  62.7,  54.1, ROT=  87.3, -54.1

2025-01-09T00:50:12.193Z,1736383812.193 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-01-09T00:50:12.193Z,1736383812.193 [DAT](INFO): direction in FSK: [0.027622,0.585721,0.810042]
2025-01-09T00:50:12.194Z,1736383812.194 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:12.211Z,1736383812.211 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=36.134312
2025-01-09T00:50:12.365Z,1736383812.365 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=36.288368
2025-01-09T00:50:12.476Z,1736383812.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:12.493Z,1736383812.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.506935 s,
      deltaX: 0.100000 m,
      approachRate: 0.197264 m/s,
      rangeRepo size: 4

2025-01-09T00:50:12.512Z,1736383812.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 104.793962 deg,
      lat: 36.904011 deg,
      lon: -122.118956 deg,
      deltaT: 0.506935 s,
      deltaX: 0.100000 m,
      approachRate: 0.197264 m/s,
      posRepo size: 4

2025-01-09T00:50:12.617Z,1736383812.617 [DAT](INFO): DAT read: Rx Time:00:50:11.4163 

2025-01-09T00:50:12.617Z,1736383812.617 [DAT](INFO): Rx dataTimestamp_ set to:1736383812.617117
2025-01-09T00:50:12.619Z,1736383812.619 [DAT](INFO): DAT read: Bearing  87.6, -55.7 (Local)

2025-01-09T00:50:12.620Z,1736383812.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.6, -55.7 (Local)

2025-01-09T00:50:12.622Z,1736383812.622 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:12.635Z,1736383812.635 [DAT](INFO): DAT read: 00:50:11.4163 LVL=  9792, 12065,  9970,  9267, AGC= 24, IDX= 500, 0.13,-2.257,-2.940, 2.834,-1.576, PHS=-0.592,-1.316,-1.876, RAW=  64.2,  50.2, CAL=  62.4,  55.7, ROT=  87.6, -55.7

2025-01-09T00:50:12.636Z,1736383812.636 [DAT](INFO): got valid direction response:
 00:50:11.4163 LVL=  9792, 12065,  9970,  9267, AGC= 24, IDX= 500, 0.13,-2.257,-2.940, 2.834,-1.576, PHS=-0.592,-1.316,-1.876, RAW=  64.2,  50.2, CAL=  62.4,  55.7, ROT=  87.6, -55.7

2025-01-09T00:50:12.636Z,1736383812.636 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-01-09T00:50:12.637Z,1736383812.637 [DAT](INFO): direction in FSK: [0.023598,0.563032,0.826098]
2025-01-09T00:50:12.637Z,1736383812.637 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:12.680Z,1736383812.680 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=36.603542
2025-01-09T00:50:12.868Z,1736383812.868 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=36.791828
2025-01-09T00:50:12.982Z,1736383812.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:13.006Z,1736383813.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.499347 s,
      deltaX: -0.100000 m,
      approachRate: -0.200262 m/s,
      rangeRepo size: 4

2025-01-09T00:50:13.012Z,1736383813.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 105.113220 deg,
      lat: 36.904011 deg,
      lon: -122.118957 deg,
      deltaT: 0.499347 s,
      deltaX: -0.100000 m,
      approachRate: -0.200262 m/s,
      posRepo size: 4

2025-01-09T00:50:13.126Z,1736383813.126 [DAT](INFO): DAT read: Rx Time:00:50:11.9164 

2025-01-09T00:50:13.127Z,1736383813.127 [DAT](INFO): Rx dataTimestamp_ set to:1736383813.126606
2025-01-09T00:50:13.130Z,1736383813.130 [DAT](INFO): DAT read: Bearing  88.0, -56.2 (Local)

2025-01-09T00:50:13.130Z,1736383813.130 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.0, -56.2 (Local)

2025-01-09T00:50:13.133Z,1736383813.133 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-01-09T00:50:13.139Z,1736383813.139 [DAT](INFO): DAT read: 00:50:11.9164 LVL=  9760, 12081, 10162,  9203, AGC= 24, IDX= 501, 0.18,-0.406,-1.065,-1.568, 0.289, PHS=-0.607,-1.307,-1.860, RAW=  63.9,  50.8, CAL=  62.0,  56.2, ROT=  88.0, -56.2

2025-01-09T00:50:13.140Z,1736383813.140 [DAT](INFO): got valid direction response:
 00:50:11.9164 LVL=  9760, 12081, 10162,  9203, AGC= 24, IDX= 501, 0.18,-0.406,-1.065,-1.568, 0.289, PHS=-0.607,-1.307,-1.860, RAW=  63.9,  50.8, CAL=  62.0,  56.2, ROT=  88.0, -56.2

2025-01-09T00:50:13.140Z,1736383813.140 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-01-09T00:50:13.141Z,1736383813.141 [DAT](INFO): direction in FSK: [0.019414,0.555957,0.830984]
2025-01-09T00:50:13.142Z,1736383813.142 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:13.162Z,1736383813.162 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=37.085804
2025-01-09T00:50:13.338Z,1736383813.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:13.355Z,1736383813.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.509489 s,
      deltaX: 0.100000 m,
      approachRate: 0.196275 m/s,
      rangeRepo size: 4

2025-01-09T00:50:13.357Z,1736383813.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 105.584617 deg,
      lat: 36.904010 deg,
      lon: -122.118958 deg,
      deltaT: 0.509489 s,
      deltaX: 0.100000 m,
      approachRate: 0.196275 m/s,
      posRepo size: 4

2025-01-09T00:50:13.372Z,1736383813.372 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=37.295826
2025-01-09T00:50:13.626Z,1736383813.626 [DAT](INFO): DAT read: Rx Time:00:50:12.4163 

2025-01-09T00:50:13.627Z,1736383813.627 [DAT](INFO): Rx dataTimestamp_ set to:1736383813.626444
2025-01-09T00:50:13.628Z,1736383813.628 [DAT](INFO): DAT read: Bearing  87.6, -55.6 (Local)

2025-01-09T00:50:13.628Z,1736383813.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.6, -55.6 (Local)

2025-01-09T00:50:13.630Z,1736383813.630 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:13.635Z,1736383813.635 [DAT](INFO): DAT read: 00:50:12.4163 LVL= 11360, 13201, 10418,  9571, AGC= 24, IDX= 500, 0.26,-2.084,-2.747, 3.044,-1.423, PHS=-0.574,-1.277,-1.819, RAW=  64.3,  50.2, CAL=  62.4,  55.6, ROT=  87.6, -55.6

2025-01-09T00:50:13.636Z,1736383813.636 [DAT](INFO): got valid direction response:
 00:50:12.4163 LVL= 11360, 13201, 10418,  9571, AGC= 24, IDX= 500, 0.26,-2.084,-2.747, 3.044,-1.423, PHS=-0.574,-1.277,-1.819, RAW=  64.3,  50.2, CAL=  62.4,  55.6, ROT=  87.6, -55.6

2025-01-09T00:50:13.637Z,1736383813.637 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-01-09T00:50:13.638Z,1736383813.638 [DAT](INFO): direction in FSK: [0.023658,0.564471,0.825113]
2025-01-09T00:50:13.638Z,1736383813.638 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:13.697Z,1736383813.697 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=37.620640
2025-01-09T00:50:13.780Z,1736383813.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:13.807Z,1736383813.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.499838 s,
      deltaX: -0.100000 m,
      approachRate: -0.200065 m/s,
      rangeRepo size: 4

2025-01-09T00:50:13.813Z,1736383813.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 105.128200 deg,
      lat: 36.904010 deg,
      lon: -122.118960 deg,
      deltaT: 0.499838 s,
      deltaX: -0.100000 m,
      approachRate: -0.200065 m/s,
      posRepo size: 4

2025-01-09T00:50:13.877Z,1736383813.877 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=37.800564
2025-01-09T00:50:14.133Z,1736383814.133 [DAT](INFO): DAT read: Rx Time:00:50:12.9163 

2025-01-09T00:50:14.135Z,1736383814.135 [DAT](INFO): Rx dataTimestamp_ set to:1736383814.133921
2025-01-09T00:50:14.138Z,1736383814.138 [DAT](INFO): DAT read: Bearing  88.5, -55.3 (Local)

2025-01-09T00:50:14.140Z,1736383814.140 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.5, -55.3 (Local)

2025-01-09T00:50:14.146Z,1736383814.146 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:14.201Z,1736383814.201 [DAT](INFO): DAT read: 00:50:12.9163 LVL= 11216, 13553, 10738,  9859, AGC= 24, IDX= 500, 0.27,-1.606,-2.248,-2.754,-0.957, PHS=-0.561,-1.244,-1.800, RAW=  63.4,  49.9, CAL=  61.5,  55.3, ROT=  88.5, -55.3

2025-01-09T00:50:14.202Z,1736383814.202 [DAT](INFO): got valid direction response:
 00:50:12.9163 LVL= 11216, 13553, 10738,  9859, AGC= 24, IDX= 500, 0.27,-1.606,-2.248,-2.754,-0.957, PHS=-0.561,-1.244,-1.800, RAW=  63.4,  49.9, CAL=  61.5,  55.3, ROT=  88.5, -55.3

2025-01-09T00:50:14.202Z,1736383814.202 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-01-09T00:50:14.216Z,1736383814.216 [DAT](INFO): direction in FSK: [0.014902,0.569084,0.822144]
2025-01-09T00:50:14.216Z,1736383814.216 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:14.237Z,1736383814.237 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=38.160332
2025-01-09T00:50:14.287Z,1736383814.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:14.323Z,1736383814.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.507477 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:14.326Z,1736383814.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 106.392053 deg,
      lat: 36.904010 deg,
      lon: -122.118960 deg,
      deltaT: 0.507477 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:14.381Z,1736383814.381 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=38.304203
2025-01-09T00:50:14.629Z,1736383814.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:14.633Z,1736383814.633 [DAT](INFO): DAT read: Rx Time:00:50:13.4162 

2025-01-09T00:50:14.634Z,1736383814.634 [DAT](INFO): Rx dataTimestamp_ set to:1736383814.633249
2025-01-09T00:50:14.636Z,1736383814.636 [DAT](INFO): DAT read: Bearing  89.8, -53.3 (Local)

2025-01-09T00:50:14.637Z,1736383814.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.8, -53.3 (Local)

2025-01-09T00:50:14.641Z,1736383814.641 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:14.646Z,1736383814.646 [DAT](INFO): DAT read: 00:50:13.4162 LVL= 10112, 12977, 11154, 10723, AGC= 25, IDX= 499, 0.29,-2.352,-2.990, 2.752,-1.780, PHS=-0.485,-1.163,-1.755, RAW=  62.3,  47.5, CAL=  60.2,  53.3, ROT=  89.8, -53.3

2025-01-09T00:50:14.667Z,1736383814.667 [DAT](INFO): got valid direction response:
 00:50:13.4162 LVL= 10112, 12977, 11154, 10723, AGC= 25, IDX= 499, 0.29,-2.352,-2.990, 2.752,-1.780, PHS=-0.485,-1.163,-1.755, RAW=  62.3,  47.5, CAL=  60.2,  53.3, ROT=  89.8, -53.3

2025-01-09T00:50:14.668Z,1736383814.668 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-01-09T00:50:14.669Z,1736383814.669 [DAT](INFO): direction in FSK: [0.002086,0.597622,0.801776]
2025-01-09T00:50:14.670Z,1736383814.670 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:14.692Z,1736383814.692 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=38.606560
2025-01-09T00:50:14.708Z,1736383814.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.499328 s,
      deltaX: -0.200000 m,
      approachRate: -0.400538 m/s,
      rangeRepo size: 4

2025-01-09T00:50:14.710Z,1736383814.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 112.250598 deg,
      lat: 36.904010 deg,
      lon: -122.118961 deg,
      deltaT: 0.499328 s,
      deltaX: -0.200000 m,
      approachRate: -0.400538 m/s,
      posRepo size: 4

2025-01-09T00:50:14.889Z,1736383814.889 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=38.811272
2025-01-09T00:50:15.039Z,1736383815.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:15.046Z,1736383815.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:15.141Z,1736383815.141 [DAT](INFO): DAT read: Rx Time:00:50:13.9163 

2025-01-09T00:50:15.143Z,1736383815.143 [DAT](INFO): Rx dataTimestamp_ set to:1736383815.141903
2025-01-09T00:50:15.147Z,1736383815.147 [DAT](INFO): DAT read: Bearing  88.0, -52.5 (Local)

2025-01-09T00:50:15.149Z,1736383815.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.0, -52.5 (Local)

2025-01-09T00:50:15.156Z,1736383815.156 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:15.171Z,1736383815.171 [DAT](INFO): DAT read: 00:50:13.9163 LVL= 11440, 14545, 11650, 11187, AGC= 24, IDX= 500, 0.26,-0.772,-1.459,-1.980,-0.235, PHS=-0.449,-1.177,-1.747, RAW=  64.0,  46.6, CAL=  62.0,  52.5, ROT=  88.0, -52.5

2025-01-09T00:50:15.176Z,1736383815.176 [DAT](INFO): got valid direction response:
 00:50:13.9163 LVL= 11440, 14545, 11650, 11187, AGC= 24, IDX= 500, 0.26,-0.772,-1.459,-1.980,-0.235, PHS=-0.449,-1.177,-1.747, RAW=  64.0,  46.6, CAL=  62.0,  52.5, ROT=  88.0, -52.5

2025-01-09T00:50:15.177Z,1736383815.177 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-01-09T00:50:15.178Z,1736383815.178 [DAT](INFO): direction in FSK: [0.021245,0.608391,0.793353]
2025-01-09T00:50:15.178Z,1736383815.178 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:15.197Z,1736383815.197 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=39.120190
2025-01-09T00:50:15.393Z,1736383815.393 [DAT](INFO): DAT read: Rx Time:00:50:14.4162 

2025-01-09T00:50:15.395Z,1736383815.395 [DAT](INFO): Rx dataTimestamp_ set to:1736383815.394080
2025-01-09T00:50:15.398Z,1736383815.398 [DAT](INFO): DAT read: Bearing  87.9, -50.8 (Local)

2025-01-09T00:50:15.400Z,1736383815.400 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.9, -50.8 (Local)

2025-01-09T00:50:15.403Z,1736383815.403 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=39.325420
2025-01-09T00:50:15.522Z,1736383815.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:15.537Z,1736383815.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.508654 s,
      deltaX: 0.200000 m,
      approachRate: 0.393195 m/s,
      rangeRepo size: 4

2025-01-09T00:50:15.539Z,1736383815.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 111.689862 deg,
      lat: 36.904010 deg,
      lon: -122.118961 deg,
      deltaT: 0.508654 s,
      deltaX: 0.200000 m,
      approachRate: 0.393195 m/s,
      posRepo size: 4

2025-01-09T00:50:15.642Z,1736383815.642 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:15.647Z,1736383815.647 [DAT](INFO): DAT read: 00:50:14.4162 LVL= 11200, 15169, 13074, 12275, AGC= 25, IDX= 499, 0.22,-0.890,-1.606,-2.143,-0.417, PHS=-0.385,-1.142,-1.730, RAW=  64.2,  44.6, CAL=  62.1,  50.8, ROT=  87.9, -50.8

2025-01-09T00:50:15.648Z,1736383815.648 [DAT](INFO): got valid direction response:
 00:50:14.4162 LVL= 11200, 15169, 13074, 12275, AGC= 25, IDX= 499, 0.22,-0.890,-1.606,-2.143,-0.417, PHS=-0.385,-1.142,-1.730, RAW=  64.2,  44.6, CAL=  62.1,  50.8, ROT=  87.9, -50.8

2025-01-09T00:50:15.648Z,1736383815.648 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-01-09T00:50:15.649Z,1736383815.649 [DAT](INFO): direction in FSK: [0.023160,0.631605,0.774944]
2025-01-09T00:50:15.650Z,1736383815.650 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:15.658Z,1736383815.658 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=39.580799
2025-01-09T00:50:15.848Z,1736383815.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:15.896Z,1736383815.896 [DAT](INFO): DAT read: Rx Time:00:50:14.9163 

2025-01-09T00:50:15.898Z,1736383815.898 [DAT](INFO): Rx dataTimestamp_ set to:1736383815.896829
2025-01-09T00:50:15.901Z,1736383815.901 [DAT](INFO): DAT read: Bearing  84.4, -51.1 (Local)

2025-01-09T00:50:15.903Z,1736383815.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.4, -51.1 (Local)

2025-01-09T00:50:15.905Z,1736383815.905 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=39.828014
2025-01-09T00:50:15.922Z,1736383815.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.498156 s,
      deltaX: -0.200000 m,
      approachRate: -0.401481 m/s,
      rangeRepo size: 4

2025-01-09T00:50:15.946Z,1736383815.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 115.684835 deg,
      lat: 36.904009 deg,
      lon: -122.118961 deg,
      deltaT: 0.498156 s,
      deltaX: -0.200000 m,
      approachRate: -0.401481 m/s,
      posRepo size: 4

2025-01-09T00:50:16.152Z,1736383816.152 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:16.165Z,1736383816.165 [DAT](INFO): DAT read: 00:50:14.9163 LVL= 12784, 16753, 14354, 12883, AGC= 24, IDX= 500, 0.22, 0.576,-0.236,-0.720, 1.049, PHS=-0.386,-1.238,-1.773, RAW=  67.5,  44.7, CAL=  65.6,  51.1, ROT=  84.4, -51.1

2025-01-09T00:50:16.189Z,1736383816.189 [DAT](INFO): got valid direction response:
 00:50:14.9163 LVL= 12784, 16753, 14354, 12883, AGC= 24, IDX= 500, 0.22, 0.576,-0.236,-0.720, 1.049, PHS=-0.386,-1.238,-1.773, RAW=  67.5,  44.7, CAL=  65.6,  51.1, ROT=  84.4, -51.1

2025-01-09T00:50:16.190Z,1736383816.190 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-01-09T00:50:16.195Z,1736383816.195 [DAT](INFO): direction in FSK: [0.061278,0.624966,0.778243]
2025-01-09T00:50:16.196Z,1736383816.196 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:16.234Z,1736383816.234 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=40.157040
2025-01-09T00:50:16.325Z,1736383816.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:16.352Z,1736383816.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.505295 s,
      deltaX: 0.200000 m,
      approachRate: 0.395808 m/s,
      rangeRepo size: 4

2025-01-09T00:50:16.354Z,1736383816.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 113.435198 deg,
      lat: 36.904009 deg,
      lon: -122.118961 deg,
      deltaT: 0.505295 s,
      deltaX: 0.200000 m,
      approachRate: 0.395808 m/s,
      posRepo size: 4

2025-01-09T00:50:16.400Z,1736383816.400 [DAT](INFO): DAT read: Rx Time:00:50:15.4162 

2025-01-09T00:50:16.402Z,1736383816.402 [DAT](INFO): Rx dataTimestamp_ set to:1736383816.400972
2025-01-09T00:50:16.407Z,1736383816.407 [DAT](INFO): DAT read: Bearing  82.8, -49.0 (Local)

2025-01-09T00:50:16.408Z,1736383816.408 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.8, -49.0 (Local)

2025-01-09T00:50:16.418Z,1736383816.418 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:16.431Z,1736383816.431 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-01-09T00:50:16.447Z,1736383816.447 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=40.361786
2025-01-09T00:50:16.653Z,1736383816.653 [DAT](INFO): DAT read: 00:50:15.4162 LVL= 13488, 16033, 13954, 14627, AGC= 26, IDX= 499, 0.17, 0.476,-0.407,-0.878, 0.862, PHS=-0.298,-1.222,-1.743, RAW=  69.1,  42.3, CAL=  67.2,  49.0, ROT=  82.8, -49.0

2025-01-09T00:50:16.655Z,1736383816.655 [DAT](INFO): got valid direction response:
 00:50:15.4162 LVL= 13488, 16033, 13954, 14627, AGC= 26, IDX= 499, 0.17, 0.476,-0.407,-0.878, 0.862, PHS=-0.298,-1.222,-1.743, RAW=  69.1,  42.3, CAL=  67.2,  49.0, ROT=  82.8, -49.0

2025-01-09T00:50:16.656Z,1736383816.656 [DAT](INFO): #Rx 92: Read direction message, but no range.
2025-01-09T00:50:16.657Z,1736383816.657 [DAT](INFO): direction in FSK: [0.082226,0.650886,0.754710]
2025-01-09T00:50:16.666Z,1736383816.666 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=40.588516
2025-01-09T00:50:16.763Z,1736383816.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:16.790Z,1736383816.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.255618 s,
      deltaX: -0.200000 m,
      approachRate: -0.782418 m/s,
      rangeRepo size: 4

2025-01-09T00:50:16.793Z,1736383816.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 115.546799 deg,
      lat: 36.904009 deg,
      lon: -122.118961 deg,
      deltaT: 0.255618 s,
      deltaX: -0.200000 m,
      approachRate: -0.782418 m/s,
      posRepo size: 4

2025-01-09T00:50:16.905Z,1736383816.905 [DAT](INFO): DAT read: Rx Time:00:50:15.9163 

2025-01-09T00:50:16.906Z,1736383816.906 [DAT](INFO): Rx dataTimestamp_ set to:1736383816.905086
2025-01-09T00:50:16.909Z,1736383816.909 [DAT](INFO): DAT read: Bearing  78.8, -48.2 (Local)

2025-01-09T00:50:16.910Z,1736383816.910 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.8, -48.2 (Local)

2025-01-09T00:50:16.915Z,1736383816.915 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:16.918Z,1736383816.918 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-01-09T00:50:16.922Z,1736383816.922 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=40.844563
2025-01-09T00:50:16.958Z,1736383816.958 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:50:17.127Z,1736383817.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:17.165Z,1736383817.165 [DAT](INFO): DAT read: 00:50:15.9163 LVL= 15664, 17393, 14834, 18291, AGC= 26, IDX= 500, 0.19, 1.223, 0.206,-0.201, 1.564, PHS=-0.253,-1.311,-1.768, RAW=  72.9,  41.2, CAL=  71.2,  48.2, ROT=  78.8, -48.2

2025-01-09T00:50:17.172Z,1736383817.172 [DAT](INFO): got valid direction response:
 00:50:15.9163 LVL= 15664, 17393, 14834, 18291, AGC= 26, IDX= 500, 0.19, 1.223, 0.206,-0.201, 1.564, PHS=-0.253,-1.311,-1.768, RAW=  72.9,  41.2, CAL=  71.2,  48.2, ROT=  78.8, -48.2

2025-01-09T00:50:17.173Z,1736383817.173 [DAT](INFO): #Rx 94: Read direction message, but no range.
2025-01-09T00:50:17.177Z,1736383817.177 [DAT](INFO): direction in FSK: [0.129463,0.653838,0.745476]
2025-01-09T00:50:17.191Z,1736383817.191 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=41.114311
2025-01-09T00:50:17.219Z,1736383817.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504114 s,
      deltaX: 0.200000 m,
      approachRate: 0.396736 m/s,
      rangeRepo size: 4

2025-01-09T00:50:17.221Z,1736383817.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 112.583309 deg,
      lat: 36.904009 deg,
      lon: -122.118960 deg,
      deltaT: 0.504114 s,
      deltaX: 0.200000 m,
      approachRate: 0.396736 m/s,
      posRepo size: 4

2025-01-09T00:50:17.404Z,1736383817.404 [DAT](INFO): DAT read: Rx Time:00:50:16.4163 

2025-01-09T00:50:17.405Z,1736383817.405 [DAT](INFO): Rx dataTimestamp_ set to:1736383817.404638
2025-01-09T00:50:17.406Z,1736383817.406 [DAT](INFO): DAT read: Bearing  78.0, -47.6 (Local)

2025-01-09T00:50:17.406Z,1736383817.406 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.0, -47.6 (Local)

2025-01-09T00:50:17.407Z,1736383817.407 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=41.330025
2025-01-09T00:50:17.669Z,1736383817.669 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) :16.4163 LVL= 14048, 15153, 13234, 16803, AGC= 26, IDX= 499, 0.20, 0.571,-0.485,-0.878, 0.885, PHS=-0.227,-1.323,-1.766, RAW=  73.8,  40.5, CAL=  72.0,  47.6, ROT=  78.0, -47.6

2025-01-09T00:50:17.670Z,1736383817.670 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-01-09T00:50:17.672Z,1736383817.672 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=41.594398
2025-01-09T00:50:17.761Z,1736383817.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:17.785Z,1736383817.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:17.788Z,1736383817.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.751179 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:17.912Z,1736383817.912 [DAT](INFO): DAT read: Rx Time:00:50:16.9163 

2025-01-09T00:50:17.913Z,1736383817.913 [DAT](INFO): Rx dataTimestamp_ set to:1736383817.912317
2025-01-09T00:50:17.917Z,1736383817.917 [DAT](INFO): DAT read: Bearing  77.5, -47.7 (Local)

2025-01-09T00:50:17.918Z,1736383817.918 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.5, -47.7 (Local)

2025-01-09T00:50:17.938Z,1736383817.938 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:17.941Z,1736383817.941 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-01-09T00:50:17.960Z,1736383817.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:50:17.972Z,1736383817.972 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=41.895824
2025-01-09T00:50:18.185Z,1736383818.185 [DAT](INFO): DAT read: 00:50:16.9163 LVL= 14256, 15793, 13362, 17283, AGC= 26, IDX= 499, 0.27, 0.645,-0.423,-0.808, 0.960, PHS=-0.227,-1.336,-1.770, RAW=  74.2,  40.5, CAL=  72.5,  47.7, ROT=  77.5, -47.7

2025-01-09T00:50:18.228Z,1736383818.228 [DAT](INFO): got valid direction response:
 00:50:16.9163 LVL= 14256, 15793, 13362, 17283, AGC= 26, IDX= 499, 0.27, 0.645,-0.423,-0.808, 0.960, PHS=-0.227,-1.336,-1.770, RAW=  74.2,  40.5, CAL=  72.5,  47.7, ROT=  77.5, -47.7

2025-01-09T00:50:18.228Z,1736383818.228 [DAT](INFO): #Rx 97: Read direction message, but no range.
2025-01-09T00:50:18.229Z,1736383818.229 [DAT](INFO): direction in FSK: [0.145667,0.657059,0.739631]
2025-01-09T00:50:18.264Z,1736383818.264 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=42.187424
2025-01-09T00:50:18.334Z,1736383818.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:18.365Z,1736383818.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.256052 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:18.372Z,1736383818.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 114.971531 deg,
      lat: 36.904009 deg,
      lon: -122.118960 deg,
      deltaT: 1.007231 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:18.420Z,1736383818.420 [DAT](INFO): DAT read: Rx Time:00:50:17.4162 

2025-01-09T00:50:18.421Z,1736383818.421 [DAT](INFO): Rx dataTimestamp_ set to:1736383818.420346
2025-01-09T00:50:18.426Z,1736383818.426 [DAT](INFO): DAT read: Bearing  77.7, -48.4 (Local)

2025-01-09T00:50:18.427Z,1736383818.427 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.7, -48.4 (Local)

2025-01-09T00:50:18.448Z,1736383818.448 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:18.458Z,1736383818.458 [DAT](INFO): DAT read: 00:50:17.4162 LVL= 16240, 18641, 15186, 19443, AGC= 26, IDX= 498, 0.33,-0.690,-1.735,-2.116,-0.343, PHS=-0.259,-1.345,-1.776, RAW=  74.0,  41.4, CAL=  72.3,  48.4, ROT=  77.7, -48.4

2025-01-09T00:50:18.468Z,1736383818.468 [DAT](INFO): got valid direction response:
 00:50:17.4162 LVL= 16240, 18641, 15186, 19443, AGC= 26, IDX= 498, 0.33,-0.690,-1.735,-2.116,-0.343, PHS=-0.259,-1.345,-1.776, RAW=  74.0,  41.4, CAL=  72.3,  48.4, ROT=  77.7, -48.4

2025-01-09T00:50:18.468Z,1736383818.468 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-01-09T00:50:18.469Z,1736383818.469 [DAT](INFO): direction in FSK: [0.141436,0.648686,0.747798]
2025-01-09T00:50:18.470Z,1736383818.470 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:18.477Z,1736383818.477 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=42.400852
2025-01-09T00:50:18.665Z,1736383818.665 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=42.588821
2025-01-09T00:50:18.813Z,1736383818.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:18.828Z,1736383818.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.508029 s,
      deltaX: -0.200000 m,
      approachRate: -0.393678 m/s,
      rangeRepo size: 4

2025-01-09T00:50:18.830Z,1736383818.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 116.006961 deg,
      lat: 36.904009 deg,
      lon: -122.118958 deg,
      deltaT: 0.508029 s,
      deltaX: -0.200000 m,
      approachRate: -0.393678 m/s,
      posRepo size: 4

2025-01-09T00:50:18.921Z,1736383818.921 [DAT](INFO): DAT read: Rx Time:00:50:17.9163 

2025-01-09T00:50:18.923Z,1736383818.923 [DAT](INFO): Rx dataTimestamp_ set to:1736383818.921701
2025-01-09T00:50:18.927Z,1736383818.927 [DAT](INFO): DAT read: Bearing  78.2, -47.7 (Local)

2025-01-09T00:50:18.929Z,1736383818.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.2, -47.7 (Local)

2025-01-09T00:50:18.944Z,1736383818.944 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:18.976Z,1736383818.976 [DAT](INFO): DAT read: 00:50:17.9163 LVL= 14992, 17393, 14114, 17299, AGC= 26, IDX= 499, 0.41, 0.563,-0.495,-0.896, 0.885, PHS=-0.234,-1.333,-1.784, RAW=  73.6,  40.6, CAL=  71.8,  47.7, ROT=  78.2, -47.7

2025-01-09T00:50:18.977Z,1736383818.977 [DAT](INFO): got valid direction response:
 00:50:17.9163 LVL= 14992, 17393, 14114, 17299, AGC= 26, IDX= 499, 0.41, 0.563,-0.495,-0.896, 0.885, PHS=-0.234,-1.333,-1.784, RAW=  73.6,  40.6, CAL=  71.8,  47.7, ROT=  78.2, -47.7

2025-01-09T00:50:18.977Z,1736383818.977 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-01-09T00:50:18.978Z,1736383818.978 [DAT](INFO): direction in FSK: [0.137628,0.658790,0.739631]
2025-01-09T00:50:18.979Z,1736383818.979 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:18.987Z,1736383818.987 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=42.910179
2025-01-09T00:50:19.171Z,1736383819.171 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=43.093636
2025-01-09T00:50:19.260Z,1736383819.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:19.275Z,1736383819.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.501355 s,
      deltaX: 0.200000 m,
      approachRate: 0.398919 m/s,
      rangeRepo size: 4

2025-01-09T00:50:19.293Z,1736383819.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 117.429604 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.501355 s,
      deltaX: 0.200000 m,
      approachRate: 0.398919 m/s,
      posRepo size: 4

2025-01-09T00:50:19.426Z,1736383819.426 [DAT](INFO): DAT read: Rx Time:00:50:18.4162 

2025-01-09T00:50:19.429Z,1736383819.429 [DAT](INFO): Rx dataTimestamp_ set to:1736383819.426706
2025-01-09T00:50:19.435Z,1736383819.435 [DAT](INFO): DAT read: Bearing  77.5, -46.1 (Local)

2025-01-09T00:50:19.437Z,1736383819.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.5, -46.1 (Local)

2025-01-09T00:50:19.445Z,1736383819.445 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:19.454Z,1736383819.454 [DAT](INFO): DAT read: 00:50:18.4162 LVL= 14656, 17825, 14690, 16787, AGC= 26, IDX= 499,-0.33,-3.079, 2.050, 1.637,-2.824, PHS=-0.166,-1.362,-1.825, RAW=  74.3,  38.7, CAL=  72.5,  46.1, ROT=  77.5, -46.1

2025-01-09T00:50:19.460Z,1736383819.460 [DAT](INFO): got valid direction response:
 00:50:18.4162 LVL= 14656, 17825, 14690, 16787, AGC= 26, IDX= 499,-0.33,-3.079, 2.050, 1.637,-2.824, PHS=-0.166,-1.362,-1.825, RAW=  74.3,  38.7, CAL=  72.5,  46.1, ROT=  77.5, -46.1

2025-01-09T00:50:19.464Z,1736383819.464 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-01-09T00:50:19.465Z,1736383819.465 [DAT](INFO): direction in FSK: [0.150080,0.676965,0.720551]
2025-01-09T00:50:19.465Z,1736383819.465 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:19.470Z,1736383819.470 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=43.393345
2025-01-09T00:50:19.625Z,1736383819.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:19.638Z,1736383819.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.505005 s,
      deltaX: -0.200000 m,
      approachRate: -0.396036 m/s,
      rangeRepo size: 4

2025-01-09T00:50:19.642Z,1736383819.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 116.755005 deg,
      lat: 36.904009 deg,
      lon: -122.118956 deg,
      deltaT: 0.505005 s,
      deltaX: -0.200000 m,
      approachRate: -0.396036 m/s,
      posRepo size: 4

2025-01-09T00:50:19.674Z,1736383819.674 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=43.597466
2025-01-09T00:50:19.929Z,1736383819.929 [DAT](INFO): DAT read: Rx Time:00:50:18.9163 

2025-01-09T00:50:19.932Z,1736383819.932 [DAT](INFO): Rx dataTimestamp_ set to:1736383819.930076
2025-01-09T00:50:19.935Z,1736383819.935 [DAT](INFO): DAT read: Bearing  77.8, -45.8 (Local)

2025-01-09T00:50:19.937Z,1736383819.937 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.8, -45.8 (Local)

2025-01-09T00:50:19.945Z,1736383819.945 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:19.954Z,1736383819.954 [DAT](INFO): DAT read: 00:50:18.9163 LVL= 12272, 16881, 14130, 13859, AGC= 26, IDX= 500,-0.16, 3.086, 1.917, 1.486,-2.949, PHS=-0.160,-1.370,-1.850, RAW=  74.0,  38.4, CAL=  72.2,  45.8, ROT=  77.8, -45.8

2025-01-09T00:50:19.955Z,1736383819.955 [DAT](INFO): got valid direction response:
 00:50:18.9163 LVL= 12272, 16881, 14130, 13859, AGC= 26, IDX= 500,-0.16, 3.086, 1.917, 1.486,-2.949, PHS=-0.160,-1.370,-1.850, RAW=  74.0,  38.4, CAL=  72.2,  45.8, ROT=  77.8, -45.8

2025-01-09T00:50:19.969Z,1736383819.969 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-01-09T00:50:19.970Z,1736383819.970 [DAT](INFO): direction in FSK: [0.147328,0.681420,0.716911]
2025-01-09T00:50:19.970Z,1736383819.970 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:19.978Z,1736383819.978 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=43.901394
2025-01-09T00:50:20.049Z,1736383820.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:20.082Z,1736383820.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.503370 s,
      deltaX: 0.200000 m,
      approachRate: 0.397322 m/s,
      rangeRepo size: 4

2025-01-09T00:50:20.089Z,1736383820.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 118.397614 deg,
      lat: 36.904008 deg,
      lon: -122.118955 deg,
      deltaT: 0.503370 s,
      deltaX: 0.200000 m,
      approachRate: 0.397322 m/s,
      posRepo size: 4

2025-01-09T00:50:20.177Z,1736383820.177 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=44.100006
2025-01-09T00:50:20.435Z,1736383820.435 [DAT](INFO): DAT read: Rx Time:00:50:19.4162 

2025-01-09T00:50:20.437Z,1736383820.437 [DAT](INFO): Rx dataTimestamp_ set to:1736383820.435337
2025-01-09T00:50:20.443Z,1736383820.443 [DAT](INFO): DAT read: Bearing  78.3, -47.4 (Local)

2025-01-09T00:50:20.469Z,1736383820.469 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.3, -47.4 (Local)

2025-01-09T00:50:20.471Z,1736383820.471 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:20.479Z,1736383820.479 [DAT](INFO): DAT read: 00:50:19.4162 LVL= 12032, 16497, 14098, 12051, AGC= 26, IDX= 499,-0.04, 1.373, 0.254,-0.178, 1.692, PHS=-0.232,-1.392,-1.873, RAW=  73.4,  40.2, CAL=  71.7,  47.4, ROT=  78.3, -47.4

2025-01-09T00:50:20.480Z,1736383820.480 [DAT](INFO): got valid direction response:
 00:50:19.4162 LVL= 12032, 16497, 14098, 12051, AGC= 26, IDX= 499,-0.04, 1.373, 0.254,-0.178, 1.692, PHS=-0.232,-1.392,-1.873, RAW=  73.4,  40.2, CAL=  71.7,  47.4, ROT=  78.3, -47.4

2025-01-09T00:50:20.480Z,1736383820.480 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-01-09T00:50:20.481Z,1736383820.481 [DAT](INFO): direction in FSK: [0.137262,0.662812,0.736097]
2025-01-09T00:50:20.482Z,1736383820.482 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:20.486Z,1736383820.486 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=44.409691
2025-01-09T00:50:20.558Z,1736383820.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:20.596Z,1736383820.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.505261 s,
      deltaX: -0.200000 m,
      approachRate: -0.395835 m/s,
      rangeRepo size: 4

2025-01-09T00:50:20.598Z,1736383820.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 118.804612 deg,
      lat: 36.904009 deg,
      lon: -122.118955 deg,
      deltaT: 0.505261 s,
      deltaX: -0.200000 m,
      approachRate: -0.395835 m/s,
      posRepo size: 4

2025-01-09T00:50:20.682Z,1736383820.682 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=44.605022
2025-01-09T00:50:20.936Z,1736383820.936 [DAT](INFO): DAT read: Rx Time:00:50:19.9164 

2025-01-09T00:50:20.936Z,1736383820.936 [DAT](INFO): Rx dataTimestamp_ set to:1736383820.936108
2025-01-09T00:50:20.938Z,1736383820.938 [DAT](INFO): DAT read: Bearing  78.9, -51.0 (Local)

2025-01-09T00:50:20.938Z,1736383820.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.9, -51.0 (Local)

2025-01-09T00:50:20.940Z,1736383820.940 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-01-09T00:50:20.941Z,1736383820.941 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-01-09T00:50:20.942Z,1736383820.942 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=44.865047
2025-01-09T00:50:20.993Z,1736383820.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:21.018Z,1736383821.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:21.035Z,1736383821.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.500771 s,
      deltaX: 0.300000 m,
      approachRate: 0.599076 m/s,
      rangeRepo size: 4

2025-01-09T00:50:21.194Z,1736383821.194 [DAT](INFO): DAT read: 00:50:19.9164 LVL= 13216, 16033, 12434, 11059, AGC= 25, IDX= 500, 0.05,-2.858, 2.434, 2.032,-2.388, PHS=-0.382,-1.414,-1.866, RAW=  72.7,  44.5, 51.0

2025-01-09T00:50:21.197Z,1736383821.197 [DAT](INFO): unknown deviceResponse_: 00:50:19.9164 LVL= 13216, 16033, 12434, 11059, AGC= 25, IDX= 500, 0.05,-2.858, 2.434, 2.032,-2.388, PHS=-0.382,-1.414,-1.866, RAW=  72.7,  44.5, 51.0

2025-01-09T00:50:21.199Z,1736383821.199 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=45.121895
2025-01-09T00:50:21.351Z,1736383821.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:21.441Z,1736383821.441 [DAT](INFO): DAT read: Rx Time:00:50:20.4163 

2025-01-09T00:50:21.443Z,1736383821.443 [DAT](INFO): Rx dataTimestamp_ set to:1736383821.441766
2025-01-09T00:50:21.445Z,1736383821.445 [DAT](INFO): DAT read: Bearing  79.4, -51.9 (Local)

2025-01-09T00:50:21.445Z,1736383821.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing  79.4, -51.9 (Local)

2025-01-09T00:50:21.449Z,1736383821.449 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:21.455Z,1736383821.455 [DAT](INFO): DAT read: 00:50:20.4163 LVL= 12880, 14961, 12434, 10835, AGC= 25, IDX= 499, 0.12, 2.480, 1.536, 1.138, 2.981, PHS=-0.414,-1.399,-1.846, RAW=  72.2,  45.5, CAL=  70.6,  51.9, ROT=  79.4, -51.9

2025-01-09T00:50:21.464Z,1736383821.464 [DAT](INFO): got valid direction response:
 00:50:20.4163 LVL= 12880, 14961, 12434, 10835, AGC= 25, IDX= 499, 0.12, 2.480, 1.536, 1.138, 2.981, PHS=-0.414,-1.399,-1.846, RAW=  72.2,  45.5, CAL=  70.6,  51.9, ROT=  79.4, -51.9

2025-01-09T00:50:21.464Z,1736383821.464 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-01-09T00:50:21.465Z,1736383821.465 [DAT](INFO): direction in FSK: [0.113505,0.606506,0.786935]
2025-01-09T00:50:21.466Z,1736383821.466 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:21.488Z,1736383821.488 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=45.411106
2025-01-09T00:50:21.689Z,1736383821.689 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=45.612198
2025-01-09T00:50:21.739Z,1736383821.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:21.755Z,1736383821.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.505658 s,
      deltaX: -0.100000 m,
      approachRate: -0.197762 m/s,
      rangeRepo size: 4

2025-01-09T00:50:21.759Z,1736383821.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 119.967238 deg,
      lat: 36.904008 deg,
      lon: -122.118954 deg,
      deltaT: 1.006429 s,
      deltaX: 0.200000 m,
      approachRate: 0.198722 m/s,
      posRepo size: 4

2025-01-09T00:50:21.944Z,1736383821.944 [DAT](INFO): DAT read: Rx Time:00:50:20.9163 

2025-01-09T00:50:21.944Z,1736383821.944 [DAT](INFO): Rx dataTimestamp_ set to:1736383821.944082
2025-01-09T00:50:21.946Z,1736383821.946 [DAT](INFO): DAT read: Bearing  80.7, -52.9 (Local)

2025-01-09T00:50:21.946Z,1736383821.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing  80.7, -52.9 (Local)

2025-01-09T00:50:21.948Z,1736383821.948 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:21.955Z,1736383821.955 [DAT](INFO): DAT read: 00:50:20.9163 LVL= 11904, 15345, 11954, 10611, AGC= 26, IDX= 499, 0.16, 2.707, 1.836, 1.432,-3.040, PHS=-0.448,-1.361,-1.814, RAW=  71.0,  46.7, CAL=  69.3,  52.9, ROT=  80.7, -52.9

2025-01-09T00:50:21.958Z,1736383821.958 [DAT](INFO): got valid direction response:
 00:50:20.9163 LVL= 11904, 15345, 11954, 10611, AGC= 26, IDX= 499, 0.16, 2.707, 1.836, 1.432,-3.040, PHS=-0.448,-1.361,-1.814, RAW=  71.0,  46.7, CAL=  69.3,  52.9, ROT=  80.7, -52.9

2025-01-09T00:50:21.959Z,1736383821.959 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-01-09T00:50:21.964Z,1736383821.964 [DAT](INFO): direction in FSK: [0.097481,0.595279,0.797584]
2025-01-09T00:50:21.965Z,1736383821.965 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:21.981Z,1736383821.981 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=45.904171
2025-01-09T00:50:22.124Z,1736383822.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:22.161Z,1736383822.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.502316 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:22.163Z,1736383822.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 120.338874 deg,
      lat: 36.904008 deg,
      lon: -122.118953 deg,
      deltaT: 0.502316 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:22.196Z,1736383822.196 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=46.118980
2025-01-09T00:50:22.446Z,1736383822.446 [DAT](INFO): DAT read: Rx Time:00:50:21.4162 

2025-01-09T00:50:22.446Z,1736383822.446 [DAT](INFO): Rx dataTimestamp_ set to:1736383822.446191
2025-01-09T00:50:22.448Z,1736383822.448 [DAT](INFO): DAT read: Bearing  81.6, -54.1 (Local)

2025-01-09T00:50:22.449Z,1736383822.449 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.6, -54.1 (Local)

2025-01-09T00:50:22.452Z,1736383822.452 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:22.457Z,1736383822.457 [DAT](INFO): DAT read: 00:50:21.4162 LVL= 11968, 16081, 11746, 10819, AGC= 26, IDX= 498, 0.20, 1.499, 0.684, 0.280, 2.076, PHS=-0.489,-1.345,-1.800, RAW=  70.0,  48.1, CAL=  68.4,  54.1, ROT=  81.6, -54.1

2025-01-09T00:50:22.458Z,1736383822.458 [DAT](INFO): got valid direction response:
 00:50:21.4162 LVL= 11968, 16081, 11746, 10819, AGC= 26, IDX= 498, 0.20, 1.499, 0.684, 0.280, 2.076, PHS=-0.489,-1.345,-1.800, RAW=  70.0,  48.1, CAL=  68.4,  54.1, ROT=  81.6, -54.1

2025-01-09T00:50:22.458Z,1736383822.458 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-01-09T00:50:22.459Z,1736383822.459 [DAT](INFO): direction in FSK: [0.085659,0.580082,0.810042]
2025-01-09T00:50:22.459Z,1736383822.459 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:22.462Z,1736383822.462 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=46.385956
2025-01-09T00:50:22.610Z,1736383822.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:22.638Z,1736383822.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.502109 s,
      deltaX: -0.200000 m,
      approachRate: -0.398320 m/s,
      rangeRepo size: 4

2025-01-09T00:50:22.645Z,1736383822.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 120.565016 deg,
      lat: 36.904008 deg,
      lon: -122.118953 deg,
      deltaT: 0.502109 s,
      deltaX: -0.200000 m,
      approachRate: -0.398320 m/s,
      posRepo size: 4

2025-01-09T00:50:22.696Z,1736383822.696 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=46.619801
2025-01-09T00:50:22.949Z,1736383822.949 [DAT](INFO): DAT read: Rx Time:00:50:21.9163 

2025-01-09T00:50:22.950Z,1736383822.950 [DAT](INFO): Rx dataTimestamp_ set to:1736383822.949327
2025-01-09T00:50:22.951Z,1736383822.951 [DAT](INFO): DAT read: Bearing  82.3, -55.1 (Local)

2025-01-09T00:50:22.952Z,1736383822.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.3, -55.1 (Local)

2025-01-09T00:50:22.954Z,1736383822.954 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:22.959Z,1736383822.959 [DAT](INFO): DAT read: 00:50:21.9163 LVL= 11968, 16001, 11682, 10931, AGC= 26, IDX= 499, 0.23,-3.068, 2.442, 2.039,-2.453, PHS=-0.527,-1.341,-1.794, RAW=  69.4,  49.3, CAL=  67.7,  55.1, ROT=  82.3, -55.1

2025-01-09T00:50:22.960Z,1736383822.960 [DAT](INFO): got valid direction response:
 00:50:21.9163 LVL= 11968, 16001, 11682, 10931, AGC= 26, IDX= 499, 0.23,-3.068, 2.442, 2.039,-2.453, PHS=-0.527,-1.341,-1.794, RAW=  69.4,  49.3, CAL=  67.7,  55.1, ROT=  82.3, -55.1

2025-01-09T00:50:22.960Z,1736383822.960 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-01-09T00:50:22.961Z,1736383822.961 [DAT](INFO): direction in FSK: [0.076660,0.566987,0.820152]
2025-01-09T00:50:22.961Z,1736383822.961 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:22.969Z,1736383822.969 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=46.892342
2025-01-09T00:50:23.021Z,1736383823.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:23.084Z,1736383823.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.503136 s,
      deltaX: 0.200000 m,
      approachRate: 0.397507 m/s,
      rangeRepo size: 4

2025-01-09T00:50:23.099Z,1736383823.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 120.636950 deg,
      lat: 36.904009 deg,
      lon: -122.118952 deg,
      deltaT: 0.503136 s,
      deltaX: 0.200000 m,
      approachRate: 0.397507 m/s,
      posRepo size: 4

2025-01-09T00:50:23.201Z,1736383823.201 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=47.124641
2025-01-09T00:50:23.453Z,1736383823.453 [DAT](INFO): DAT read: Rx Time:00:50:22.4162 

2025-01-09T00:50:23.453Z,1736383823.453 [DAT](INFO): Rx dataTimestamp_ set to:1736383823.453138
2025-01-09T00:50:23.455Z,1736383823.455 [DAT](INFO): DAT read: Bearing  81.7, -54.4 (Local)

2025-01-09T00:50:23.455Z,1736383823.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.7, -54.4 (Local)

2025-01-09T00:50:23.457Z,1736383823.457 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:23.467Z,1736383823.467 [DAT](INFO): DAT read: 00:50:22.4162 LVL= 11984, 15761, 11666, 10947, AGC= 26, IDX= 498, 0.27, 1.893, 1.085, 0.682, 2.482, PHS=-0.501,-1.350,-1.803, RAW=  70.0,  48.5, CAL=  68.3,  54.4, ROT=  81.7, -54.4

2025-01-09T00:50:23.469Z,1736383823.469 [DAT](INFO): got valid direction response:
 00:50:22.4162 LVL= 11984, 15761, 11666, 10947, AGC= 26, IDX= 498, 0.27, 1.893, 1.085, 0.682, 2.482, PHS=-0.501,-1.350,-1.803, RAW=  70.0,  48.5, CAL=  68.3,  54.4, ROT=  81.7, -54.4

2025-01-09T00:50:23.469Z,1736383823.469 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-01-09T00:50:23.470Z,1736383823.470 [DAT](INFO): direction in FSK: [0.084033,0.576026,0.813101]
2025-01-09T00:50:23.470Z,1736383823.470 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:23.474Z,1736383823.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:23.478Z,1736383823.478 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=47.401550
2025-01-09T00:50:23.546Z,1736383823.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503811 s,
      deltaX: -0.200000 m,
      approachRate: -0.396974 m/s,
      rangeRepo size: 4

2025-01-09T00:50:23.557Z,1736383823.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 119.495703 deg,
      lat: 36.904009 deg,
      lon: -122.118952 deg,
      deltaT: 0.503811 s,
      deltaX: -0.200000 m,
      approachRate: -0.396974 m/s,
      posRepo size: 4

2025-01-09T00:50:23.705Z,1736383823.705 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=47.628105
2025-01-09T00:50:23.836Z,1736383823.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:23.843Z,1736383823.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:23.957Z,1736383823.957 [DAT](INFO): DAT read: Rx Time:00:50:22.9163 

2025-01-09T00:50:23.958Z,1736383823.958 [DAT](INFO): Rx dataTimestamp_ set to:1736383823.957359
2025-01-09T00:50:23.959Z,1736383823.959 [DAT](INFO): DAT read: Bearing  81.5, -54.1 (Local)

2025-01-09T00:50:23.960Z,1736383823.960 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.5, -54.1 (Local)

2025-01-09T00:50:23.963Z,1736383823.963 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:23.970Z,1736383823.970 [DAT](INFO): DAT read: 00:50:22.9163 LVL= 11760, 15585, 11714, 10531, AGC= 26, IDX= 499, 0.37, 3.005, 2.177, 1.771,-2.697, PHS=-0.494,-1.362,-1.819, RAW=  70.2,  48.1, CAL=  68.5,  54.1, ROT=  81.5, -54.1

2025-01-09T00:50:23.972Z,1736383823.972 [DAT](INFO): got valid direction response:
 00:50:22.9163 LVL= 11760, 15585, 11714, 10531, AGC= 26, IDX= 499, 0.37, 3.005, 2.177, 1.771,-2.697, PHS=-0.494,-1.362,-1.819, RAW=  70.2,  48.1, CAL=  68.5,  54.1, ROT=  81.5, -54.1

2025-01-09T00:50:23.972Z,1736383823.972 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-01-09T00:50:23.974Z,1736383823.974 [DAT](INFO): direction in FSK: [0.086671,0.579932,0.810042]
2025-01-09T00:50:23.974Z,1736383823.974 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:23.981Z,1736383823.981 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=47.902542
2025-01-09T00:50:24.208Z,1736383824.208 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=48.131638
2025-01-09T00:50:24.314Z,1736383824.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:24.329Z,1736383824.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504221 s,
      deltaX: 0.200000 m,
      approachRate: 0.396652 m/s,
      rangeRepo size: 4

2025-01-09T00:50:24.331Z,1736383824.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 118.060615 deg,
      lat: 36.904009 deg,
      lon: -122.118952 deg,
      deltaT: 0.504221 s,
      deltaX: 0.200000 m,
      approachRate: 0.396652 m/s,
      posRepo size: 4

2025-01-09T00:50:24.461Z,1736383824.461 [DAT](INFO): DAT read: Rx Time:00:50:23.4162 

2025-01-09T00:50:24.461Z,1736383824.461 [DAT](INFO): Rx dataTimestamp_ set to:1736383824.461203
2025-01-09T00:50:24.463Z,1736383824.463 [DAT](INFO): DAT read: Bearing  81.2, -52.8 (Local)

2025-01-09T00:50:24.463Z,1736383824.463 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.2, -52.8 (Local)

2025-01-09T00:50:24.465Z,1736383824.465 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:24.472Z,1736383824.472 [DAT](INFO): DAT read: 00:50:23.4162 LVL= 11360, 15377, 11666, 10547, AGC= 26, IDX= 498, 0.47, 1.018, 0.137,-0.285, 1.560, PHS=-0.454,-1.375,-1.848, RAW=  70.5,  46.6, CAL=  68.8,  52.8, ROT=  81.2, -52.8

2025-01-09T00:50:24.473Z,1736383824.473 [DAT](INFO): got valid direction response:
 00:50:23.4162 LVL= 11360, 15377, 11666, 10547, AGC= 26, IDX= 498, 0.47, 1.018, 0.137,-0.285, 1.560, PHS=-0.454,-1.375,-1.848, RAW=  70.5,  46.6, CAL=  68.8,  52.8, ROT=  81.2, -52.8

2025-01-09T00:50:24.473Z,1736383824.473 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-01-09T00:50:24.474Z,1736383824.474 [DAT](INFO): direction in FSK: [0.092495,0.597482,0.796530]
2025-01-09T00:50:24.474Z,1736383824.474 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:24.478Z,1736383824.478 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=48.401321
2025-01-09T00:50:24.712Z,1736383824.712 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=48.635761
2025-01-09T00:50:24.718Z,1736383824.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:24.748Z,1736383824.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503844 s,
      deltaX: -0.200000 m,
      approachRate: -0.396948 m/s,
      rangeRepo size: 4

2025-01-09T00:50:24.756Z,1736383824.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 116.706859 deg,
      lat: 36.904009 deg,
      lon: -122.118953 deg,
      deltaT: 0.503844 s,
      deltaX: -0.200000 m,
      approachRate: -0.396948 m/s,
      posRepo size: 4

2025-01-09T00:50:24.965Z,1736383824.965 [DAT](INFO): DAT read: Rx Time:00:50:23.9163 

2025-01-09T00:50:24.966Z,1736383824.966 [DAT](INFO): Rx dataTimestamp_ set to:1736383824.965492
2025-01-09T00:50:24.968Z,1736383824.968 [DAT](INFO): DAT read: Bearing  80.4, -52.0 (Local)

2025-01-09T00:50:24.968Z,1736383824.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing  80.4, -52.0 (Local)

2025-01-09T00:50:24.974Z,1736383824.974 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:25.001Z,1736383825.001 [DAT](INFO): DAT read: 00:50:23.9163 LVL= 12272, 14417, 11250, 10611, AGC= 25, IDX= 500,-0.39, 0.856,-0.075,-0.498, 1.369, PHS=-0.425,-1.397,-1.870, RAW=  71.3,  45.6, CAL=  69.6,  52.0, ROT=  80.4, -52.0

2025-01-09T00:50:25.002Z,1736383825.002 [DAT](INFO): got valid direction response:
 00:50:23.9163 LVL= 12272, 14417, 11250, 10611, AGC= 25, IDX= 500,-0.39, 0.856,-0.075,-0.498, 1.369, PHS=-0.425,-1.397,-1.870, RAW=  71.3,  45.6, CAL=  69.6,  52.0, ROT=  80.4, -52.0

2025-01-09T00:50:25.003Z,1736383825.003 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-01-09T00:50:25.044Z,1736383825.044 [DAT](INFO): direction in FSK: [0.102673,0.607040,0.788011]
2025-01-09T00:50:25.044Z,1736383825.044 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:25.056Z,1736383825.056 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=48.979237
2025-01-09T00:50:25.098Z,1736383825.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:25.128Z,1736383825.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504289 s,
      deltaX: 0.200000 m,
      approachRate: 0.396598 m/s,
      rangeRepo size: 4

2025-01-09T00:50:25.130Z,1736383825.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 115.861999 deg,
      lat: 36.904009 deg,
      lon: -122.118952 deg,
      deltaT: 0.504289 s,
      deltaX: 0.200000 m,
      approachRate: 0.396598 m/s,
      posRepo size: 4

2025-01-09T00:50:25.217Z,1736383825.217 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=49.140419
2025-01-09T00:50:25.469Z,1736383825.469 [DAT](INFO): DAT read: Rx Time:00:50:24.4163 

2025-01-09T00:50:25.469Z,1736383825.469 [DAT](INFO): Rx dataTimestamp_ set to:1736383825.469184
2025-01-09T00:50:25.471Z,1736383825.471 [DAT](INFO): DAT read: Bearing  81.1, -50.3 (Local)

2025-01-09T00:50:25.471Z,1736383825.471 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.1, -50.3 (Local)

2025-01-09T00:50:25.473Z,1736383825.473 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:25.478Z,1736383825.478 [DAT](INFO): DAT read: 00:50:24.4163 LVL= 10848, 14577, 11826, 10659, AGC= 26, IDX= 499,-0.31,-1.209,-2.167,-2.624,-0.759, PHS=-0.362,-1.361,-1.868, RAW=  70.7,  43.7, CAL=  68.9,  50.3, ROT=  81.1, -50.3

2025-01-09T00:50:25.479Z,1736383825.479 [DAT](INFO): got valid direction response:
 00:50:24.4163 LVL= 10848, 14577, 11826, 10659, AGC= 26, IDX= 499,-0.31,-1.209,-2.167,-2.624,-0.759, PHS=-0.362,-1.361,-1.868, RAW=  70.7,  43.7, CAL=  68.9,  50.3, ROT=  81.1, -50.3

2025-01-09T00:50:25.479Z,1736383825.479 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-01-09T00:50:25.480Z,1736383825.480 [DAT](INFO): direction in FSK: [0.098824,0.631077,0.769400]
2025-01-09T00:50:25.481Z,1736383825.481 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:25.492Z,1736383825.492 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=49.415691
2025-01-09T00:50:25.557Z,1736383825.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:25.601Z,1736383825.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.503692 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:25.603Z,1736383825.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 116.217332 deg,
      lat: 36.904009 deg,
      lon: -122.118952 deg,
      deltaT: 0.503692 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:25.721Z,1736383825.721 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=49.644241
2025-01-09T00:50:25.968Z,1736383825.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:25.973Z,1736383825.973 [DAT](INFO): DAT read: Rx Time:00:50:24.9163 

2025-01-09T00:50:25.973Z,1736383825.973 [DAT](INFO): Rx dataTimestamp_ set to:1736383825.973142
2025-01-09T00:50:25.975Z,1736383825.975 [DAT](INFO): DAT read: Bearing  81.4, -50.3 (Local)

2025-01-09T00:50:25.975Z,1736383825.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.4, -50.3 (Local)

2025-01-09T00:50:25.977Z,1736383825.977 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:25.982Z,1736383825.982 [DAT](INFO): DAT read: 00:50:24.9163 LVL= 10768, 14785, 11826, 10659, AGC= 26, IDX= 499,-0.25,-1.347,-2.297,-2.760,-0.897, PHS=-0.363,-1.353,-1.866, RAW=  70.4,  43.7, CAL=  68.6,  50.3, ROT=  81.4, -50.3

2025-01-09T00:50:25.984Z,1736383825.984 [DAT](INFO): got valid direction response:
 00:50:24.9163 LVL= 10768, 14785, 11826, 10659, AGC= 26, IDX= 499,-0.25,-1.347,-2.297,-2.760,-0.897, PHS=-0.363,-1.353,-1.866, RAW=  70.4,  43.7, CAL=  68.6,  50.3, ROT=  81.4, -50.3

2025-01-09T00:50:25.984Z,1736383825.984 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-01-09T00:50:25.985Z,1736383825.985 [DAT](INFO): direction in FSK: [0.095518,0.631586,0.769400]
2025-01-09T00:50:25.985Z,1736383825.985 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:25.994Z,1736383825.994 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=49.917061
2025-01-09T00:50:26.014Z,1736383826.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.503958 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:26.024Z,1736383826.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 116.155933 deg,
      lat: 36.904009 deg,
      lon: -122.118952 deg,
      deltaT: 0.503958 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:26.225Z,1736383826.225 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=50.147835
2025-01-09T00:50:26.458Z,1736383826.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:26.482Z,1736383826.482 [DAT](INFO): DAT read: Rx Time:00:50:25.4162 

2025-01-09T00:50:26.484Z,1736383826.484 [DAT](INFO): Rx dataTimestamp_ set to:1736383826.482568
2025-01-09T00:50:26.485Z,1736383826.485 [DAT](INFO): DAT read: Bearing  80.6, -53.2 (Local)

2025-01-09T00:50:26.486Z,1736383826.486 [DAT](INFO): Local bearing/azimuth received:
 Bearing  80.6, -53.2 (Local)

2025-01-09T00:50:26.489Z,1736383826.489 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:26.497Z,1736383826.497 [DAT](INFO): DAT read: 00:50:25.4162 LVL= 11824, 12753, 11890,  9571, AGC= 24, IDX= 498,-0.22,-2.083,-2.977, 2.893,-1.522, PHS=-0.473,-1.408,-1.872, RAW=  71.0,  47.1, CAL=  69.4,  53.2, ROT=  80.6, -53.2

2025-01-09T00:50:26.499Z,1736383826.499 [DAT](INFO): got valid direction response:
 00:50:25.4162 LVL= 11824, 12753, 11890,  9571, AGC= 24, IDX= 498,-0.22,-2.083,-2.977, 2.893,-1.522, PHS=-0.473,-1.408,-1.872, RAW=  71.0,  47.1, CAL=  69.4,  53.2, ROT=  80.6, -53.2

2025-01-09T00:50:26.500Z,1736383826.500 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-01-09T00:50:26.501Z,1736383826.501 [DAT](INFO): direction in FSK: [0.097836,0.590980,0.800731]
2025-01-09T00:50:26.501Z,1736383826.501 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:26.505Z,1736383826.505 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=50.428070
2025-01-09T00:50:26.564Z,1736383826.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.509426 s,
      deltaX: -0.200000 m,
      approachRate: -0.392599 m/s,
      rangeRepo size: 4

2025-01-09T00:50:26.566Z,1736383826.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 114.356091 deg,
      lat: 36.904009 deg,
      lon: -122.118952 deg,
      deltaT: 0.509426 s,
      deltaX: -0.200000 m,
      approachRate: -0.392599 m/s,
      posRepo size: 4

2025-01-09T00:50:26.732Z,1736383826.732 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=50.655842
2025-01-09T00:50:26.843Z,1736383826.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:26.850Z,1736383826.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:26.986Z,1736383826.986 [DAT](INFO): DAT read: Rx Time:00:50:25.9163 

2025-01-09T00:50:26.986Z,1736383826.986 [DAT](INFO): Rx dataTimestamp_ set to:1736383826.986043
2025-01-09T00:50:26.988Z,1736383826.988 [DAT](INFO): DAT read: Bearing  83.3, -52.5 (Local)

2025-01-09T00:50:26.989Z,1736383826.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.3, -52.5 (Local)

2025-01-09T00:50:26.992Z,1736383826.992 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:26.998Z,1736383826.998 [DAT](INFO): DAT read: 00:50:25.9163 LVL= 10640, 15505, 11634, 10323, AGC= 26, IDX= 499,-0.13,-0.950,-1.792,-2.260,-0.412, PHS=-0.450,-1.333,-1.851, RAW=  68.5,  46.3, CAL=  66.7,  52.5, ROT=  83.3, -52.5

2025-01-09T00:50:26.999Z,1736383826.999 [DAT](INFO): got valid direction response:
 00:50:25.9163 LVL= 10640, 15505, 11634, 10323, AGC= 26, IDX= 499,-0.13,-0.950,-1.792,-2.260,-0.412, PHS=-0.450,-1.333,-1.851, RAW=  68.5,  46.3, CAL=  66.7,  52.5, ROT=  83.3, -52.5

2025-01-09T00:50:26.999Z,1736383826.999 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-01-09T00:50:27.001Z,1736383827.001 [DAT](INFO): direction in FSK: [0.071025,0.604604,0.793353]
2025-01-09T00:50:27.001Z,1736383827.001 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:27.005Z,1736383827.005 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=50.928082
2025-01-09T00:50:27.236Z,1736383827.236 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=51.159927
2025-01-09T00:50:27.264Z,1736383827.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:27.343Z,1736383827.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.503475 s,
      deltaX: 0.200000 m,
      approachRate: 0.397239 m/s,
      rangeRepo size: 4

2025-01-09T00:50:27.349Z,1736383827.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 117.627952 deg,
      lat: 36.904009 deg,
      lon: -122.118952 deg,
      deltaT: 0.503475 s,
      deltaX: 0.200000 m,
      approachRate: 0.397239 m/s,
      posRepo size: 4

2025-01-09T00:50:27.489Z,1736383827.489 [DAT](INFO): DAT read: Rx Time:00:50:26.4162 

2025-01-09T00:50:27.490Z,1736383827.490 [DAT](INFO): Rx dataTimestamp_ set to:1736383827.489240
2025-01-09T00:50:27.491Z,1736383827.491 [DAT](INFO): DAT read: Bearing  83.6, -54.3 (Local)

2025-01-09T00:50:27.492Z,1736383827.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.6, -54.3 (Local)

2025-01-09T00:50:27.494Z,1736383827.494 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:27.499Z,1736383827.499 [DAT](INFO): DAT read: 00:50:26.4162 LVL= 11280, 15329, 11394, 10451, AGC= 26, IDX= 498,-0.11,-2.287,-3.072, 2.762,-1.681, PHS=-0.517,-1.343,-1.843, RAW=  68.1,  48.5, CAL=  66.4,  54.3, ROT=  83.6, -54.3

2025-01-09T00:50:27.500Z,1736383827.500 [DAT](INFO): got valid direction response:
 00:50:26.4162 LVL= 11280, 15329, 11394, 10451, AGC= 26, IDX= 498,-0.11,-2.287,-3.072, 2.762,-1.681, PHS=-0.517,-1.343,-1.843, RAW=  68.1,  48.5, CAL=  66.4,  54.3, ROT=  83.6, -54.3

2025-01-09T00:50:27.501Z,1736383827.501 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-01-09T00:50:27.502Z,1736383827.502 [DAT](INFO): direction in FSK: [0.065047,0.579905,0.812084]
2025-01-09T00:50:27.502Z,1736383827.502 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:27.506Z,1736383827.506 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=51.429016
2025-01-09T00:50:27.739Z,1736383827.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:27.743Z,1736383827.743 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=51.666279
2025-01-09T00:50:27.773Z,1736383827.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503197 s,
      deltaX: -0.200000 m,
      approachRate: -0.397459 m/s,
      rangeRepo size: 4

2025-01-09T00:50:27.775Z,1736383827.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 117.827937 deg,
      lat: 36.904009 deg,
      lon: -122.118954 deg,
      deltaT: 0.503197 s,
      deltaX: -0.200000 m,
      approachRate: -0.397459 m/s,
      posRepo size: 4

2025-01-09T00:50:27.997Z,1736383827.997 [DAT](INFO): DAT read: Rx Time:00:50:26.9164 

2025-01-09T00:50:27.997Z,1736383827.997 [DAT](INFO): Rx dataTimestamp_ set to:1736383827.997025
2025-01-09T00:50:27.999Z,1736383827.999 [DAT](INFO): DAT read: Bearing  85.2, -54.6 (Local)

2025-01-09T00:50:27.999Z,1736383827.999 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.2, -54.6 (Local)

2025-01-09T00:50:28.003Z,1736383828.003 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-01-09T00:50:28.011Z,1736383828.011 [DAT](INFO): DAT read: 00:50:26.9164 LVL= 10320, 15185, 11378, 10867, AGC= 26, IDX= 499,-0.03,-1.325,-2.056,-2.520,-0.710, PHS=-0.527,-1.299,-1.813, RAW=  66.6,  48.9, CAL=  64.8,  54.6, ROT=  85.2, -54.6

2025-01-09T00:50:28.014Z,1736383828.014 [DAT](INFO): got valid direction response:
 00:50:26.9164 LVL= 10320, 15185, 11378, 10867, AGC= 26, IDX= 499,-0.03,-1.325,-2.056,-2.520,-0.710, PHS=-0.527,-1.299,-1.813, RAW=  66.6,  48.9, CAL=  64.8,  54.6, ROT=  85.2, -54.6

2025-01-09T00:50:28.014Z,1736383828.014 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-01-09T00:50:28.015Z,1736383828.015 [DAT](INFO): direction in FSK: [0.048473,0.577250,0.815128]
2025-01-09T00:50:28.016Z,1736383828.016 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:28.020Z,1736383828.020 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=51.943390
2025-01-09T00:50:28.126Z,1736383828.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:28.159Z,1736383828.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.507785 s,
      deltaX: 0.300000 m,
      approachRate: 0.590801 m/s,
      rangeRepo size: 4

2025-01-09T00:50:28.165Z,1736383828.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 119.378976 deg,
      lat: 36.904009 deg,
      lon: -122.118954 deg,
      deltaT: 0.507785 s,
      deltaX: 0.300000 m,
      approachRate: 0.590801 m/s,
      posRepo size: 4

2025-01-09T00:50:28.248Z,1736383828.248 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=52.171875
2025-01-09T00:50:28.502Z,1736383828.502 [DAT](INFO): DAT read: Rx Time:00:50:27.4163 

2025-01-09T00:50:28.502Z,1736383828.502 [DAT](INFO): Rx dataTimestamp_ set to:1736383828.501808
2025-01-09T00:50:28.504Z,1736383828.504 [DAT](INFO): DAT read: Bearing  84.4, -57.7 (Local)

2025-01-09T00:50:28.506Z,1736383828.506 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.4, -57.7 (Local)

2025-01-09T00:50:28.549Z,1736383828.549 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:28.554Z,1736383828.554 [DAT](INFO): DAT read: 00:50:27.4163 LVL= 11424, 12625, 10914, 10259, AGC= 25, IDX= 498,-0.01,-2.042,-2.721,-3.132,-1.324, PHS=-0.630,-1.350,-1.812, RAW=  67.2,  52.4, CAL=  65.6,  57.7, ROT=  84.4, -57.7

2025-01-09T00:50:28.576Z,1736383828.576 [DAT](INFO): got valid direction response:
 00:50:27.4163 LVL= 11424, 12625, 10914, 10259, AGC= 25, IDX= 498,-0.01,-2.042,-2.721,-3.132,-1.324, PHS=-0.630,-1.350,-1.812, RAW=  67.2,  52.4, CAL=  65.6,  57.7, ROT=  84.4, -57.7

2025-01-09T00:50:28.576Z,1736383828.576 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-01-09T00:50:28.578Z,1736383828.578 [DAT](INFO): direction in FSK: [0.052144,0.531802,0.845262]
2025-01-09T00:50:28.578Z,1736383828.578 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:28.608Z,1736383828.608 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=52.531254
2025-01-09T00:50:28.714Z,1736383828.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:28.757Z,1736383828.757 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=52.680340
2025-01-09T00:50:28.766Z,1736383828.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504783 s,
      deltaX: -0.100000 m,
      approachRate: -0.198105 m/s,
      rangeRepo size: 4

2025-01-09T00:50:28.773Z,1736383828.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 118.036408 deg,
      lat: 36.904009 deg,
      lon: -122.118954 deg,
      deltaT: 0.504783 s,
      deltaX: -0.100000 m,
      approachRate: -0.198105 m/s,
      posRepo size: 4

2025-01-09T00:50:29.009Z,1736383829.009 [DAT](INFO): DAT read: Rx Time:00:50:27.9164 

2025-01-09T00:50:29.009Z,1736383829.009 [DAT](INFO): Rx dataTimestamp_ set to:1736383829.008998
2025-01-09T00:50:29.011Z,1736383829.011 [DAT](INFO): DAT read: Bearing  86.8, -59.0 (Local)

2025-01-09T00:50:29.011Z,1736383829.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.8, -59.0 (Local)

2025-01-09T00:50:29.013Z,1736383829.013 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-01-09T00:50:29.018Z,1736383829.018 [DAT](INFO): DAT read: 00:50:27.9164 LVL=  9136, 12369, 10226, 10387, AGC= 25, IDX= 499, 0.06,-0.376,-0.971,-1.393, 0.382, PHS=-0.670,-1.305,-1.778, RAW=  64.9,  54.0, CAL=  63.2,  59.0, ROT=  86.8, -59.0

2025-01-09T00:50:29.020Z,1736383829.020 [DAT](INFO): got valid direction response:
 00:50:27.9164 LVL=  9136, 12369, 10226, 10387, AGC= 25, IDX= 499, 0.06,-0.376,-0.971,-1.393, 0.382, PHS=-0.670,-1.305,-1.778, RAW=  64.9,  54.0, CAL=  63.2,  59.0, ROT=  86.8, -59.0

2025-01-09T00:50:29.020Z,1736383829.020 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-01-09T00:50:29.021Z,1736383829.021 [DAT](INFO): direction in FSK: [0.028750,0.514235,0.857167]
2025-01-09T00:50:29.021Z,1736383829.021 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:29.025Z,1736383829.025 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=52.948097
2025-01-09T00:50:29.227Z,1736383829.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:29.242Z,1736383829.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.507190 s,
      deltaX: 0.100000 m,
      approachRate: 0.197165 m/s,
      rangeRepo size: 4

2025-01-09T00:50:29.261Z,1736383829.261 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=53.184319
2025-01-09T00:50:29.264Z,1736383829.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 121.518165 deg,
      lat: 36.904009 deg,
      lon: -122.118955 deg,
      deltaT: 0.507190 s,
      deltaX: 0.100000 m,
      approachRate: 0.197165 m/s,
      posRepo size: 4

2025-01-09T00:50:29.513Z,1736383829.513 [DAT](INFO): DAT read: Rx Time:00:50:28.4163 

2025-01-09T00:50:29.513Z,1736383829.513 [DAT](INFO): Rx dataTimestamp_ set to:1736383829.513030
2025-01-09T00:50:29.515Z,1736383829.515 [DAT](INFO): DAT read: Bearing  85.4, -60.2 (Local)

2025-01-09T00:50:29.515Z,1736383829.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.4, -60.2 (Local)

2025-01-09T00:50:29.518Z,1736383829.518 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:29.522Z,1736383829.522 [DAT](INFO): DAT read: 00:50:28.4163 LVL= 11424, 12065, 11906, 10691, AGC= 25, IDX= 498, 0.07,-1.646,-2.239,-2.625,-0.850, PHS=-0.708,-1.342,-1.778, RAW=  66.1,  55.4, CAL=  64.6,  60.2, ROT=  85.4, -60.2

2025-01-09T00:50:29.524Z,1736383829.524 [DAT](INFO): got valid direction response:
 00:50:28.4163 LVL= 11424, 12065, 11906, 10691, AGC= 25, IDX= 498, 0.07,-1.646,-2.239,-2.625,-0.850, PHS=-0.708,-1.342,-1.778, RAW=  66.1,  55.4, CAL=  64.6,  60.2, ROT=  85.4, -60.2

2025-01-09T00:50:29.524Z,1736383829.524 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-01-09T00:50:29.525Z,1736383829.525 [DAT](INFO): direction in FSK: [0.039857,0.495373,0.867765]
2025-01-09T00:50:29.525Z,1736383829.525 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:29.529Z,1736383829.529 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:50:29.529Z,1736383829.529 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:50:29.529Z,1736383829.529 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:29.742Z,1736383829.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:29.764Z,1736383829.764 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:29.765Z,1736383829.765 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:29.765Z,1736383829.765 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:29.773Z,1736383829.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504032 s,
      deltaX: -0.100000 m,
      approachRate: -0.198400 m/s,
      rangeRepo size: 4

2025-01-09T00:50:29.780Z,1736383829.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 119.436875 deg,
      lat: 36.904009 deg,
      lon: -122.118955 deg,
      deltaT: 0.504032 s,
      deltaX: -0.100000 m,
      approachRate: -0.198400 m/s,
      posRepo size: 4

2025-01-09T00:50:30.018Z,1736383830.018 [DAT](INFO): DAT read: Rx Time:00:50:28.9163 

2025-01-09T00:50:30.018Z,1736383830.018 [DAT](INFO): Rx dataTimestamp_ set to:1736383830.017992
2025-01-09T00:50:30.020Z,1736383830.020 [DAT](INFO): DAT read: Bearing  88.0, -59.9 (Local)

2025-01-09T00:50:30.021Z,1736383830.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.0, -59.9 (Local)

2025-01-09T00:50:30.024Z,1736383830.024 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:30.028Z,1736383830.028 [DAT](INFO): DAT read: 00:50:28.9163 LVL= 10224, 13649, 11474, 11939, AGC= 26, IDX= 498, 0.14,-1.794,-2.336,-2.755,-1.016, PHS=-0.690,-1.273,-1.742, RAW=  63.6,  55.1, CAL=  62.0,  59.9, ROT=  88.0, -59.9

2025-01-09T00:50:30.029Z,1736383830.029 [DAT](INFO): got valid direction response:
 00:50:28.9163 LVL= 10224, 13649, 11474, 11939, AGC= 26, IDX= 498, 0.14,-1.794,-2.336,-2.755,-1.016, PHS=-0.690,-1.273,-1.742, RAW=  63.6,  55.1, CAL=  62.0,  59.9, ROT=  88.0, -59.9

2025-01-09T00:50:30.030Z,1736383830.030 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:30.031Z,1736383830.031 [DAT](INFO): direction in FSK: [0.017502,0.501205,0.865151]
2025-01-09T00:50:30.031Z,1736383830.031 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:30.035Z,1736383830.035 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:30.035Z,1736383830.035 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:30.105Z,1736383830.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:30.156Z,1736383830.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504962 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:30.158Z,1736383830.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 123.064625 deg,
      lat: 36.904009 deg,
      lon: -122.118956 deg,
      deltaT: 0.504962 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:30.268Z,1736383830.268 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:30.269Z,1736383830.269 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:30.269Z,1736383830.269 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:30.498Z,1736383830.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:30.506Z,1736383830.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:30.521Z,1736383830.521 [DAT](INFO): DAT read: Rx Time:00:50:29.4162 

2025-01-09T00:50:30.521Z,1736383830.521 [DAT](INFO): Rx dataTimestamp_ set to:1736383830.520947
2025-01-09T00:50:30.522Z,1736383830.523 [DAT](INFO): DAT read: Bearing  88.7, -60.5 (Local)

2025-01-09T00:50:30.523Z,1736383830.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.7, -60.5 (Local)

2025-01-09T00:50:30.525Z,1736383830.525 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:30.530Z,1736383830.530 [DAT](INFO): DAT read: 00:50:29.4162 LVL= 10224, 13857, 11426, 11987, AGC= 26, IDX= 497, 0.18,-2.336,-2.859, 3.002,-1.533, PHS=-0.715,-1.279,-1.751, RAW=  63.0,  55.8, CAL=  61.3,  60.5, ROT=  88.7, -60.5

2025-01-09T00:50:30.531Z,1736383830.531 [DAT](INFO): got valid direction response:
 00:50:29.4162 LVL= 10224, 13857, 11426, 11987, AGC= 26, IDX= 497, 0.18,-2.336,-2.859, 3.002,-1.533, PHS=-0.715,-1.279,-1.751, RAW=  63.0,  55.8, CAL=  61.3,  60.5, ROT=  88.7, -60.5

2025-01-09T00:50:30.531Z,1736383830.531 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:30.532Z,1736383830.532 [DAT](INFO): direction in FSK: [0.011172,0.492297,0.870356]
2025-01-09T00:50:30.532Z,1736383830.532 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:30.536Z,1736383830.536 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:30.537Z,1736383830.537 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:30.772Z,1736383830.772 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:30.772Z,1736383830.772 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:30.773Z,1736383830.773 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:30.909Z,1736383830.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:30.975Z,1736383830.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.502955 s,
      deltaX: -0.200000 m,
      approachRate: -0.397650 m/s,
      rangeRepo size: 4

2025-01-09T00:50:30.988Z,1736383830.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 123.573908 deg,
      lat: 36.904009 deg,
      lon: -122.118956 deg,
      deltaT: 0.502955 s,
      deltaX: -0.200000 m,
      approachRate: -0.397650 m/s,
      posRepo size: 4

2025-01-09T00:50:31.025Z,1736383831.025 [DAT](INFO): DAT read: Rx Time:00:50:29.9163 

2025-01-09T00:50:31.025Z,1736383831.025 [DAT](INFO): Rx dataTimestamp_ set to:1736383831.025151
2025-01-09T00:50:31.027Z,1736383831.027 [DAT](INFO): DAT read: Bearing  89.2, -60.1 (Local)

2025-01-09T00:50:31.027Z,1736383831.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.2, -60.1 (Local)

2025-01-09T00:50:31.029Z,1736383831.029 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:31.035Z,1736383831.035 [DAT](INFO): DAT read: 00:50:29.9163 LVL=  9152, 12401, 10354, 10611, AGC= 25, IDX= 498, 0.23,-1.384,-1.910,-2.348,-0.589, PHS=-0.707,-1.274,-1.762, RAW=  62.4,  55.4, CAL=  60.8,  60.1, ROT=  89.2, -60.1

2025-01-09T00:50:31.036Z,1736383831.036 [DAT](INFO): got valid direction response:
 00:50:29.9163 LVL=  9152, 12401, 10354, 10611, AGC= 25, IDX= 498, 0.23,-1.384,-1.910,-2.348,-0.589, PHS=-0.707,-1.274,-1.762, RAW=  62.4,  55.4, CAL=  60.8,  60.1, ROT=  89.2, -60.1

2025-01-09T00:50:31.036Z,1736383831.036 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:31.037Z,1736383831.037 [DAT](INFO): direction in FSK: [0.006960,0.498439,0.866897]
2025-01-09T00:50:31.037Z,1736383831.037 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:31.081Z,1736383831.081 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:31.081Z,1736383831.081 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:31.276Z,1736383831.276 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:31.276Z,1736383831.276 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:31.277Z,1736383831.277 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:31.370Z,1736383831.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:31.453Z,1736383831.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504204 s,
      deltaX: 0.200000 m,
      approachRate: 0.396665 m/s,
      rangeRepo size: 4

2025-01-09T00:50:31.455Z,1736383831.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 123.481372 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.504204 s,
      deltaX: 0.200000 m,
      approachRate: 0.396665 m/s,
      posRepo size: 4

2025-01-09T00:50:31.530Z,1736383831.530 [DAT](INFO): DAT read: Rx Time:00:50:30.4163 

2025-01-09T00:50:31.531Z,1736383831.531 [DAT](INFO): Rx dataTimestamp_ set to:1736383831.530389
2025-01-09T00:50:31.533Z,1736383831.533 [DAT](INFO): DAT read: Bearing  89.6, -58.6 (Local)

2025-01-09T00:50:31.534Z,1736383831.534 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.6, -58.6 (Local)

2025-01-09T00:50:31.537Z,1736383831.537 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:31.542Z,1736383831.542 [DAT](INFO): DAT read: 00:50:30.4163 LVL= 10288, 14657, 11586, 11507, AGC= 26, IDX= 497, 0.25,-2.673, 3.060, 2.592,-1.921, PHS=-0.664,-1.255,-1.773, RAW=  62.2,  53.7, CAL=  60.4,  58.6, ROT=  89.6, -58.6

2025-01-09T00:50:31.543Z,1736383831.543 [DAT](INFO): got valid direction response:
 00:50:30.4163 LVL= 10288, 14657, 11586, 11507, AGC= 26, IDX= 497, 0.25,-2.673, 3.060, 2.592,-1.921, PHS=-0.664,-1.255,-1.773, RAW=  62.2,  53.7, CAL=  60.4,  58.6, ROT=  89.6, -58.6

2025-01-09T00:50:31.543Z,1736383831.543 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:31.544Z,1736383831.544 [DAT](INFO): direction in FSK: [0.003637,0.520997,0.853551]
2025-01-09T00:50:31.545Z,1736383831.545 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:31.554Z,1736383831.554 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:31.554Z,1736383831.554 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:31.767Z,1736383831.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:31.780Z,1736383831.780 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:31.780Z,1736383831.780 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:31.781Z,1736383831.781 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:31.805Z,1736383831.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.505238 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:31.807Z,1736383831.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 123.271803 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.505238 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:32.034Z,1736383832.034 [DAT](INFO): DAT read: Rx Time:00:50:30.9164 

2025-01-09T00:50:32.035Z,1736383832.035 [DAT](INFO): Rx dataTimestamp_ set to:1736383832.034657
2025-01-09T00:50:32.037Z,1736383832.037 [DAT](INFO): DAT read: Bearing  89.8, -58.2 (Local)

2025-01-09T00:50:32.037Z,1736383832.037 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.8, -58.2 (Local)

2025-01-09T00:50:32.041Z,1736383832.041 [DAT](INFO): DAT read: Range 10 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-01-09T00:50:32.047Z,1736383832.047 [DAT](INFO): DAT read: 00:50:30.9164 LVL= 10256, 15009, 11650, 11187, AGC= 26, IDX= 498, 0.28,-0.972,-1.530,-2.012,-0.225, PHS=-0.659,-1.259,-1.791, RAW=  62.0,  53.2, CAL=  60.2,  58.2, ROT=  89.8, -58.2

2025-01-09T00:50:32.048Z,1736383832.048 [DAT](INFO): got valid direction response:
 00:50:30.9164 LVL= 10256, 15009, 11650, 11187, AGC= 26, IDX= 498, 0.28,-0.972,-1.530,-2.012,-0.225, PHS=-0.659,-1.259,-1.791, RAW=  62.0,  53.2, CAL=  60.2,  58.2, ROT=  89.8, -58.2

2025-01-09T00:50:32.048Z,1736383832.048 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:32.049Z,1736383832.049 [DAT](INFO): direction in FSK: [0.001839,0.526953,0.849893]
2025-01-09T00:50:32.050Z,1736383832.050 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:32.054Z,1736383832.054 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:32.054Z,1736383832.054 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:32.242Z,1736383832.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:32.274Z,1736383832.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.504268 s,
      deltaX: 0.100000 m,
      approachRate: 0.198307 m/s,
      rangeRepo size: 4

2025-01-09T00:50:32.281Z,1736383832.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 123.138117 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.504268 s,
      deltaX: 0.100000 m,
      approachRate: 0.198307 m/s,
      posRepo size: 4

2025-01-09T00:50:32.285Z,1736383832.285 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:32.285Z,1736383832.285 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:32.286Z,1736383832.286 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:32.537Z,1736383832.537 [DAT](INFO): DAT read: Rx Time:00:50:31.4163 

2025-01-09T00:50:32.537Z,1736383832.537 [DAT](INFO): Rx dataTimestamp_ set to:1736383832.537114
2025-01-09T00:50:32.539Z,1736383832.539 [DAT](INFO): DAT read: Bearing  89.6, -57.6 (Local)

2025-01-09T00:50:32.539Z,1736383832.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.6, -57.6 (Local)

2025-01-09T00:50:32.541Z,1736383832.541 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:32.546Z,1736383832.546 [DAT](INFO): DAT read: 00:50:31.4163 LVL= 10480, 15185, 11762, 10627, AGC= 26, IDX= 497, 0.31,-1.785,-2.361,-2.849,-1.056, PHS=-0.641,-1.258,-1.796, RAW=  62.2,  52.5, CAL=  60.4,  57.6, ROT=  89.6, -57.6

2025-01-09T00:50:32.548Z,1736383832.548 [DAT](INFO): got valid direction response:
 00:50:31.4163 LVL= 10480, 15185, 11762, 10627, AGC= 26, IDX= 497, 0.31,-1.785,-2.361,-2.849,-1.056, PHS=-0.641,-1.258,-1.796, RAW=  62.2,  52.5, CAL=  60.4,  57.6, ROT=  89.6, -57.6

2025-01-09T00:50:32.548Z,1736383832.548 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:32.549Z,1736383832.549 [DAT](INFO): direction in FSK: [0.003741,0.535814,0.844328]
2025-01-09T00:50:32.549Z,1736383832.549 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:32.586Z,1736383832.586 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:32.586Z,1736383832.586 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:32.716Z,1736383832.716 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +9.38,       +      +1.78,  20.00,599.91
2025-01-09T00:50:32.737Z,1736383832.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T00:50:32.738Z,1736383832.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:32.775Z,1736383832.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.502457 s,
      deltaX: -0.100000 m,
      approachRate: -0.199022 m/s,
      rangeRepo size: 4

2025-01-09T00:50:32.781Z,1736383832.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 122.359032 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.502457 s,
      deltaX: -0.100000 m,
      approachRate: -0.199022 m/s,
      posRepo size: 4

2025-01-09T00:50:32.789Z,1736383832.789 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:32.789Z,1736383832.789 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:32.789Z,1736383832.789 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:33.041Z,1736383833.041 [DAT](INFO): DAT read: Rx Time:00:50:31.9163 

2025-01-09T00:50:33.041Z,1736383833.041 [DAT](INFO): Rx dataTimestamp_ set to:1736383833.041047
2025-01-09T00:50:33.043Z,1736383833.043 [DAT](INFO): DAT read: Bearing  88.9, -56.0 (Local)

2025-01-09T00:50:33.043Z,1736383833.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.9, -56.0 (Local)

2025-01-09T00:50:33.045Z,1736383833.045 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:33.051Z,1736383833.051 [DAT](INFO): DAT read: 00:50:31.9163 LVL= 10624, 15473, 11826, 10355, AGC= 26, IDX= 497, 0.33,-1.958,-2.581,-3.083,-1.285, PHS=-0.585,-1.248,-1.801, RAW=  63.0,  50.6, CAL=  61.1,  56.0, ROT=  88.9, -56.0

2025-01-09T00:50:33.052Z,1736383833.052 [DAT](INFO): got valid direction response:
 00:50:31.9163 LVL= 10624, 15473, 11826, 10355, AGC= 26, IDX= 497, 0.33,-1.958,-2.581,-3.083,-1.285, PHS=-0.585,-1.248,-1.801, RAW=  63.0,  50.6, CAL=  61.1,  56.0, ROT=  88.9, -56.0

2025-01-09T00:50:33.052Z,1736383833.052 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:33.053Z,1736383833.053 [DAT](INFO): direction in FSK: [0.010735,0.559090,0.829038]
2025-01-09T00:50:33.054Z,1736383833.054 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:33.057Z,1736383833.057 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:33.057Z,1736383833.057 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:33.207Z,1736383833.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s.
2025-01-09T00:50:33.207Z,1736383833.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:33.257Z,1736383833.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.503933 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:33.274Z,1736383833.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 120.812192 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.503933 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:33.292Z,1736383833.292 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:33.292Z,1736383833.292 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:33.293Z,1736383833.293 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:33.546Z,1736383833.546 [DAT](INFO): DAT read: Rx Time:00:50:32.4162 

2025-01-09T00:50:33.546Z,1736383833.546 [DAT](INFO): Rx dataTimestamp_ set to:1736383833.545909
2025-01-09T00:50:33.548Z,1736383833.548 [DAT](INFO): DAT read: Bearing  88.3, -55.7 (Local)

2025-01-09T00:50:33.548Z,1736383833.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.3, -55.7 (Local)

2025-01-09T00:50:33.551Z,1736383833.551 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:33.560Z,1736383833.560 [DAT](INFO): DAT read: 00:50:32.4162 LVL= 10736, 15569, 11842, 10131, AGC= 26, IDX= 496, 0.37,-2.669, 2.971, 2.471,-2.005, PHS=-0.577,-1.261,-1.811, RAW=  63.6,  50.3, CAL=  61.7,  55.7, ROT=  88.3, -55.7

2025-01-09T00:50:33.562Z,1736383833.562 [DAT](INFO): got valid direction response:
 00:50:32.4162 LVL= 10736, 15569, 11842, 10131, AGC= 26, IDX= 496, 0.37,-2.669, 2.971, 2.471,-2.005, PHS=-0.577,-1.261,-1.811, RAW=  63.6,  50.3, CAL=  61.7,  55.7, ROT=  88.3, -55.7

2025-01-09T00:50:33.562Z,1736383833.562 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:33.563Z,1736383833.563 [DAT](INFO): direction in FSK: [0.016718,0.563278,0.826098]
2025-01-09T00:50:33.563Z,1736383833.563 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:33.568Z,1736383833.568 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:33.569Z,1736383833.569 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:33.739Z,1736383833.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:33.770Z,1736383833.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504862 s,
      deltaX: -0.200000 m,
      approachRate: -0.396148 m/s,
      rangeRepo size: 4

2025-01-09T00:50:33.777Z,1736383833.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 119.976769 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.504862 s,
      deltaX: -0.200000 m,
      approachRate: -0.396148 m/s,
      posRepo size: 4

2025-01-09T00:50:33.796Z,1736383833.796 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:33.796Z,1736383833.796 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:33.797Z,1736383833.797 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:33.810Z,1736383833.810 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T00:50:33.810Z,1736383833.810 [DockingStepper](INFO): Standby mode.
2025-01-09T00:50:33.876Z,1736383833.876 [DockingStepper](INFO): Commanding positive:54482
2025-01-09T00:50:34.050Z,1736383834.050 [DAT](INFO): DAT read: Rx Time:00:50:32.9163 

2025-01-09T00:50:34.050Z,1736383834.050 [DAT](INFO): Rx dataTimestamp_ set to:1736383834.050206
2025-01-09T00:50:34.052Z,1736383834.052 [DAT](INFO): DAT read: Bearing  85.9, -55.3 (Local)

2025-01-09T00:50:34.052Z,1736383834.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.9, -55.3 (Local)

2025-01-09T00:50:34.054Z,1736383834.054 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:34.059Z,1736383834.059 [DAT](INFO): DAT read: 00:50:32.9163 LVL=  4656, 12721,  8690,  8787, AGC= 28, IDX=   1, 0.42,-1.748,-2.455,-2.927,-1.106, PHS=-0.555,-1.302,-1.824, RAW=  65.8,  49.7, CAL=  64.1,  55.3, ROT=  85.9, -55.3

2025-01-09T00:50:34.061Z,1736383834.061 [DAT](INFO): got valid direction response:
 00:50:32.9163 LVL=  4656, 12721,  8690,  8787, AGC= 28, IDX=   1, 0.42,-1.748,-2.455,-2.927,-1.106, PHS=-0.555,-1.302,-1.824, RAW=  65.8,  49.7, CAL=  64.1,  55.3, ROT=  85.9, -55.3

2025-01-09T00:50:34.061Z,1736383834.061 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:34.062Z,1736383834.062 [DAT](INFO): direction in FSK: [0.040702,0.567823,0.822144]
2025-01-09T00:50:34.062Z,1736383834.062 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:34.065Z,1736383834.065 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:34.066Z,1736383834.066 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:34.176Z,1736383834.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:34.203Z,1736383834.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504297 s,
      deltaX: 0.200000 m,
      approachRate: 0.396592 m/s,
      rangeRepo size: 4

2025-01-09T00:50:34.209Z,1736383834.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 115.882949 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.504297 s,
      deltaX: 0.200000 m,
      approachRate: 0.396592 m/s,
      posRepo size: 4

2025-01-09T00:50:34.301Z,1736383834.301 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:34.301Z,1736383834.301 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:34.301Z,1736383834.301 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:34.553Z,1736383834.553 [DAT](INFO): DAT read: Rx Time:00:50:33.4162 

2025-01-09T00:50:34.553Z,1736383834.553 [DAT](INFO): Rx dataTimestamp_ set to:1736383834.553179
2025-01-09T00:50:34.555Z,1736383834.555 [DAT](INFO): DAT read: Bearing  85.0, -52.6 (Local)

2025-01-09T00:50:34.555Z,1736383834.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.0, -52.6 (Local)

2025-01-09T00:50:34.557Z,1736383834.557 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:34.562Z,1736383834.562 [DAT](INFO): DAT read: 00:50:33.4162 LVL= 10704, 15729, 11650, 10355, AGC= 26, IDX= 497,-0.45, 2.029, 1.247, 0.758, 2.571, PHS=-0.454,-1.277,-1.816, RAW=  66.8,  46.5, CAL=  65.0,  52.6, ROT=  85.0, -52.6

2025-01-09T00:50:34.563Z,1736383834.563 [DAT](INFO): got valid direction response:
 00:50:33.4162 LVL= 10704, 15729, 11650, 10355, AGC= 26, IDX= 497,-0.45, 2.029, 1.247, 0.758, 2.571, PHS=-0.454,-1.277,-1.816, RAW=  66.8,  46.5, CAL=  65.0,  52.6, ROT=  85.0, -52.6

2025-01-09T00:50:34.564Z,1736383834.564 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:34.565Z,1736383834.565 [DAT](INFO): direction in FSK: [0.052936,0.605065,0.794415]
2025-01-09T00:50:34.565Z,1736383834.565 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:34.573Z,1736383834.573 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:34.574Z,1736383834.574 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:34.637Z,1736383834.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:34.681Z,1736383834.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.502973 s,
      deltaX: -0.200000 m,
      approachRate: -0.397636 m/s,
      rangeRepo size: 4

2025-01-09T00:50:34.688Z,1736383834.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 114.711561 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.502973 s,
      deltaX: -0.200000 m,
      approachRate: -0.397636 m/s,
      posRepo size: 4

2025-01-09T00:50:34.804Z,1736383834.804 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:34.804Z,1736383834.804 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:34.805Z,1736383834.805 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:34.991Z,1736383834.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:35.002Z,1736383835.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:35.058Z,1736383835.058 [DAT](INFO): DAT read: Rx Time:00:50:33.9163 

2025-01-09T00:50:35.058Z,1736383835.058 [DAT](INFO): Rx dataTimestamp_ set to:1736383835.058148
2025-01-09T00:50:35.060Z,1736383835.060 [DAT](INFO): DAT read: Bearing  83.9, -55.0 (Local)

2025-01-09T00:50:35.061Z,1736383835.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.9, -55.0 (Local)

2025-01-09T00:50:35.068Z,1736383835.068 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:35.082Z,1736383835.082 [DAT](INFO): DAT read: 00:50:33.9163 LVL=  5488, 14833, 10322, 11443, AGC= 29, IDX=   2,-0.39, 3.048, 2.316, 1.890,-2.627, PHS=-0.520,-1.293,-1.769, RAW=  67.8,  49.2, CAL=  66.1,  55.0, ROT=  83.9, -55.0

2025-01-09T00:50:35.088Z,1736383835.088 [DAT](INFO): got valid direction response:
 00:50:33.9163 LVL=  5488, 14833, 10322, 11443, AGC= 29, IDX=   2,-0.39, 3.048, 2.316, 1.890,-2.627, PHS=-0.520,-1.293,-1.769, RAW=  67.8,  49.2, CAL=  66.1,  55.0, ROT=  83.9, -55.0

2025-01-09T00:50:35.089Z,1736383835.089 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:35.090Z,1736383835.090 [DAT](INFO): direction in FSK: [0.060951,0.570329,0.819152]
2025-01-09T00:50:35.090Z,1736383835.090 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:35.098Z,1736383835.098 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:35.098Z,1736383835.098 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:35.308Z,1736383835.308 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:35.308Z,1736383835.308 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:35.309Z,1736383835.309 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:35.387Z,1736383835.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:35.477Z,1736383835.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504969 s,
      deltaX: 0.200000 m,
      approachRate: 0.396064 m/s,
      rangeRepo size: 4

2025-01-09T00:50:35.479Z,1736383835.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 112.904758 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.504969 s,
      deltaX: 0.200000 m,
      approachRate: 0.396064 m/s,
      posRepo size: 4

2025-01-09T00:50:35.562Z,1736383835.562 [DAT](INFO): DAT read: Rx Time:00:50:34.4162 

2025-01-09T00:50:35.563Z,1736383835.563 [DAT](INFO): Rx dataTimestamp_ set to:1736383835.562160
2025-01-09T00:50:35.565Z,1736383835.565 [DAT](INFO): DAT read: Bearing  83.0, -56.0 (Local)

2025-01-09T00:50:35.565Z,1736383835.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.0, -56.0 (Local)

2025-01-09T00:50:35.569Z,1736383835.569 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:35.574Z,1736383835.574 [DAT](INFO): DAT read: 00:50:34.4162 LVL= 10528, 14945, 11506, 12403, AGC= 26, IDX= 497,-0.33, 1.615, 0.918, 0.538, 2.233, PHS=-0.530,-1.267,-1.698, RAW=  68.6,  50.4, CAL=  67.0,  56.0, ROT=  83.0, -56.0

2025-01-09T00:50:35.581Z,1736383835.581 [DAT](INFO): got valid direction response:
 00:50:34.4162 LVL= 10528, 14945, 11506, 12403, AGC= 26, IDX= 497,-0.33, 1.615, 0.918, 0.538, 2.233, PHS=-0.530,-1.267,-1.698, RAW=  68.6,  50.4, CAL=  67.0,  56.0, ROT=  83.0, -56.0

2025-01-09T00:50:35.581Z,1736383835.581 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:35.582Z,1736383835.582 [DAT](INFO): direction in FSK: [0.068148,0.555025,0.829038]
2025-01-09T00:50:35.583Z,1736383835.583 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:35.590Z,1736383835.590 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:35.620Z,1736383835.620 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:35.812Z,1736383835.812 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:35.813Z,1736383835.813 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:35.813Z,1736383835.813 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:35.827Z,1736383835.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:35.841Z,1736383835.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504012 s,
      deltaX: -0.200000 m,
      approachRate: -0.396816 m/s,
      rangeRepo size: 4

2025-01-09T00:50:35.844Z,1736383835.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 112.151726 deg,
      lat: 36.904010 deg,
      lon: -122.118957 deg,
      deltaT: 0.504012 s,
      deltaX: -0.200000 m,
      approachRate: -0.396816 m/s,
      posRepo size: 4

2025-01-09T00:50:36.065Z,1736383836.065 [DAT](INFO): DAT read: Rx Time:00:50:34.9163 

2025-01-09T00:50:36.065Z,1736383836.065 [DAT](INFO): Rx dataTimestamp_ set to:1736383836.065049
2025-01-09T00:50:36.067Z,1736383836.067 [DAT](INFO): DAT read: Bearing  88.2, -61.0 (Local)

2025-01-09T00:50:36.068Z,1736383836.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.2, -61.0 (Local)

2025-01-09T00:50:36.070Z,1736383836.070 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:36.074Z,1736383836.074 [DAT](INFO): DAT read: 00:50:34.9163 LVL=  4720, 12913, 10818, 12419, AGC= 29, IDX=   2,-0.38,-2.580,-3.044, 2.878,-1.836, PHS=-0.656,-1.162,-1.573, RAW=  63.4,  56.4, CAL=  61.8,  61.0, ROT=  88.2, -61.0

2025-01-09T00:50:36.076Z,1736383836.076 [DAT](INFO): got valid direction response:
 00:50:34.9163 LVL=  4720, 12913, 10818, 12419, AGC= 29, IDX=   2,-0.38,-2.580,-3.044, 2.878,-1.836, PHS=-0.656,-1.162,-1.573, RAW=  63.4,  56.4, CAL=  61.8,  61.0, ROT=  88.2, -61.0

2025-01-09T00:50:36.076Z,1736383836.076 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:36.077Z,1736383836.077 [DAT](INFO): direction in FSK: [0.015228,0.484570,0.874620]
2025-01-09T00:50:36.077Z,1736383836.077 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:36.081Z,1736383836.081 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:36.081Z,1736383836.081 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:36.224Z,1736383836.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:36.256Z,1736383836.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.502889 s,
      deltaX: 0.200000 m,
      approachRate: 0.397702 m/s,
      rangeRepo size: 4

2025-01-09T00:50:36.258Z,1736383836.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 119.210669 deg,
      lat: 36.904010 deg,
      lon: -122.118957 deg,
      deltaT: 0.502889 s,
      deltaX: 0.200000 m,
      approachRate: 0.397702 m/s,
      posRepo size: 4

2025-01-09T00:50:36.317Z,1736383836.317 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:36.317Z,1736383836.317 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:36.318Z,1736383836.318 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:36.569Z,1736383836.569 [DAT](INFO): DAT read: Rx Time:00:50:35.4162 

2025-01-09T00:50:36.569Z,1736383836.569 [DAT](INFO): Rx dataTimestamp_ set to:1736383836.569065
2025-01-09T00:50:36.571Z,1736383836.571 [DAT](INFO): DAT read: Bearing  91.5, -64.8 (Local)

2025-01-09T00:50:36.571Z,1736383836.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.5, -64.8 (Local)

2025-01-09T00:50:36.573Z,1736383836.573 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:36.578Z,1736383836.578 [DAT](INFO): DAT read: 00:50:35.4162 LVL= 12192, 13297, 13234, 12211, AGC= 25, IDX= 497,-0.50,-2.792,-3.141, 2.802,-1.949, PHS=-0.755,-1.145,-1.535, RAW=  60.0,  60.9, CAL=  58.5,  64.8, ROT=  91.5, -64.8

2025-01-09T00:50:36.579Z,1736383836.579 [DAT](INFO): got valid direction response:
 00:50:35.4162 LVL= 12192, 13297, 13234, 12211, AGC= 25, IDX= 497,-0.50,-2.792,-3.141, 2.802,-1.949, PHS=-0.755,-1.145,-1.535, RAW=  60.0,  60.9, CAL=  58.5,  64.8, ROT=  91.5, -64.8

2025-01-09T00:50:36.579Z,1736383836.579 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:36.580Z,1736383836.580 [DAT](INFO): direction in FSK: [-0.011146,0.425633,0.904827]
2025-01-09T00:50:36.580Z,1736383836.580 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:36.585Z,1736383836.585 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:36.585Z,1736383836.585 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:36.730Z,1736383836.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:36.761Z,1736383836.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504016 s,
      deltaX: -0.200000 m,
      approachRate: -0.396813 m/s,
      rangeRepo size: 4

2025-01-09T00:50:36.770Z,1736383836.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 123.748796 deg,
      lat: 36.904010 deg,
      lon: -122.118958 deg,
      deltaT: 0.504016 s,
      deltaX: -0.200000 m,
      approachRate: -0.396813 m/s,
      posRepo size: 4

2025-01-09T00:50:36.820Z,1736383836.820 [DAT](INFO): Reached modem response timeout
2025-01-09T00:50:36.820Z,1736383836.820 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:50:36.821Z,1736383836.821 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:50:37.074Z,1736383837.074 [DAT](INFO): DAT read: user:3785>

2025-01-09T00:50:37.075Z,1736383837.075 [DAT](INFO): DAT read: Command 'sbl' not found

2025-01-09T00:50:37.075Z,1736383837.075 [DAT](INFO): unknown deviceResponse_: Command 'sbl' not found

2025-01-09T00:50:37.075Z,1736383837.075 [DAT](INFO): DAT read: Error

2025-01-09T00:50:37.076Z,1736383837.076 [DAT](INFO): unknown deviceResponse_: Error

2025-01-09T00:50:37.076Z,1736383837.076 [DAT](INFO): DAT read: user:3786>

2025-01-09T00:50:37.077Z,1736383837.077 [DAT](INFO): DAT read: Tx time:00:50:36.4335

2025-01-09T00:50:37.077Z,1736383837.077 [DAT](INFO): Ping request sent.
2025-01-09T00:50:37.077Z,1736383837.077 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:50:37.077Z,1736383837.077 [DAT](INFO): publishing transmit ping time
2025-01-09T00:50:37.078Z,1736383837.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-01-09T00:50:37.103Z,1736383837.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:37.128Z,1736383837.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:37.325Z,1736383837.325 [DAT](INFO): DAT read: TxSync time:00:50:36.4328

2025-01-09T00:50:37.326Z,1736383837.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248661
2025-01-09T00:50:37.525Z,1736383837.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:37.577Z,1736383837.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499835
2025-01-09T00:50:37.828Z,1736383837.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750979
2025-01-09T00:50:37.886Z,1736383837.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:38.082Z,1736383838.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004460
2025-01-09T00:50:38.280Z,1736383838.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:38.332Z,1736383838.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255075
2025-01-09T00:50:38.585Z,1736383838.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507336
2025-01-09T00:50:38.715Z,1736383838.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:38.838Z,1736383838.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760882
2025-01-09T00:50:39.088Z,1736383839.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011085
2025-01-09T00:50:39.111Z,1736383839.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:39.340Z,1736383839.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262970
2025-01-09T00:50:39.547Z,1736383839.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:39.571Z,1736383839.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:39.593Z,1736383839.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515336
2025-01-09T00:50:39.671Z,1736383839.671 [DockingStepper](INFO): Commanding positive:11833
2025-01-09T00:50:39.844Z,1736383839.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767093
2025-01-09T00:50:39.908Z,1736383839.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:40.096Z,1736383840.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019112
2025-01-09T00:50:40.316Z,1736383840.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:40.352Z,1736383840.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274898
2025-01-09T00:50:40.601Z,1736383840.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524044
2025-01-09T00:50:40.752Z,1736383840.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:40.853Z,1736383840.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775698
2025-01-09T00:50:41.104Z,1736383841.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027057
2025-01-09T00:50:41.122Z,1736383841.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:41.255Z,1736383841.255 [DockingStepper](INFO): Commanding positive:11642
2025-01-09T00:50:41.356Z,1736383841.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279093
2025-01-09T00:50:41.580Z,1736383841.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:41.589Z,1736383841.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:41.608Z,1736383841.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530981
2025-01-09T00:50:41.861Z,1736383841.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783732
2025-01-09T00:50:41.952Z,1736383841.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:42.116Z,1736383842.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039199
2025-01-09T00:50:42.352Z,1736383842.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:42.364Z,1736383842.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287153
2025-01-09T00:50:42.617Z,1736383842.617 [DAT](INFO): DAT read: Response Not Received

2025-01-09T00:50:42.618Z,1736383842.618 [DAT](INFO): response not received
2025-01-09T00:50:42.618Z,1736383842.618 [DAT](INFO): DAT read: user:3787>

2025-01-09T00:50:42.619Z,1736383842.619 [DAT](INFO): DAT read: 120

2025-01-09T00:50:42.620Z,1736383842.620 [DAT](INFO): unknown deviceResponse_: 120

2025-01-09T00:50:42.621Z,1736383842.621 [DAT](INFO): DAT read: Ok

2025-01-09T00:50:42.621Z,1736383842.621 [DAT](INFO): unknown deviceResponse_: Ok

2025-01-09T00:50:42.622Z,1736383842.622 [DAT](INFO): DAT read: user:3788>

2025-01-09T00:50:42.629Z,1736383842.629 [DAT](INFO): DAT read: Tx time:00:50:41.9835

2025-01-09T00:50:42.630Z,1736383842.630 [DAT](INFO): Ping request sent.
2025-01-09T00:50:42.630Z,1736383842.630 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:50:42.630Z,1736383842.630 [DAT](INFO): publishing transmit ping time
2025-01-09T00:50:42.630Z,1736383842.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-01-09T00:50:42.825Z,1736383842.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:42.869Z,1736383842.869 [DAT](INFO): DAT read: TxSync time:00:50:41.9828

2025-01-09T00:50:42.870Z,1736383842.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.240651
2025-01-09T00:50:42.907Z,1736383842.907 [DockingStepper](INFO): Commanding positive:11544
2025-01-09T00:50:42.944Z,1736383842.944 [DockingStepper](FAULT): Timed out moving from: 14575 to: 16450 response: ÿ
2025-01-09T00:50:42.944Z,1736383842.944 [DockingStepper] Hardware Fault, FailCount= 1
2025-01-09T00:50:42.944Z,1736383842.944 [DockingStepper](ERROR): Hardware Fault
2025-01-09T00:50:43.119Z,1736383843.119 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-01-09T00:50:43.120Z,1736383843.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.490549
2025-01-09T00:50:43.163Z,1736383843.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:43.352Z,1736383843.352 [DockingStepper](INFO): Stop
2025-01-09T00:50:43.352Z,1736383843.352 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-01-09T00:50:43.352Z,1736383843.352 [DockingStepper](INFO): Powering down
2025-01-09T00:50:43.373Z,1736383843.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743084
2025-01-09T00:50:43.624Z,1736383843.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994670
2025-01-09T00:50:43.638Z,1736383843.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:43.673Z,1736383843.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:43.745Z,1736383843.745 [DockingStepper](INFO): Stopping
2025-01-09T00:50:43.876Z,1736383843.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246456
2025-01-09T00:50:44.030Z,1736383844.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:44.128Z,1736383844.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498616
2025-01-09T00:50:44.188Z,1736383844.188 [DockingStepper](INFO): Stopping
2025-01-09T00:50:44.380Z,1736383844.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750526
2025-01-09T00:50:44.432Z,1736383844.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:44.590Z,1736383844.590 [DockingStepper](INFO): Stopping
2025-01-09T00:50:44.632Z,1736383844.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002501
2025-01-09T00:50:44.853Z,1736383844.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:44.874Z,1736383844.874 [DockingStepper](INFO): Stopping
2025-01-09T00:50:44.885Z,1736383844.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254840
2025-01-09T00:50:45.145Z,1736383845.145 [DAT](INFO): DAT read: Rx Time:00:50:44.1135 

2025-01-09T00:50:45.146Z,1736383845.146 [DAT](INFO): Rx dataTimestamp_ set to:1736383845.145564
2025-01-09T00:50:45.147Z,1736383845.147 [DAT](INFO): DAT read: Bearing 154.0, -40.6 (Local)

2025-01-09T00:50:45.148Z,1736383845.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.0, -40.6 (Local)

2025-01-09T00:50:45.150Z,1736383845.150 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:50:45.162Z,1736383845.162 [DAT](INFO): DAT read: 00:50:44.1135 LVL=  8640, 14577, 10850, 10547, AGC= 27, IDX= 420, 0.23, 2.708,-2.812, 1.983,-2.516, PHS=-0.971,-0.248,-1.787, RAW=   2.0,  38.6, CAL= 356.0,  40.6, ROT= 154.0, -40.6

2025-01-09T00:50:45.171Z,1736383845.171 [DAT](INFO): got valid direction response:
 00:50:44.1135 LVL=  8640, 14577, 10850, 10547, AGC= 27, IDX= 420, 0.23, 2.708,-2.812, 1.983,-2.516, PHS=-0.971,-0.248,-1.787, RAW=   2.0,  38.6, CAL= 356.0,  40.6, ROT= 154.0, -40.6

2025-01-09T00:50:45.172Z,1736383845.172 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:50:45.173Z,1736383845.173 [DAT](INFO): direction in FSK: [-0.682429,0.332843,0.650774]
2025-01-09T00:50:45.173Z,1736383845.173 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:45.189Z,1736383845.189 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.558929
2025-01-09T00:50:45.255Z,1736383845.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:45.285Z,1736383845.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 8.576499 s,
      deltaX: -0.300000 m,
      approachRate: -0.034979 m/s,
      rangeRepo size: 4

2025-01-09T00:50:45.292Z,1736383845.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 189.142980 deg,
      lat: 36.904010 deg,
      lon: -122.118958 deg,
      deltaT: 8.576499 s,
      deltaX: -0.300000 m,
      approachRate: -0.034979 m/s,
      posRepo size: 4

2025-01-09T00:50:45.328Z,1736383845.328 [DockingStepper](INFO): Stopping
2025-01-09T00:50:45.388Z,1736383845.388 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.758624
2025-01-09T00:50:45.650Z,1736383845.650 [DAT](INFO): DAT read: Rx Time:00:50:44.6135 

2025-01-09T00:50:45.651Z,1736383845.651 [DAT](INFO): Rx dataTimestamp_ set to:1736383845.650300
2025-01-09T00:50:45.657Z,1736383845.657 [DAT](INFO): DAT read: Bearing 153.9, -41.7 (Local)

2025-01-09T00:50:45.658Z,1736383845.658 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9, -41.7 (Local)

2025-01-09T00:50:45.662Z,1736383845.662 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:50:45.720Z,1736383845.720 [DAT](INFO): DAT read: 00:50:44.6135 LVL= 10496, 17841, 15138, 14275, AGC= 29, IDX= 500, 0.25,-3.137,-2.392, 2.447,-2.064, PHS=-0.985,-0.281,-1.775, RAW=   1.9,  39.7, CAL= 356.1,  41.7, ROT= 153.9, -41.7

2025-01-09T00:50:45.721Z,1736383845.721 [DAT](INFO): got valid direction response:
 00:50:44.6135 LVL= 10496, 17841, 15138, 14275, AGC= 29, IDX= 500, 0.25,-3.137,-2.392, 2.447,-2.064, PHS=-0.985,-0.281,-1.775, RAW=   1.9,  39.7, CAL= 356.1,  41.7, ROT= 153.9, -41.7

2025-01-09T00:50:45.721Z,1736383845.721 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-09T00:50:45.722Z,1736383845.722 [DAT](INFO): direction in FSK: [-0.670502,0.328475,0.665230]
2025-01-09T00:50:45.722Z,1736383845.722 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:45.738Z,1736383845.738 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.108098
2025-01-09T00:50:45.805Z,1736383845.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:45.831Z,1736383845.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504736 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:45.834Z,1736383845.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 187.950756 deg,
      lat: 36.904010 deg,
      lon: -122.118959 deg,
      deltaT: 0.504736 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:45.869Z,1736383845.869 [DockingStepper](INFO): Stopping
2025-01-09T00:50:45.893Z,1736383845.893 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.263313
2025-01-09T00:50:46.082Z,1736383846.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:46.138Z,1736383846.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:46.148Z,1736383846.148 [DAT](INFO): DAT read: Rx Time:00:50:45.1134 

2025-01-09T00:50:46.148Z,1736383846.148 [DAT](INFO): Rx dataTimestamp_ set to:1736383846.147912
2025-01-09T00:50:46.149Z,1736383846.149 [DAT](INFO): DAT read: Bearing 153.5, -42.3 (Local)

2025-01-09T00:50:46.150Z,1736383846.150 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.5, -42.3 (Local)

2025-01-09T00:50:46.152Z,1736383846.152 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:50:46.157Z,1736383846.157 [DAT](INFO): DAT read: 00:50:45.1134 LVL= 10224, 17185, 15442, 14323, AGC= 29, IDX= 499, 0.27, 1.690, 2.424, 0.981, 2.776, PHS=-0.998,-0.304,-1.797, RAW=   2.4,  40.3, CAL= 356.5,  42.3, ROT= 153.5, -42.3

2025-01-09T00:50:46.158Z,1736383846.158 [DAT](INFO): got valid direction response:
 00:50:45.1134 LVL= 10224, 17185, 15442, 14323, AGC= 29, IDX= 499, 0.27, 1.690, 2.424, 0.981, 2.776, PHS=-0.998,-0.304,-1.797, RAW=   2.4,  40.3, CAL= 356.5,  42.3, ROT= 153.5, -42.3

2025-01-09T00:50:46.158Z,1736383846.158 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-09T00:50:46.167Z,1736383846.167 [DAT](INFO): direction in FSK: [-0.661921,0.330022,0.673013]
2025-01-09T00:50:46.168Z,1736383846.168 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:46.181Z,1736383846.181 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.551133
2025-01-09T00:50:46.200Z,1736383846.200 [DockingStepper](INFO): Stopping
2025-01-09T00:50:46.401Z,1736383846.401 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.771747
2025-01-09T00:50:46.485Z,1736383846.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:46.514Z,1736383846.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.497612 s,
      deltaX: -0.100000 m,
      approachRate: -0.200960 m/s,
      rangeRepo size: 4

2025-01-09T00:50:46.521Z,1736383846.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 184.976266 deg,
      lat: 36.904010 deg,
      lon: -122.118960 deg,
      deltaT: 0.497612 s,
      deltaX: -0.100000 m,
      approachRate: -0.200960 m/s,
      posRepo size: 4

2025-01-09T00:50:46.544Z,1736383846.544 [DockingStepper](INFO): Stopping
2025-01-09T00:50:46.653Z,1736383846.653 [DAT](INFO): DAT read: Rx Time:00:50:45.6135 

2025-01-09T00:50:46.654Z,1736383846.654 [DAT](INFO): Rx dataTimestamp_ set to:1736383846.653692
2025-01-09T00:50:46.660Z,1736383846.660 [DAT](INFO): DAT read: Bearing 153.7, -43.3 (Local)

2025-01-09T00:50:46.661Z,1736383846.661 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.7, -43.3 (Local)

2025-01-09T00:50:46.669Z,1736383846.669 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:50:46.682Z,1736383846.682 [DAT](INFO): DAT read: 00:50:45.6135 LVL= 10096, 16449, 15426, 14275, AGC= 29, IDX= 500, 0.34, 2.726,-2.835, 2.046,-2.456, PHS=-1.014,-0.332,-1.784, RAW=   2.0,  41.3, CAL= 356.3,  43.3, ROT= 153.7, -43.3

2025-01-09T00:50:46.688Z,1736383846.688 [DAT](INFO): got valid direction response:
 00:50:45.6135 LVL= 10096, 16449, 15426, 14275, AGC= 29, IDX= 500, 0.34, 2.726,-2.835, 2.046,-2.456, PHS=-1.014,-0.332,-1.784, RAW=   2.0,  41.3, CAL= 356.3,  43.3, ROT= 153.7, -43.3

2025-01-09T00:50:46.689Z,1736383846.689 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-01-09T00:50:46.690Z,1736383846.690 [DAT](INFO): direction in FSK: [-0.652438,0.322455,0.685818]
2025-01-09T00:50:46.691Z,1736383846.691 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:46.705Z,1736383846.705 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.074971
2025-01-09T00:50:46.904Z,1736383846.904 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.274592
2025-01-09T00:50:46.909Z,1736383846.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:46.958Z,1736383846.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.505780 s,
      deltaX: 0.100000 m,
      approachRate: 0.197714 m/s,
      rangeRepo size: 4

2025-01-09T00:50:46.965Z,1736383846.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 183.834018 deg,
      lat: 36.904009 deg,
      lon: -122.118960 deg,
      deltaT: 0.505780 s,
      deltaX: 0.100000 m,
      approachRate: 0.197714 m/s,
      posRepo size: 4

2025-01-09T00:50:47.007Z,1736383847.007 [DockingStepper](INFO): Stopping
2025-01-09T00:50:47.157Z,1736383847.157 [DAT](INFO): DAT read: Rx Time:00:50:46.1134 

2025-01-09T00:50:47.158Z,1736383847.158 [DAT](INFO): Rx dataTimestamp_ set to:1736383847.157679
2025-01-09T00:50:47.160Z,1736383847.160 [DAT](INFO): DAT read: Bearing 154.0, -44.0 (Local)

2025-01-09T00:50:47.160Z,1736383847.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.0, -44.0 (Local)

2025-01-09T00:50:47.162Z,1736383847.162 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:50:47.170Z,1736383847.170 [DAT](INFO): DAT read: 00:50:46.1134 LVL=  9968, 15441, 15922, 14147, AGC= 29, IDX= 499, 0.35, 1.969, 2.686, 1.315, 3.085, PHS=-1.028,-0.351,-1.773, RAW=   1.6,  42.1, CAL= 356.0,  44.0, ROT= 154.0, -44.0

2025-01-09T00:50:47.172Z,1736383847.172 [DAT](INFO): got valid direction response:
 00:50:46.1134 LVL=  9968, 15441, 15922, 14147, AGC= 29, IDX= 499, 0.35, 1.969, 2.686, 1.315, 3.085, PHS=-1.028,-0.351,-1.773, RAW=   1.6,  42.1, CAL= 356.0,  44.0, ROT= 154.0, -44.0

2025-01-09T00:50:47.172Z,1736383847.172 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-01-09T00:50:47.173Z,1736383847.173 [DAT](INFO): direction in FSK: [-0.646538,0.315338,0.694658]
2025-01-09T00:50:47.173Z,1736383847.173 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:47.197Z,1736383847.197 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.567212
2025-01-09T00:50:47.295Z,1736383847.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:47.319Z,1736383847.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503987 s,
      deltaX: -0.100000 m,
      approachRate: -0.198418 m/s,
      rangeRepo size: 4

2025-01-09T00:50:47.325Z,1736383847.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 182.715126 deg,
      lat: 36.904009 deg,
      lon: -122.118960 deg,
      deltaT: 0.503987 s,
      deltaX: -0.100000 m,
      approachRate: -0.198418 m/s,
      posRepo size: 4

2025-01-09T00:50:47.359Z,1736383847.359 [DockingStepper](INFO): Stopping
2025-01-09T00:50:47.408Z,1736383847.408 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.778692
2025-01-09T00:50:47.661Z,1736383847.661 [DAT](INFO): DAT read: Rx Time:00:50:46.6137 

2025-01-09T00:50:47.662Z,1736383847.662 [DAT](INFO): Rx dataTimestamp_ set to:1736383847.661596
2025-01-09T00:50:47.664Z,1736383847.664 [DAT](INFO): DAT read: Bearing 151.3, -46.5 (Local)

2025-01-09T00:50:47.664Z,1736383847.664 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.3, -46.5 (Local)

2025-01-09T00:50:47.672Z,1736383847.672 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:47.679Z,1736383847.679 [DAT](INFO): DAT read: 00:50:46.6137 LVL=  9696, 15089, 16306, 14051, AGC= 26, IDX= 499, 0.44, 1.084, 1.725, 0.399, 2.214, PHS=-1.042,-0.443,-1.818, RAW=   4.2,  44.4, CAL= 358.7,  46.5, ROT= 151.3, -46.5

2025-01-09T00:50:47.684Z,1736383847.684 [DAT](INFO): got valid direction response:
 00:50:46.6137 LVL=  9696, 15089, 16306, 14051, AGC= 26, IDX= 499, 0.44, 1.084, 1.725, 0.399, 2.214, PHS=-1.042,-0.443,-1.818, RAW=   4.2,  44.4, CAL= 358.7,  46.5, ROT= 151.3, -46.5

2025-01-09T00:50:47.685Z,1736383847.685 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-01-09T00:50:47.686Z,1736383847.686 [DAT](INFO): direction in FSK: [-0.603788,0.330564,0.725374]
2025-01-09T00:50:47.687Z,1736383847.687 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:47.703Z,1736383847.703 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.073183
2025-01-09T00:50:47.812Z,1736383847.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:47.835Z,1736383847.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503917 s,
      deltaX: 0.400000 m,
      approachRate: 0.793781 m/s,
      rangeRepo size: 4

2025-01-09T00:50:47.841Z,1736383847.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 178.227933 deg,
      lat: 36.904009 deg,
      lon: -122.118960 deg,
      deltaT: 0.503917 s,
      deltaX: 0.400000 m,
      approachRate: 0.793781 m/s,
      posRepo size: 4

2025-01-09T00:50:47.880Z,1736383847.880 [DockingStepper](INFO): Stopping
2025-01-09T00:50:47.913Z,1736383847.913 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.283521
2025-01-09T00:50:48.089Z,1736383848.089 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:50:48.162Z,1736383848.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:48.165Z,1736383848.165 [DAT](INFO): DAT read: Rx Time:00:50:47.1137 

2025-01-09T00:50:48.165Z,1736383848.165 [DAT](INFO): Rx dataTimestamp_ set to:1736383848.165181
2025-01-09T00:50:48.168Z,1736383848.168 [DAT](INFO): DAT read: Bearing 152.2, -45.9 (Local)

2025-01-09T00:50:48.168Z,1736383848.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.2, -45.9 (Local)

2025-01-09T00:50:48.172Z,1736383848.172 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:48.177Z,1736383848.177 [DAT](INFO): DAT read: 00:50:47.1137 LVL=  8320, 13937, 14866, 12211, AGC= 28, IDX= 499,-0.48,-0.957,-0.287,-1.635, 0.182, PHS=-1.051,-0.422,-1.820, RAW=   3.3,  43.8, CAL= 357.8,  45.9, ROT= 152.2, -45.9

2025-01-09T00:50:48.178Z,1736383848.178 [DAT](INFO): got valid direction response:
 00:50:47.1137 LVL=  8320, 13937, 14866, 12211, AGC= 28, IDX= 499,-0.48,-0.957,-0.287,-1.635, 0.182, PHS=-1.051,-0.422,-1.820, RAW=   3.3,  43.8, CAL= 357.8,  45.9, ROT= 152.2, -45.9

2025-01-09T00:50:48.178Z,1736383848.178 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-01-09T00:50:48.180Z,1736383848.180 [DAT](INFO): direction in FSK: [-0.615591,0.324564,0.718126]
2025-01-09T00:50:48.180Z,1736383848.180 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:48.184Z,1736383848.184 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.554069
2025-01-09T00:50:48.218Z,1736383848.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503585 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:48.224Z,1736383848.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 177.842247 deg,
      lat: 36.904009 deg,
      lon: -122.118960 deg,
      deltaT: 0.503585 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:48.306Z,1736383848.306 [DockingStepper](INFO): Stopping
2025-01-09T00:50:48.417Z,1736383848.417 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.787291
2025-01-09T00:50:48.496Z,1736383848.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:48.507Z,1736383848.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:48.564Z,1736383848.564 [DockingStepper](INFO): Stopping
2025-01-09T00:50:48.672Z,1736383848.672 [DAT](INFO): DAT read: Rx Time:00:50:47.6138 

2025-01-09T00:50:48.673Z,1736383848.673 [DAT](INFO): Rx dataTimestamp_ set to:1736383848.671927
2025-01-09T00:50:48.674Z,1736383848.674 [DAT](INFO): DAT read: Bearing 149.0, -48.7 (Local)

2025-01-09T00:50:48.675Z,1736383848.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.0, -48.7 (Local)

2025-01-09T00:50:48.688Z,1736383848.688 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:48.704Z,1736383848.704 [DAT](INFO): DAT read: 00:50:47.6138 LVL= 10192, 15649, 16626, 14547, AGC= 26, IDX= 500,-0.41, 0.142, 0.722,-0.563, 1.298, PHS=-1.067,-0.528,-1.864, RAW=   6.4,  46.4, CAL=   1.0,  48.7, ROT= 149.0, -48.7

2025-01-09T00:50:48.706Z,1736383848.706 [DAT](INFO): got valid direction response:
 00:50:47.6138 LVL= 10192, 15649, 16626, 14547, AGC= 26, IDX= 500,-0.41, 0.142, 0.722,-0.563, 1.298, PHS=-1.067,-0.528,-1.864, RAW=   6.4,  46.4, CAL=   1.0,  48.7, ROT= 149.0, -48.7

2025-01-09T00:50:48.706Z,1736383848.706 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-01-09T00:50:48.717Z,1736383848.717 [DAT](INFO): direction in FSK: [-0.565732,0.339926,0.751264]
2025-01-09T00:50:48.717Z,1736383848.717 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:48.740Z,1736383848.740 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.110046
2025-01-09T00:50:48.920Z,1736383848.920 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.290669
2025-01-09T00:50:48.940Z,1736383848.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:48.957Z,1736383848.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.506746 s,
      deltaX: 0.200000 m,
      approachRate: 0.394675 m/s,
      rangeRepo size: 4

2025-01-09T00:50:48.959Z,1736383848.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 172.833098 deg,
      lat: 36.904007 deg,
      lon: -122.118959 deg,
      deltaT: 0.506746 s,
      deltaX: 0.200000 m,
      approachRate: 0.394675 m/s,
      posRepo size: 4

2025-01-09T00:50:48.960Z,1736383848.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.10 m.
2025-01-09T00:50:49.007Z,1736383849.007 [DockingStepper](INFO): Stopping
2025-01-09T00:50:49.093Z,1736383849.093 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:50:49.175Z,1736383849.175 [DAT](INFO): DAT read: Rx Time:00:50:48.1137 

2025-01-09T00:50:49.176Z,1736383849.176 [DAT](INFO): Rx dataTimestamp_ set to:1736383849.175714
2025-01-09T00:50:49.179Z,1736383849.179 [DAT](INFO): DAT read: Bearing 152.0, -47.3 (Local)

2025-01-09T00:50:49.179Z,1736383849.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.0, -47.3 (Local)

2025-01-09T00:50:49.181Z,1736383849.181 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:49.193Z,1736383849.193 [DAT](INFO): DAT read: 00:50:48.1137 LVL=  8096, 14113, 14994, 12179, AGC= 28, IDX= 499,-0.32,-1.163,-0.517,-1.813,-0.007, PHS=-1.068,-0.463,-1.808, RAW=   3.3,  45.3, CAL= 358.0,  47.3, ROT= 152.0, -47.3

2025-01-09T00:50:49.194Z,1736383849.194 [DAT](INFO): got valid direction response:
 00:50:48.1137 LVL=  8096, 14113, 14994, 12179, AGC= 28, IDX= 499,-0.32,-1.163,-0.517,-1.813,-0.007, PHS=-1.068,-0.463,-1.808, RAW=   3.3,  45.3, CAL= 358.0,  47.3, ROT= 152.0, -47.3

2025-01-09T00:50:49.194Z,1736383849.194 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-01-09T00:50:49.195Z,1736383849.195 [DAT](INFO): direction in FSK: [-0.598779,0.318377,0.734915]
2025-01-09T00:50:49.195Z,1736383849.195 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:49.199Z,1736383849.199 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.569027
2025-01-09T00:50:49.326Z,1736383849.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:49.350Z,1736383849.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503787 s,
      deltaX: -0.200000 m,
      approachRate: -0.396993 m/s,
      rangeRepo size: 4

2025-01-09T00:50:49.356Z,1736383849.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 173.791291 deg,
      lat: 36.904007 deg,
      lon: -122.118959 deg,
      deltaT: 0.503787 s,
      deltaX: -0.200000 m,
      approachRate: -0.396993 m/s,
      posRepo size: 4

2025-01-09T00:50:49.357Z,1736383849.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 0.90 m.
2025-01-09T00:50:49.387Z,1736383849.387 [DockingStepper](INFO): Stopping
2025-01-09T00:50:49.428Z,1736383849.428 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.797390
2025-01-09T00:50:49.678Z,1736383849.678 [DAT](INFO): DAT read: Rx Time:00:50:48.6138 

2025-01-09T00:50:49.679Z,1736383849.679 [DAT](INFO): Rx dataTimestamp_ set to:1736383849.678236
2025-01-09T00:50:49.681Z,1736383849.681 [DAT](INFO): DAT read: Bearing 148.1, -49.4 (Local)

2025-01-09T00:50:49.681Z,1736383849.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.1, -49.4 (Local)

2025-01-09T00:50:49.696Z,1736383849.696 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:49.721Z,1736383849.721 [DAT](INFO): DAT read: 00:50:48.6138 LVL= 10096, 15249, 16722, 14499, AGC= 26, IDX= 500,-0.24,-0.528, 0.023,-1.235, 0.621, PHS=-1.062,-0.551,-1.859, RAW=   7.2,  47.1, CAL=   1.9,  49.4, ROT= 148.1, -49.4

2025-01-09T00:50:49.722Z,1736383849.722 [DAT](INFO): got valid direction response:
 00:50:48.6138 LVL= 10096, 15249, 16722, 14499, AGC= 26, IDX= 500,-0.24,-0.528, 0.023,-1.235, 0.621, PHS=-1.062,-0.551,-1.859, RAW=   7.2,  47.1, CAL=   1.9,  49.4, ROT= 148.1, -49.4

2025-01-09T00:50:49.723Z,1736383849.723 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-01-09T00:50:49.724Z,1736383849.724 [DAT](INFO): direction in FSK: [-0.552489,0.343894,0.759271]
2025-01-09T00:50:49.724Z,1736383849.724 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:49.757Z,1736383849.757 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.127621
2025-01-09T00:50:49.804Z,1736383849.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:49.841Z,1736383849.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.502522 s,
      deltaX: 0.200000 m,
      approachRate: 0.397993 m/s,
      rangeRepo size: 4

2025-01-09T00:50:49.848Z,1736383849.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 168.362744 deg,
      lat: 36.904007 deg,
      lon: -122.118959 deg,
      deltaT: 0.502522 s,
      deltaX: 0.200000 m,
      approachRate: 0.397993 m/s,
      posRepo size: 4

2025-01-09T00:50:49.881Z,1736383849.881 [DockingStepper](INFO): Stopping
2025-01-09T00:50:49.928Z,1736383849.928 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.298739
2025-01-09T00:50:50.183Z,1736383850.183 [DAT](INFO): DAT read: Rx Time:00:50:49.1137 

2025-01-09T00:50:50.185Z,1736383850.185 [DAT](INFO): Rx dataTimestamp_ set to:1736383850.183720
2025-01-09T00:50:50.188Z,1736383850.188 [DAT](INFO): DAT read: Bearing 148.3, -49.6 (Local)

2025-01-09T00:50:50.188Z,1736383850.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.3, -49.6 (Local)

2025-01-09T00:50:50.193Z,1736383850.193 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:50:50.225Z,1736383850.225 [DAT](INFO): DAT read: 00:50:49.1137 LVL= 10096, 15345, 16722, 14435, AGC= 26, IDX= 499,-0.18,-1.796,-1.249,-2.483,-0.655, PHS=-1.053,-0.546,-1.831, RAW=   7.0,  47.3, CAL=   1.7,  49.6, ROT= 148.3, -49.6

2025-01-09T00:50:50.226Z,1736383850.226 [DAT](INFO): got valid direction response:
 00:50:49.1137 LVL= 10096, 15345, 16722, 14435, AGC= 26, IDX= 499,-0.18,-1.796,-1.249,-2.483,-0.655, PHS=-1.053,-0.546,-1.831, RAW=   7.0,  47.3, CAL=   1.7,  49.6, ROT= 148.3, -49.6

2025-01-09T00:50:50.227Z,1736383850.227 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-01-09T00:50:50.228Z,1736383850.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:50.237Z,1736383850.237 [DAT](INFO): direction in FSK: [-0.551428,0.340569,0.761538]
2025-01-09T00:50:50.238Z,1736383850.238 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:50.277Z,1736383850.277 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.646951
2025-01-09T00:50:50.287Z,1736383850.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.505484 s,
      deltaX: -0.200000 m,
      approachRate: -0.395660 m/s,
      rangeRepo size: 4

2025-01-09T00:50:50.320Z,1736383850.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 167.822525 deg,
      lat: 36.904007 deg,
      lon: -122.118959 deg,
      deltaT: 0.505484 s,
      deltaX: -0.200000 m,
      approachRate: -0.395660 m/s,
      posRepo size: 4

2025-01-09T00:50:50.339Z,1736383850.339 [DockingStepper](INFO): Stopping
2025-01-09T00:50:50.433Z,1736383850.433 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.802796
2025-01-09T00:50:50.521Z,1736383850.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:50.528Z,1736383850.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:50.689Z,1736383850.689 [DAT](INFO): DAT read: Rx Time:00:50:49.6138 

2025-01-09T00:50:50.692Z,1736383850.692 [DAT](INFO): Rx dataTimestamp_ set to:1736383850.690172
2025-01-09T00:50:50.697Z,1736383850.697 [DAT](INFO): DAT read: Bearing 149.2, -49.3 (Local)

2025-01-09T00:50:50.698Z,1736383850.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.2, -49.3 (Local)

2025-01-09T00:50:50.701Z,1736383850.701 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:50:50.704Z,1736383850.704 [DockingStepper](INFO): Stopping
2025-01-09T00:50:50.714Z,1736383850.714 [DAT](INFO): DAT read: 00:50:49.6138 LVL= 10208, 15345, 16482, 14323, AGC= 26, IDX= 500,-0.14,-0.091, 0.470,-0.756, 1.046, PHS=-1.049,-0.529,-1.805, RAW=   6.1,  47.1, CAL=   0.8,  49.3, ROT= 149.2, -49.3

2025-01-09T00:50:50.715Z,1736383850.715 [DAT](INFO): got valid direction response:
 00:50:49.6138 LVL= 10208, 15345, 16482, 14323, AGC= 26, IDX= 500,-0.14,-0.091, 0.470,-0.756, 1.046, PHS=-1.049,-0.529,-1.805, RAW=   6.1,  47.1, CAL=   0.8,  49.3, ROT= 149.2, -49.3

2025-01-09T00:50:50.720Z,1736383850.720 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-01-09T00:50:50.722Z,1736383850.722 [DAT](INFO): direction in FSK: [-0.560126,0.333902,0.758134]
2025-01-09T00:50:50.722Z,1736383850.722 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:50.736Z,1736383850.736 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.105748
2025-01-09T00:50:50.936Z,1736383850.936 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.306598
2025-01-09T00:50:50.964Z,1736383850.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:50.981Z,1736383850.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.506452 s,
      deltaX: 0.200000 m,
      approachRate: 0.394904 m/s,
      rangeRepo size: 4

2025-01-09T00:50:51.012Z,1736383851.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 168.242620 deg,
      lat: 36.904006 deg,
      lon: -122.118959 deg,
      deltaT: 0.506452 s,
      deltaX: 0.200000 m,
      approachRate: 0.394904 m/s,
      posRepo size: 4

2025-01-09T00:50:51.064Z,1736383851.064 [DockingStepper](INFO): Stopping
2025-01-09T00:50:51.189Z,1736383851.189 [DAT](INFO): DAT read: Rx Time:00:50:50.1134 

2025-01-09T00:50:51.190Z,1736383851.190 [DAT](INFO): Rx dataTimestamp_ set to:1736383851.189373
2025-01-09T00:50:51.191Z,1736383851.191 [DAT](INFO): DAT read: Bearing 152.0, -47.3 (Local)

2025-01-09T00:50:51.191Z,1736383851.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.0, -47.3 (Local)

2025-01-09T00:50:51.194Z,1736383851.194 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:50:51.212Z,1736383851.212 [DAT](INFO): DAT read: 00:50:50.1134 LVL=  9520, 14529, 16626, 13091, AGC= 27, IDX= 499,-0.08,-1.334,-0.705,-1.963,-0.209, PHS=-1.037,-0.449,-1.758, RAW=   3.3,  45.3, CAL= 358.0,  47.3, ROT= 152.0, -47.3

2025-01-09T00:50:51.213Z,1736383851.213 [DAT](INFO): got valid direction response:
 00:50:50.1134 LVL=  9520, 14529, 16626, 13091, AGC= 27, IDX= 499,-0.08,-1.334,-0.705,-1.963,-0.209, PHS=-1.037,-0.449,-1.758, RAW=   3.3,  45.3, CAL= 358.0,  47.3, ROT= 152.0, -47.3

2025-01-09T00:50:51.213Z,1736383851.213 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-01-09T00:50:51.214Z,1736383851.214 [DAT](INFO): direction in FSK: [-0.598779,0.318377,0.734915]
2025-01-09T00:50:51.215Z,1736383851.215 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:51.245Z,1736383851.245 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.615167
2025-01-09T00:50:51.366Z,1736383851.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:51.406Z,1736383851.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.499201 s,
      deltaX: -0.600000 m,
      approachRate: -1.201921 m/s,
      rangeRepo size: 4

2025-01-09T00:50:51.412Z,1736383851.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 171.156382 deg,
      lat: 36.904007 deg,
      lon: -122.118959 deg,
      deltaT: 0.499201 s,
      deltaX: -0.600000 m,
      approachRate: -1.201921 m/s,
      posRepo size: 4

2025-01-09T00:50:51.412Z,1736383851.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 0.50 m.
2025-01-09T00:50:51.440Z,1736383851.440 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.810575
2025-01-09T00:50:51.556Z,1736383851.556 [DockingStepper](INFO): Stopping
2025-01-09T00:50:51.697Z,1736383851.697 [DAT](INFO): DAT read: Rx Time:00:50:50.6134 

2025-01-09T00:50:51.699Z,1736383851.699 [DAT](INFO): Rx dataTimestamp_ set to:1736383851.697855
2025-01-09T00:50:51.701Z,1736383851.701 [DAT](INFO): DAT read: Bearing 153.2, -45.7 (Local)

2025-01-09T00:50:51.701Z,1736383851.701 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.2, -45.7 (Local)

2025-01-09T00:50:51.704Z,1736383851.704 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:50:51.713Z,1736383851.713 [DAT](INFO): DAT read: 00:50:50.6134 LVL= 10832, 17265, 16482, 14099, AGC= 28, IDX= 499,-0.03,-1.191,-0.527,-1.815,-0.084, PHS=-1.019,-0.396,-1.733, RAW=   2.2,  43.8, CAL= 356.8,  45.7, ROT= 153.2, -45.7

2025-01-09T00:50:51.714Z,1736383851.714 [DAT](INFO): got valid direction response:
 00:50:50.6134 LVL= 10832, 17265, 16482, 14099, AGC= 28, IDX= 499,-0.03,-1.191,-0.527,-1.815,-0.084, PHS=-1.019,-0.396,-1.733, RAW=   2.2,  43.8, CAL= 356.8,  45.7, ROT= 153.2, -45.7

2025-01-09T00:50:51.714Z,1736383851.714 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-01-09T00:50:51.716Z,1736383851.716 [DAT](INFO): direction in FSK: [-0.623396,0.314900,0.715693]
2025-01-09T00:50:51.717Z,1736383851.717 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:51.720Z,1736383851.720 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.090487
2025-01-09T00:50:51.868Z,1736383851.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:51.893Z,1736383851.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.508482 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:51.900Z,1736383851.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 172.910011 deg,
      lat: 36.904007 deg,
      lon: -122.118959 deg,
      deltaT: 0.508482 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:51.927Z,1736383851.927 [DockingStepper](INFO): Stopping
2025-01-09T00:50:51.945Z,1736383851.945 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.315001
2025-01-09T00:50:52.186Z,1736383852.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:52.197Z,1736383852.197 [DAT](INFO): DAT read: Rx Time:00:50:51.1133 

2025-01-09T00:50:52.197Z,1736383852.197 [DAT](INFO): Rx dataTimestamp_ set to:1736383852.197143
2025-01-09T00:50:52.199Z,1736383852.199 [DAT](INFO): DAT read: Bearing 155.4, -44.1 (Local)

2025-01-09T00:50:52.199Z,1736383852.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.4, -44.1 (Local)

2025-01-09T00:50:52.201Z,1736383852.201 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:50:52.225Z,1736383852.225 [DAT](INFO): DAT read: 00:50:51.1133 LVL=  9952, 15857, 16434, 13075, AGC= 29, IDX= 498, 0.03,-1.623,-0.907,-2.208,-0.525, PHS=-1.010,-0.335,-1.685, RAW= 360.0,  42.5, CAL= 354.6,  44.1, ROT= 155.4, -44.1

2025-01-09T00:50:52.239Z,1736383852.239 [DAT](INFO): got valid direction response:
 00:50:51.1133 LVL=  9952, 15857, 16434, 13075, AGC= 29, IDX= 498, 0.03,-1.623,-0.907,-2.208,-0.525, PHS=-1.010,-0.335,-1.685, RAW= 360.0,  42.5, CAL= 354.6,  44.1, ROT= 155.4, -44.1

2025-01-09T00:50:52.240Z,1736383852.240 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-01-09T00:50:52.241Z,1736383852.241 [DAT](INFO): direction in FSK: [-0.652946,0.298942,0.695913]
2025-01-09T00:50:52.241Z,1736383852.241 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:52.259Z,1736383852.259 [DockingStepper](INFO): Stopping
2025-01-09T00:50:52.270Z,1736383852.270 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.639977
2025-01-09T00:50:52.448Z,1736383852.448 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.818493
2025-01-09T00:50:52.626Z,1736383852.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:52.705Z,1736383852.705 [DAT](INFO): DAT read: Rx Time:00:50:51.6134 

2025-01-09T00:50:52.706Z,1736383852.706 [DAT](INFO): Rx dataTimestamp_ set to:1736383852.705428
2025-01-09T00:50:52.711Z,1736383852.711 [DAT](INFO): DAT read: Bearing 156.2, -42.4 (Local)

2025-01-09T00:50:52.712Z,1736383852.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.2, -42.4 (Local)

2025-01-09T00:50:52.723Z,1736383852.723 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:50:52.738Z,1736383852.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.499288 s,
      deltaX: -0.200000 m,
      approachRate: -0.400570 m/s,
      rangeRepo size: 4

2025-01-09T00:50:52.745Z,1736383852.745 [DAT](INFO): DAT read: 00:50:51.6134 LVL= 10224, 15793, 16418, 13347, AGC= 29, IDX= 499, 0.09,-0.621, 0.133,-1.216, 0.462, PHS=-0.995,-0.282,-1.680, RAW= 359.4,  40.8, CAL= 353.8,  42.4, ROT= 156.2, -42.4

2025-01-09T00:50:52.746Z,1736383852.746 [DAT](INFO): got valid direction response:
 00:50:51.6134 LVL= 10224, 15793, 16418, 13347, AGC= 29, IDX= 499, 0.09,-0.621, 0.133,-1.216, 0.462, PHS=-0.995,-0.282,-1.680, RAW= 359.4,  40.8, CAL= 353.8,  42.4, ROT= 156.2, -42.4

2025-01-09T00:50:52.746Z,1736383852.746 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-01-09T00:50:52.748Z,1736383852.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 176.755462 deg,
      lat: 36.904008 deg,
      lon: -122.118960 deg,
      deltaT: 0.499288 s,
      deltaX: -0.200000 m,
      approachRate: -0.400570 m/s,
      posRepo size: 4

2025-01-09T00:50:52.756Z,1736383852.756 [DAT](INFO): direction in FSK: [-0.675657,0.298000,0.674302]
2025-01-09T00:50:52.756Z,1736383852.756 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:52.792Z,1736383852.792 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.162298
2025-01-09T00:50:52.804Z,1736383852.804 [DockingStepper](INFO): Stopping
2025-01-09T00:50:52.952Z,1736383852.952 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.322645
2025-01-09T00:50:53.051Z,1736383853.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:53.077Z,1736383853.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.508285 s,
      deltaX: 0.200000 m,
      approachRate: 0.393480 m/s,
      rangeRepo size: 4

2025-01-09T00:50:53.079Z,1736383853.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 180.155617 deg,
      lat: 36.904008 deg,
      lon: -122.118960 deg,
      deltaT: 0.508285 s,
      deltaX: 0.200000 m,
      approachRate: 0.393480 m/s,
      posRepo size: 4

2025-01-09T00:50:53.164Z,1736383853.164 [DockingStepper](INFO): Stopping
2025-01-09T00:50:53.205Z,1736383853.205 [DAT](INFO): DAT read: Rx Time:00:50:52.1134 

2025-01-09T00:50:53.205Z,1736383853.205 [DAT](INFO): Rx dataTimestamp_ set to:1736383853.205215
2025-01-09T00:50:53.207Z,1736383853.207 [DAT](INFO): DAT read: Bearing 155.1, -41.9 (Local)

2025-01-09T00:50:53.207Z,1736383853.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.1, -41.9 (Local)

2025-01-09T00:50:53.209Z,1736383853.209 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:50:53.214Z,1736383853.214 [DAT](INFO): DAT read: 00:50:52.1134 LVL= 11568, 18273, 18242, 14707, AGC= 28, IDX= 498, 0.14,-1.957,-1.224,-2.583,-0.906, PHS=-0.962,-0.271,-1.680, RAW=   0.6,  40.2, CAL= 354.9,  41.9, ROT= 155.1, -41.9

2025-01-09T00:50:53.215Z,1736383853.215 [DAT](INFO): got valid direction response:
 00:50:52.1134 LVL= 11568, 18273, 18242, 14707, AGC= 28, IDX= 498, 0.14,-1.957,-1.224,-2.583,-0.906, PHS=-0.962,-0.271,-1.680, RAW=   0.6,  40.2, CAL= 354.9,  41.9, ROT= 155.1, -41.9

2025-01-09T00:50:53.216Z,1736383853.216 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-01-09T00:50:53.216Z,1736383853.216 [DAT](INFO): direction in FSK: [-0.675123,0.313382,0.667833]
2025-01-09T00:50:53.217Z,1736383853.217 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:53.221Z,1736383853.221 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.591042
2025-01-09T00:50:53.437Z,1736383853.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:53.456Z,1736383853.456 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.826688
2025-01-09T00:50:53.463Z,1736383853.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.499787 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:53.469Z,1736383853.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 180.610039 deg,
      lat: 36.904008 deg,
      lon: -122.118961 deg,
      deltaT: 0.499787 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:53.470Z,1736383853.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 0.50 m.
2025-01-09T00:50:53.501Z,1736383853.501 [DockingStepper](INFO): Stopping
2025-01-09T00:50:53.713Z,1736383853.713 [DAT](INFO): DAT read: Rx Time:00:50:52.6135 

2025-01-09T00:50:53.715Z,1736383853.715 [DAT](INFO): Rx dataTimestamp_ set to:1736383853.713975
2025-01-09T00:50:53.720Z,1736383853.720 [DAT](INFO): DAT read: Bearing 156.7, -39.7 (Local)

2025-01-09T00:50:53.721Z,1736383853.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.7, -39.7 (Local)

2025-01-09T00:50:53.733Z,1736383853.733 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:50:53.746Z,1736383853.746 [DAT](INFO): DAT read: 00:50:52.6135 LVL= 10544, 17441, 16754, 13667, AGC= 29, IDX= 499, 0.22,-0.808,-0.006,-1.433, 0.239, PHS=-0.958,-0.198,-1.675, RAW= 359.0,  38.0, CAL= 353.3,  39.7, ROT= 156.7, -39.7

2025-01-09T00:50:53.752Z,1736383853.752 [DAT](INFO): got valid direction response:
 00:50:52.6135 LVL= 10544, 17441, 16754, 13667, AGC= 29, IDX= 499, 0.22,-0.808,-0.006,-1.433, 0.239, PHS=-0.958,-0.198,-1.675, RAW= 359.0,  38.0, CAL= 353.3,  39.7, ROT= 156.7, -39.7

2025-01-09T00:50:53.752Z,1736383853.752 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-01-09T00:50:53.753Z,1736383853.753 [DAT](INFO): direction in FSK: [-0.706652,0.304332,0.638768]
2025-01-09T00:50:53.753Z,1736383853.753 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:53.765Z,1736383853.765 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.135130
2025-01-09T00:50:53.888Z,1736383853.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:53.921Z,1736383853.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.508760 s,
      deltaX: 0.100000 m,
      approachRate: 0.196556 m/s,
      rangeRepo size: 4

2025-01-09T00:50:53.927Z,1736383853.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 184.097635 deg,
      lat: 36.904006 deg,
      lon: -122.118961 deg,
      deltaT: 0.508760 s,
      deltaX: 0.100000 m,
      approachRate: 0.196556 m/s,
      posRepo size: 4

2025-01-09T00:50:53.953Z,1736383853.953 [DockingStepper](INFO): Stopping
2025-01-09T00:50:53.960Z,1736383853.960 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.330617
2025-01-09T00:50:54.213Z,1736383854.213 [DAT](INFO): DAT read: Rx Time:00:50:53.1135 

2025-01-09T00:50:54.213Z,1736383854.213 [DAT](INFO): Rx dataTimestamp_ set to:1736383854.212970
2025-01-09T00:50:54.215Z,1736383854.215 [DAT](INFO): DAT read: Bearing 155.7, -39.6 (Local)

2025-01-09T00:50:54.215Z,1736383854.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.7, -39.6 (Local)

2025-01-09T00:50:54.217Z,1736383854.217 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:50:54.222Z,1736383854.222 [DAT](INFO): DAT read: 00:50:53.1135 LVL= 10848, 17937, 16882, 13699, AGC= 29, IDX= 498, 0.30,-2.177,-1.391,-2.830,-1.148, PHS=-0.941,-0.196,-1.685, RAW=   0.0,  37.7, CAL= 354.3,  39.6, ROT= 155.7, -39.6

2025-01-09T00:50:54.223Z,1736383854.223 [DAT](INFO): got valid direction response:
 00:50:53.1135 LVL= 10848, 17937, 16882, 13699, AGC= 29, IDX= 498, 0.30,-2.177,-1.391,-2.830,-1.148, PHS=-0.941,-0.196,-1.685, RAW=   0.0,  37.7, CAL= 354.3,  39.6, ROT= 155.7, -39.6

2025-01-09T00:50:54.223Z,1736383854.223 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-01-09T00:50:54.224Z,1736383854.224 [DAT](INFO): direction in FSK: [-0.702248,0.317077,0.637424]
2025-01-09T00:50:54.224Z,1736383854.224 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:54.232Z,1736383854.232 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.602034
2025-01-09T00:50:54.308Z,1736383854.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:54.334Z,1736383854.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.498995 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:54.341Z,1736383854.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 183.106083 deg,
      lat: 36.904006 deg,
      lon: -122.118961 deg,
      deltaT: 0.498995 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:54.465Z,1736383854.465 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.834771
2025-01-09T00:50:54.528Z,1736383854.528 [DockingStepper](INFO): Stopping
2025-01-09T00:50:54.721Z,1736383854.721 [DAT](INFO): DAT read: Rx Time:00:50:53.6136 

2025-01-09T00:50:54.722Z,1736383854.722 [DAT](INFO): Rx dataTimestamp_ set to:1736383854.721557
2025-01-09T00:50:54.727Z,1736383854.727 [DAT](INFO): DAT read: Bearing 153.3, -39.7 (Local)

2025-01-09T00:50:54.728Z,1736383854.728 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.3, -39.7 (Local)

2025-01-09T00:50:54.738Z,1736383854.738 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:50:54.774Z,1736383854.774 [DAT](INFO): DAT read: 00:50:53.6136 LVL= 11504, 18257, 16930, 14035, AGC= 29, IDX= 499, 0.39,-1.954,-1.214,-2.686,-0.955, PHS=-0.912,-0.212,-1.734, RAW=   2.7,  37.4, CAL= 356.7,  39.7, ROT= 153.3, -39.7

2025-01-09T00:50:54.784Z,1736383854.784 [DAT](INFO): got valid direction response:
 00:50:53.6136 LVL= 11504, 18257, 16930, 14035, AGC= 29, IDX= 499, 0.39,-1.954,-1.214,-2.686,-0.955, PHS=-0.912,-0.212,-1.734, RAW=   2.7,  37.4, CAL= 356.7,  39.7, ROT= 153.3, -39.7

2025-01-09T00:50:54.785Z,1736383854.785 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-01-09T00:50:54.786Z,1736383854.786 [DAT](INFO): direction in FSK: [-0.687360,0.345706,0.638768]
2025-01-09T00:50:54.786Z,1736383854.786 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:54.797Z,1736383854.797 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.167667
2025-01-09T00:50:54.895Z,1736383854.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:54.929Z,1736383854.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.508587 s,
      deltaX: 0.200000 m,
      approachRate: 0.393246 m/s,
      rangeRepo size: 4

2025-01-09T00:50:54.935Z,1736383854.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 184.535950 deg,
      lat: 36.904005 deg,
      lon: -122.118962 deg,
      deltaT: 0.508587 s,
      deltaX: 0.200000 m,
      approachRate: 0.393246 m/s,
      posRepo size: 4

2025-01-09T00:50:54.969Z,1736383854.969 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.339179
2025-01-09T00:50:54.992Z,1736383854.992 [DockingStepper](INFO): Stopping
2025-01-09T00:50:55.181Z,1736383855.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:55.190Z,1736383855.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:55.221Z,1736383855.221 [DAT](INFO): DAT read: Rx Time:00:50:54.1135 

2025-01-09T00:50:55.221Z,1736383855.221 [DAT](INFO): Rx dataTimestamp_ set to:1736383855.220948
2025-01-09T00:50:55.223Z,1736383855.223 [DAT](INFO): DAT read: Bearing 150.7, -39.9 (Local)

2025-01-09T00:50:55.223Z,1736383855.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.7, -39.9 (Local)

2025-01-09T00:50:55.225Z,1736383855.225 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:50:55.230Z,1736383855.230 [DAT](INFO): DAT read: 00:50:54.1135 LVL= 12608, 18369, 16370, 14963, AGC= 29, IDX= 498, 0.46, 2.890,-2.709, 2.074,-2.423, PHS=-0.882,-0.238,-1.789, RAW=   5.6,  37.3, CAL= 359.3,  39.9, ROT= 150.7, -39.9

2025-01-09T00:50:55.231Z,1736383855.231 [DAT](INFO): got valid direction response:
 00:50:54.1135 LVL= 12608, 18369, 16370, 14963, AGC= 29, IDX= 498, 0.46, 2.890,-2.709, 2.074,-2.423, PHS=-0.882,-0.238,-1.789, RAW=   5.6,  37.3, CAL= 359.3,  39.9, ROT= 150.7, -39.9

2025-01-09T00:50:55.231Z,1736383855.231 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-01-09T00:50:55.232Z,1736383855.232 [DAT](INFO): direction in FSK: [-0.669021,0.375437,0.641450]
2025-01-09T00:50:55.232Z,1736383855.232 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:55.236Z,1736383855.236 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.605870
2025-01-09T00:50:55.360Z,1736383855.360 [DockingStepper](INFO): Stopping
2025-01-09T00:50:55.472Z,1736383855.472 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.842460
2025-01-09T00:50:55.592Z,1736383855.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:55.680Z,1736383855.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.499391 s,
      deltaX: -0.200000 m,
      approachRate: -0.400488 m/s,
      rangeRepo size: 4

2025-01-09T00:50:55.687Z,1736383855.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 186.084696 deg,
      lat: 36.904005 deg,
      lon: -122.118962 deg,
      deltaT: 0.499391 s,
      deltaX: -0.200000 m,
      approachRate: -0.400488 m/s,
      posRepo size: 4

2025-01-09T00:50:55.729Z,1736383855.729 [DAT](INFO): DAT read: Rx Time:00:50:54.6135 

2025-01-09T00:50:55.730Z,1736383855.730 [DAT](INFO): Rx dataTimestamp_ set to:1736383855.729219
2025-01-09T00:50:55.736Z,1736383855.736 [DAT](INFO): DAT read: Bearing 145.9, -40.6 (Local)

2025-01-09T00:50:55.737Z,1736383855.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.9, -40.6 (Local)

2025-01-09T00:50:55.745Z,1736383855.745 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:50:55.760Z,1736383855.760 [DAT](INFO): DAT read: 00:50:54.6135 LVL= 13744, 18417, 15858, 15859, AGC= 29, IDX= 499,-0.50, 1.951, 2.530, 0.987, 2.880, PHS=-0.842,-0.303,-1.896, RAW=  10.6,  37.5, CAL=   4.1,  40.6, ROT= 145.9, -40.6

2025-01-09T00:50:55.761Z,1736383855.761 [DAT](INFO): got valid direction response:
 00:50:54.6135 LVL= 13744, 18417, 15858, 15859, AGC= 29, IDX= 499,-0.50, 1.951, 2.530, 0.987, 2.880, PHS=-0.842,-0.303,-1.896, RAW=  10.6,  37.5, CAL=   4.1,  40.6, ROT= 145.9, -40.6

2025-01-09T00:50:55.761Z,1736383855.761 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-01-09T00:50:55.762Z,1736383855.762 [DAT](INFO): direction in FSK: [-0.628722,0.425677,0.650774]
2025-01-09T00:50:55.762Z,1736383855.762 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:55.784Z,1736383855.784 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.154405
2025-01-09T00:50:55.785Z,1736383855.785 [DockingStepper](INFO): Stopping
2025-01-09T00:50:55.976Z,1736383855.976 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.346543
2025-01-09T00:50:56.059Z,1736383856.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:56.078Z,1736383856.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.508271 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:56.080Z,1736383856.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 183.391173 deg,
      lat: 36.904005 deg,
      lon: -122.118962 deg,
      deltaT: 0.508271 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:56.160Z,1736383856.160 [DockingStepper](INFO): Stopping
2025-01-09T00:50:56.229Z,1736383856.229 [DAT](INFO): DAT read: Rx Time:00:50:55.1134 

2025-01-09T00:50:56.229Z,1736383856.229 [DAT](INFO): Rx dataTimestamp_ set to:1736383856.229199
2025-01-09T00:50:56.231Z,1736383856.231 [DAT](INFO): DAT read: Bearing 143.4, -41.0 (Local)

2025-01-09T00:50:56.231Z,1736383856.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.4, -41.0 (Local)

2025-01-09T00:50:56.233Z,1736383856.233 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:50:56.238Z,1736383856.238 [DAT](INFO): DAT read: 00:50:55.1134 LVL= 15328, 18353, 15650, 16771, AGC= 29, IDX= 498,-0.45, 1.231, 1.754, 0.193, 2.144, PHS=-0.825,-0.343,-1.954, RAW=  13.1,  37.6, CAL=   6.6,  41.0, ROT= 143.4, -41.0

2025-01-09T00:50:56.240Z,1736383856.240 [DAT](INFO): got valid direction response:
 00:50:55.1134 LVL= 15328, 18353, 15650, 16771, AGC= 29, IDX= 498,-0.45, 1.231, 1.754, 0.193, 2.144, PHS=-0.825,-0.343,-1.954, RAW=  13.1,  37.6, CAL=   6.6,  41.0, ROT= 143.4, -41.0

2025-01-09T00:50:56.240Z,1736383856.240 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-01-09T00:50:56.241Z,1736383856.241 [DAT](INFO): direction in FSK: [-0.605894,0.449977,0.656059]
2025-01-09T00:50:56.241Z,1736383856.241 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:56.245Z,1736383856.245 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.615100
2025-01-09T00:50:56.420Z,1736383856.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:56.446Z,1736383856.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.499980 s,
      deltaX: -0.100000 m,
      approachRate: -0.200008 m/s,
      rangeRepo size: 4

2025-01-09T00:50:56.453Z,1736383856.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 180.933404 deg,
      lat: 36.904005 deg,
      lon: -122.118962 deg,
      deltaT: 0.499980 s,
      deltaX: -0.100000 m,
      approachRate: -0.200008 m/s,
      posRepo size: 4

2025-01-09T00:50:56.474Z,1736383856.474 [DockingStepper](INFO): Stopping
2025-01-09T00:50:56.480Z,1736383856.480 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.850640
2025-01-09T00:50:56.736Z,1736383856.736 [DAT](INFO): DAT read: Rx Time:00:50:55.6135 

2025-01-09T00:50:56.737Z,1736383856.737 [DAT](INFO): Rx dataTimestamp_ set to:1736383856.736443
2025-01-09T00:50:56.741Z,1736383856.741 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:50:56.753Z,1736383856.753 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-01-09T00:50:56.758Z,1736383856.758 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.127501
2025-01-09T00:50:56.866Z,1736383856.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:56.876Z,1736383856.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.507244 s,
      deltaX: 0.100000 m,
      approachRate: 0.197144 m/s,
      rangeRepo size: 4

2025-01-09T00:50:56.985Z,1736383856.985 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.355227
2025-01-09T00:50:57.012Z,1736383857.012 [DockingStepper](INFO): Stopping
2025-01-09T00:50:57.221Z,1736383857.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:57.228Z,1736383857.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:57.237Z,1736383857.237 [DAT](INFO): DAT read: Rx Time:00:50:56.1134 

2025-01-09T00:50:57.237Z,1736383857.237 [DAT](INFO): Rx dataTimestamp_ set to:1736383857.236807
2025-01-09T00:50:57.238Z,1736383857.238 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:50:57.239Z,1736383857.239 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-01-09T00:50:57.240Z,1736383857.240 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.610258
2025-01-09T00:50:57.305Z,1736383857.305 [DockingStepper](INFO): Stopping
2025-01-09T00:50:57.488Z,1736383857.488 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.858440
2025-01-09T00:50:57.624Z,1736383857.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:57.634Z,1736383857.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.500364 s,
      deltaX: -0.100000 m,
      approachRate: -0.199855 m/s,
      rangeRepo size: 4

2025-01-09T00:50:57.748Z,1736383857.748 [DAT](INFO): DAT read: Rx Time:00:50:56.6135 

2025-01-09T00:50:57.750Z,1736383857.750 [DAT](INFO): Rx dataTimestamp_ set to:1736383857.749178
2025-01-09T00:50:57.756Z,1736383857.756 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:50:57.758Z,1736383857.758 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-01-09T00:50:57.767Z,1736383857.767 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.136148
2025-01-09T00:50:57.801Z,1736383857.801 [DockingStepper](INFO): Stopping
2025-01-09T00:50:57.992Z,1736383857.992 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.362558
2025-01-09T00:50:58.080Z,1736383858.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:58.140Z,1736383858.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.512371 s,
      deltaX: 0.100000 m,
      approachRate: 0.195171 m/s,
      rangeRepo size: 4

2025-01-09T00:50:58.245Z,1736383858.245 [DAT](INFO): DAT read: Rx Time:00:50:57.1134 

2025-01-09T00:50:58.245Z,1736383858.245 [DAT](INFO): Rx dataTimestamp_ set to:1736383858.245115
2025-01-09T00:50:58.247Z,1736383858.247 [DAT](INFO): DAT read: Bearing 135.8, -43.0 (Local)

2025-01-09T00:50:58.247Z,1736383858.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.8, -43.0 (Local)

2025-01-09T00:50:58.249Z,1736383858.249 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:50:58.256Z,1736383858.256 [DAT](INFO): DAT read: 00:50:57.1134 LVL= 16816, 20593, 16850, 17907, AGC= 28, IDX= 498,-0.10,-1.091,-0.740,-2.391,-0.173, PHS=-0.831,-0.520,-2.221, RAW=  20.1,  38.8, CAL=  14.2,  43.0, ROT= 135.8, -43.0

2025-01-09T00:50:58.257Z,1736383858.257 [DAT](INFO): got valid direction response:
 00:50:57.1134 LVL= 16816, 20593, 16850, 17907, AGC= 28, IDX= 498,-0.10,-1.091,-0.740,-2.391,-0.173, PHS=-0.831,-0.520,-2.221, RAW=  20.1,  38.8, CAL=  14.2,  43.0, ROT= 135.8, -43.0

2025-01-09T00:50:58.257Z,1736383858.257 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-01-09T00:50:58.258Z,1736383858.258 [DAT](INFO): direction in FSK: [-0.524315,0.509874,0.681998]
2025-01-09T00:50:58.258Z,1736383858.258 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:58.266Z,1736383858.266 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.636585
2025-01-09T00:50:58.308Z,1736383858.308 [DockingStepper](INFO): Stopping
2025-01-09T00:50:58.496Z,1736383858.496 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.866547
2025-01-09T00:50:58.529Z,1736383858.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:58.626Z,1736383858.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.495937 s,
      deltaX: -0.100000 m,
      approachRate: -0.201639 m/s,
      rangeRepo size: 4

2025-01-09T00:50:58.647Z,1736383858.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 183.906179 deg,
      lat: 36.904005 deg,
      lon: -122.118962 deg,
      deltaT: 2.015916 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:58.702Z,1736383858.702 [DockingStepper](INFO): Stopping
2025-01-09T00:50:58.749Z,1736383858.749 [DAT](INFO): DAT read: Rx Time:00:50:57.6134 

2025-01-09T00:50:58.750Z,1736383858.750 [DAT](INFO): Rx dataTimestamp_ set to:1736383858.749449
2025-01-09T00:50:58.755Z,1736383858.755 [DAT](INFO): DAT read: Bearing 141.1, -42.8 (Local)

2025-01-09T00:50:58.757Z,1736383858.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.1, -42.8 (Local)

2025-01-09T00:50:58.762Z,1736383858.762 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:50:58.799Z,1736383858.799 [DAT](INFO): DAT read: 00:50:57.6134 LVL= 15312, 21425, 17122, 17363, AGC= 27, IDX= 498,-0.08,-0.487,-0.010,-1.605, 0.482, PHS=-0.881,-0.445,-2.090, RAW=  15.2,  39.3, CAL=   8.9,  42.8, ROT= 141.1, -42.8

2025-01-09T00:50:58.807Z,1736383858.807 [DAT](INFO): got valid direction response:
 00:50:57.6134 LVL= 15312, 21425, 17122, 17363, AGC= 27, IDX= 498,-0.08,-0.487,-0.010,-1.605, 0.482, PHS=-0.881,-0.445,-2.090, RAW=  15.2,  39.3, CAL=   8.9,  42.8, ROT= 141.1, -42.8

2025-01-09T00:50:58.814Z,1736383858.814 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-01-09T00:50:58.821Z,1736383858.821 [DAT](INFO): direction in FSK: [-0.571020,0.460755,0.679441]
2025-01-09T00:50:58.821Z,1736383858.821 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:58.830Z,1736383858.830 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.199923
2025-01-09T00:50:58.992Z,1736383858.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:59.002Z,1736383859.002 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.371862
2025-01-09T00:50:59.030Z,1736383859.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504334 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:50:59.033Z,1736383859.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 189.652812 deg,
      lat: 36.904006 deg,
      lon: -122.118962 deg,
      deltaT: 0.504334 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:50:59.073Z,1736383859.073 [DockingStepper](INFO): Stopping
2025-01-09T00:50:59.261Z,1736383859.261 [DAT](INFO): DAT read: Rx Time:00:50:58.1133 

2025-01-09T00:50:59.261Z,1736383859.261 [DAT](INFO): Rx dataTimestamp_ set to:1736383859.260914
2025-01-09T00:50:59.262Z,1736383859.262 [DAT](INFO): DAT read: Bearing 145.6, -42.3 (Local)

2025-01-09T00:50:59.263Z,1736383859.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.6, -42.3 (Local)

2025-01-09T00:50:59.270Z,1736383859.270 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:50:59.304Z,1736383859.304 [DAT](INFO): DAT read: 00:50:58.1133 LVL= 12832, 20449, 16434, 15411, AGC= 29, IDX= 497,-0.09,-1.091,-0.507,-2.065,-0.085, PHS=-0.918,-0.375,-1.982, RAW=  10.6,  39.3, CAL=   4.4,  42.3, ROT= 145.6, -42.3

2025-01-09T00:50:59.305Z,1736383859.305 [DAT](INFO): got valid direction response:
 00:50:58.1133 LVL= 12832, 20449, 16434, 15411, AGC= 29, IDX= 497,-0.09,-1.091,-0.507,-2.065,-0.085, PHS=-0.918,-0.375,-1.982, RAW=  10.6,  39.3, CAL=   4.4,  42.3, ROT= 145.6, -42.3

2025-01-09T00:50:59.305Z,1736383859.305 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-01-09T00:50:59.306Z,1736383859.306 [DAT](INFO): direction in FSK: [-0.610280,0.417867,0.673013]
2025-01-09T00:50:59.306Z,1736383859.306 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:59.314Z,1736383859.314 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.684181
2025-01-09T00:50:59.350Z,1736383859.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:59.416Z,1736383859.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.511465 s,
      deltaX: -0.200000 m,
      approachRate: -0.391034 m/s,
      rangeRepo size: 4

2025-01-09T00:50:59.432Z,1736383859.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 194.424234 deg,
      lat: 36.904006 deg,
      lon: -122.118958 deg,
      deltaT: 0.511465 s,
      deltaX: -0.200000 m,
      approachRate: -0.391034 m/s,
      posRepo size: 4

2025-01-09T00:50:59.492Z,1736383859.492 [DockingStepper](INFO): Stopping
2025-01-09T00:50:59.504Z,1736383859.504 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.874699
2025-01-09T00:50:59.717Z,1736383859.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:50:59.746Z,1736383859.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:50:59.761Z,1736383859.761 [DAT](INFO): DAT read: Rx Time:00:50:58.6134 

2025-01-09T00:50:59.763Z,1736383859.763 [DAT](INFO): Rx dataTimestamp_ set to:1736383859.761769
2025-01-09T00:50:59.768Z,1736383859.768 [DAT](INFO): DAT read: Bearing 149.1, -41.2 (Local)

2025-01-09T00:50:59.769Z,1736383859.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.1, -41.2 (Local)

2025-01-09T00:50:59.806Z,1736383859.806 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:50:59.840Z,1736383859.840 [DAT](INFO): DAT read: 00:50:58.6134 LVL=  9248, 16017, 15346, 13107, AGC= 32, IDX=   2,-0.10, 0.831, 1.497,-0.056, 1.851, PHS=-0.932,-0.307,-1.910, RAW=   7.2,  38.5, CAL=   0.9,  41.2, ROT= 149.1, -41.2

2025-01-09T00:50:59.841Z,1736383859.841 [DAT](INFO): got valid direction response:
 00:50:58.6134 LVL=  9248, 16017, 15346, 13107, AGC= 32, IDX=   2,-0.10, 0.831, 1.497,-0.056, 1.851, PHS=-0.932,-0.307,-1.910, RAW=   7.2,  38.5, CAL=   0.9,  41.2, ROT= 149.1, -41.2

2025-01-09T00:50:59.841Z,1736383859.841 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-01-09T00:50:59.842Z,1736383859.842 [DAT](INFO): direction in FSK: [-0.645621,0.386396,0.658689]
2025-01-09T00:50:59.842Z,1736383859.842 [DAT](INFO): publishing direction and range info
2025-01-09T00:50:59.854Z,1736383859.854 [DockingStepper](INFO): Stopping
2025-01-09T00:50:59.863Z,1736383859.863 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.221226
2025-01-09T00:51:00.008Z,1736383860.008 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.378469
2025-01-09T00:51:00.181Z,1736383860.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:00.198Z,1736383860.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.500855 s,
      deltaX: 0.200000 m,
      approachRate: 0.399317 m/s,
      rangeRepo size: 4

2025-01-09T00:51:00.201Z,1736383860.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 197.701747 deg,
      lat: 36.904006 deg,
      lon: -122.118957 deg,
      deltaT: 0.500855 s,
      deltaX: 0.200000 m,
      approachRate: 0.399317 m/s,
      posRepo size: 4

2025-01-09T00:51:00.261Z,1736383860.261 [DAT](INFO): DAT read: Rx Time:00:50:59.1133 

2025-01-09T00:51:00.262Z,1736383860.262 [DAT](INFO): Rx dataTimestamp_ set to:1736383860.261380
2025-01-09T00:51:00.263Z,1736383860.263 [DAT](INFO): DAT read: Bearing 149.9, -40.1 (Local)

2025-01-09T00:51:00.263Z,1736383860.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.9, -40.1 (Local)

2025-01-09T00:51:00.265Z,1736383860.265 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:00.271Z,1736383860.271 [DAT](INFO): DAT read: 00:50:59.1133 LVL= 12048, 20241, 13794, 14323, AGC= 29, IDX= 497,-0.09, 0.384, 1.066,-0.483, 1.372, PHS=-0.899,-0.259,-1.858, RAW=   6.5,  37.4, CAL=   0.1,  40.1, ROT= 149.9, -40.1

2025-01-09T00:51:00.272Z,1736383860.272 [DAT](INFO): got valid direction response:
 00:50:59.1133 LVL= 12048, 20241, 13794, 14323, AGC= 29, IDX= 497,-0.09, 0.384, 1.066,-0.483, 1.372, PHS=-0.899,-0.259,-1.858, RAW=   6.5,  37.4, CAL=   0.1,  40.1, ROT= 149.9, -40.1

2025-01-09T00:51:00.272Z,1736383860.272 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-01-09T00:51:00.273Z,1736383860.273 [DAT](INFO): direction in FSK: [-0.661773,0.383616,0.644124]
2025-01-09T00:51:00.274Z,1736383860.274 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:00.280Z,1736383860.280 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.650284
2025-01-09T00:51:00.380Z,1736383860.380 [DockingStepper](INFO): Stopping
2025-01-09T00:51:00.515Z,1736383860.515 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.884811
2025-01-09T00:51:00.576Z,1736383860.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:00.653Z,1736383860.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.499611 s,
      deltaX: -0.200000 m,
      approachRate: -0.400311 m/s,
      rangeRepo size: 4

2025-01-09T00:51:00.660Z,1736383860.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 198.094062 deg,
      lat: 36.904006 deg,
      lon: -122.118956 deg,
      deltaT: 0.499611 s,
      deltaX: -0.200000 m,
      approachRate: -0.400311 m/s,
      posRepo size: 4

2025-01-09T00:51:00.748Z,1736383860.748 [DockingStepper](INFO): Stopping
2025-01-09T00:51:00.768Z,1736383860.768 [DAT](INFO): DAT read: Rx Time:00:50:59.6134 

2025-01-09T00:51:00.769Z,1736383860.769 [DAT](INFO): Rx dataTimestamp_ set to:1736383860.768525
2025-01-09T00:51:00.771Z,1736383860.771 [DAT](INFO): DAT read: Bearing 147.5, -39.3 (Local)

2025-01-09T00:51:00.772Z,1736383860.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.5, -39.3 (Local)

2025-01-09T00:51:00.774Z,1736383860.774 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:00.781Z,1736383860.781 [DAT](INFO): DAT read: 00:50:59.6134 LVL=  7584, 15681, 11170, 12995, AGC= 32, IDX=   2,-0.05, 1.851, 2.463, 0.947, 2.747, PHS=-0.808,-0.237,-1.802, RAW=   8.9,  36.3, CAL=   2.5,  39.3, ROT= 147.5, -39.3

2025-01-09T00:51:00.785Z,1736383860.785 [DAT](INFO): got valid direction response:
 00:50:59.6134 LVL=  7584, 15681, 11170, 12995, AGC= 32, IDX=   2,-0.05, 1.851, 2.463, 0.947, 2.747, PHS=-0.808,-0.237,-1.802, RAW=   8.9,  36.3, CAL=   2.5,  39.3, ROT= 147.5, -39.3

2025-01-09T00:51:00.786Z,1736383860.786 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-01-09T00:51:00.794Z,1736383860.794 [DAT](INFO): direction in FSK: [-0.652650,0.415784,0.633381]
2025-01-09T00:51:00.795Z,1736383860.795 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:00.840Z,1736383860.840 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.197165
2025-01-09T00:51:01.017Z,1736383861.017 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.387463
2025-01-09T00:51:01.020Z,1736383861.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:01.035Z,1736383861.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.507145 s,
      deltaX: 0.200000 m,
      approachRate: 0.394365 m/s,
      rangeRepo size: 4

2025-01-09T00:51:01.038Z,1736383861.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 195.084517 deg,
      lat: 36.904007 deg,
      lon: -122.118956 deg,
      deltaT: 0.507145 s,
      deltaX: 0.200000 m,
      approachRate: 0.394365 m/s,
      posRepo size: 4

2025-01-09T00:51:01.192Z,1736383861.192 [DockingStepper](INFO): Stopping
2025-01-09T00:51:01.272Z,1736383861.272 [DAT](INFO): DAT read: Rx Time:00:51:00.1134 

2025-01-09T00:51:01.273Z,1736383861.273 [DAT](INFO): Rx dataTimestamp_ set to:1736383861.272667
2025-01-09T00:51:01.274Z,1736383861.274 [DAT](INFO): DAT read: Bearing 146.6, -39.1 (Local)

2025-01-09T00:51:01.275Z,1736383861.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.6, -39.1 (Local)

2025-01-09T00:51:01.277Z,1736383861.277 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:01.281Z,1736383861.281 [DAT](INFO): DAT read: 00:51:00.1134 LVL= 15088, 18081, 10674, 15795, AGC= 29, IDX= 497,-0.02, 1.156, 1.744, 0.243, 2.020, PHS=-0.776,-0.229,-1.780, RAW=   9.7,  35.9, CAL=   3.4,  39.1, ROT= 146.6, -39.1

2025-01-09T00:51:01.282Z,1736383861.282 [DAT](INFO): got valid direction response:
 00:51:00.1134 LVL= 15088, 18081, 10674, 15795, AGC= 29, IDX= 497,-0.02, 1.156, 1.744, 0.243, 2.020, PHS=-0.776,-0.229,-1.780, RAW=   9.7,  35.9, CAL=   3.4,  39.1, ROT= 146.6, -39.1

2025-01-09T00:51:01.283Z,1736383861.283 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-01-09T00:51:01.285Z,1736383861.285 [DAT](INFO): direction in FSK: [-0.647881,0.427198,0.630676]
2025-01-09T00:51:01.285Z,1736383861.285 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:01.289Z,1736383861.289 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.658781
2025-01-09T00:51:01.422Z,1736383861.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:01.496Z,1736383861.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504142 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:01.498Z,1736383861.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 193.138823 deg,
      lat: 36.904007 deg,
      lon: -122.118954 deg,
      deltaT: 0.504142 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:01.520Z,1736383861.520 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.890640
2025-01-09T00:51:01.529Z,1736383861.529 [DockingStepper](INFO): Stopping
2025-01-09T00:51:01.773Z,1736383861.773 [DAT](INFO): DAT read: Rx Time:00:51:00.6136 

2025-01-09T00:51:01.773Z,1736383861.773 [DAT](INFO): Rx dataTimestamp_ set to:1736383861.773081
2025-01-09T00:51:01.775Z,1736383861.775 [DAT](INFO): DAT read: Bearing 147.8, -39.3 (Local)

2025-01-09T00:51:01.775Z,1736383861.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.8, -39.3 (Local)

2025-01-09T00:51:01.777Z,1736383861.777 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:01.788Z,1736383861.788 [DAT](INFO): DAT read: 00:51:00.6136 LVL=  7568, 15073, 10434, 14387, AGC= 32, IDX=   2, 0.00, 2.792,-2.878, 1.909,-2.602, PHS=-0.801,-0.229,-1.775, RAW=   8.5,  36.2, CAL=   2.2,  39.3, ROT= 147.8, -39.3

2025-01-09T00:51:01.791Z,1736383861.791 [DAT](INFO): got valid direction response:
 00:51:00.6136 LVL=  7568, 15073, 10434, 14387, AGC= 32, IDX=   2, 0.00, 2.792,-2.878, 1.909,-2.602, PHS=-0.801,-0.229,-1.775, RAW=   8.5,  36.2, CAL=   2.2,  39.3, ROT= 147.8, -39.3

2025-01-09T00:51:01.792Z,1736383861.792 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-01-09T00:51:01.808Z,1736383861.808 [DAT](INFO): direction in FSK: [-0.654818,0.412361,0.633381]
2025-01-09T00:51:01.809Z,1736383861.809 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:01.853Z,1736383861.853 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.222811
2025-01-09T00:51:01.962Z,1736383861.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:01.991Z,1736383861.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.500414 s,
      deltaX: 0.300000 m,
      approachRate: 0.599504 m/s,
      rangeRepo size: 4

2025-01-09T00:51:01.997Z,1736383861.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 193.031570 deg,
      lat: 36.904007 deg,
      lon: -122.118954 deg,
      deltaT: 0.500414 s,
      deltaX: 0.300000 m,
      approachRate: 0.599504 m/s,
      posRepo size: 4

2025-01-09T00:51:02.025Z,1736383862.025 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.394796
2025-01-09T00:51:02.032Z,1736383862.032 [DockingStepper](INFO): Stopping
2025-01-09T00:51:02.245Z,1736383862.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:02.260Z,1736383862.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:02.277Z,1736383862.277 [DAT](INFO): DAT read: Rx Time:00:51:01.1134 

2025-01-09T00:51:02.277Z,1736383862.277 [DAT](INFO): Rx dataTimestamp_ set to:1736383862.277168
2025-01-09T00:51:02.279Z,1736383862.279 [DAT](INFO): DAT read: Bearing 149.7, -40.5 (Local)

2025-01-09T00:51:02.279Z,1736383862.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.7, -40.5 (Local)

2025-01-09T00:51:02.281Z,1736383862.281 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:02.288Z,1736383862.288 [DAT](INFO): DAT read: 00:51:01.1134 LVL= 13456, 17873, 12242, 16227, AGC= 29, IDX= 497,-0.02, 1.777, 2.428, 0.945, 2.739, PHS=-0.874,-0.264,-1.796, RAW=   6.7,  37.8, CAL=   0.3,  40.5, ROT= 149.7, -40.5

2025-01-09T00:51:02.289Z,1736383862.289 [DAT](INFO): got valid direction response:
 00:51:01.1134 LVL= 13456, 17873, 12242, 16227, AGC= 29, IDX= 497,-0.02, 1.777, 2.428, 0.945, 2.739, PHS=-0.874,-0.264,-1.796, RAW=   6.7,  37.8, CAL=   0.3,  40.5, ROT= 149.7, -40.5

2025-01-09T00:51:02.289Z,1736383862.289 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-01-09T00:51:02.290Z,1736383862.290 [DAT](INFO): direction in FSK: [-0.656531,0.383646,0.649448]
2025-01-09T00:51:02.290Z,1736383862.290 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:02.306Z,1736383862.306 [DockingStepper](INFO): Stopping
2025-01-09T00:51:02.309Z,1736383862.309 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.679478
2025-01-09T00:51:02.528Z,1736383862.528 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.898539
2025-01-09T00:51:02.633Z,1736383862.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:02.647Z,1736383862.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504087 s,
      deltaX: -0.300000 m,
      approachRate: -0.595135 m/s,
      rangeRepo size: 4

2025-01-09T00:51:02.649Z,1736383862.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 191.461206 deg,
      lat: 36.904007 deg,
      lon: -122.118954 deg,
      deltaT: 0.504087 s,
      deltaX: -0.300000 m,
      approachRate: -0.595135 m/s,
      posRepo size: 4

2025-01-09T00:51:02.690Z,1736383862.690 [DockingStepper](INFO): Stopping
2025-01-09T00:51:02.781Z,1736383862.781 [DAT](INFO): DAT read: Rx Time:00:51:01.6134 

2025-01-09T00:51:02.781Z,1736383862.781 [DAT](INFO): Rx dataTimestamp_ set to:1736383862.780865
2025-01-09T00:51:02.782Z,1736383862.782 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:02.784Z,1736383862.784 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-01-09T00:51:02.785Z,1736383862.785 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.155069
2025-01-09T00:51:03.032Z,1736383863.032 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.402603
2025-01-09T00:51:03.080Z,1736383863.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:03.116Z,1736383863.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503697 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:03.148Z,1736383863.148 [DockingStepper](INFO): Stopping
2025-01-09T00:51:03.285Z,1736383863.285 [DAT](INFO): DAT read: Rx Time:00:51:02.1133 

2025-01-09T00:51:03.285Z,1736383863.285 [DAT](INFO): Rx dataTimestamp_ set to:1736383863.284973
2025-01-09T00:51:03.286Z,1736383863.286 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:03.287Z,1736383863.287 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-01-09T00:51:03.288Z,1736383863.288 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.658348
2025-01-09T00:51:03.448Z,1736383863.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:03.480Z,1736383863.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504108 s,
      deltaX: -0.200000 m,
      approachRate: -0.396740 m/s,
      rangeRepo size: 4

2025-01-09T00:51:03.525Z,1736383863.525 [DockingStepper](INFO): Stopping
2025-01-09T00:51:03.536Z,1736383863.536 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.906635
2025-01-09T00:51:03.789Z,1736383863.789 [DAT](INFO): DAT read: Rx Time:00:51:02.6137 

2025-01-09T00:51:03.789Z,1736383863.789 [DAT](INFO): Rx dataTimestamp_ set to:1736383863.789094
2025-01-09T00:51:03.791Z,1736383863.791 [DAT](INFO): DAT read: Bearing 153.6, -46.7 (Local)

2025-01-09T00:51:03.791Z,1736383863.791 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.6, -46.7 (Local)

2025-01-09T00:51:03.797Z,1736383863.797 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:51:03.802Z,1736383863.802 [DAT](INFO): DAT read: 00:51:02.6137 LVL=  5808, 14321, 13666, 10803, AGC= 31, IDX=   1, 0.01, 2.802,-2.794, 2.178,-2.308, PHS=-1.085,-0.439,-1.800, RAW=   1.7,  44.9, CAL= 356.4,  46.7, ROT= 153.6, -46.7

2025-01-09T00:51:03.803Z,1736383863.803 [DAT](INFO): got valid direction response:
 00:51:02.6137 LVL=  5808, 14321, 13666, 10803, AGC= 31, IDX=   1, 0.01, 2.802,-2.794, 2.178,-2.308, PHS=-1.085,-0.439,-1.800, RAW=   1.7,  44.9, CAL= 356.4,  46.7, ROT= 153.6, -46.7

2025-01-09T00:51:03.804Z,1736383863.804 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-01-09T00:51:03.805Z,1736383863.805 [DAT](INFO): direction in FSK: [-0.614296,0.304939,0.727773]
2025-01-09T00:51:03.805Z,1736383863.805 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:03.869Z,1736383863.869 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.238268
2025-01-09T00:51:04.001Z,1736383864.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:04.035Z,1736383864.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504121 s,
      deltaX: 0.600000 m,
      approachRate: 1.190190 m/s,
      rangeRepo size: 4

2025-01-09T00:51:04.041Z,1736383864.041 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.410877
2025-01-09T00:51:04.048Z,1736383864.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 191.037870 deg,
      lat: 36.904007 deg,
      lon: -122.118954 deg,
      deltaT: 1.511926 s,
      deltaX: 0.400000 m,
      approachRate: 0.264563 m/s,
      posRepo size: 4

2025-01-09T00:51:04.156Z,1736383864.156 [DockingStepper](INFO): Stopped
2025-01-09T00:51:04.293Z,1736383864.293 [DAT](INFO): DAT read: Rx Time:00:51:03.1136 

2025-01-09T00:51:04.293Z,1736383864.293 [DAT](INFO): Rx dataTimestamp_ set to:1736383864.293024
2025-01-09T00:51:04.295Z,1736383864.295 [DAT](INFO): DAT read: Bearing 153.8, -48.1 (Local)

2025-01-09T00:51:04.295Z,1736383864.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.8, -48.1 (Local)

2025-01-09T00:51:04.297Z,1736383864.297 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:04.303Z,1736383864.303 [DAT](INFO): DAT read: 00:51:03.1136 LVL=  8976, 16369, 15058, 13251, AGC= 27, IDX= 496, 0.04, 2.111, 2.781, 1.519,-2.980, PHS=-1.104,-0.475,-1.786, RAW=   1.3,  46.3, CAL= 356.2,  48.1, ROT= 153.8, -48.1

2025-01-09T00:51:04.304Z,1736383864.304 [DAT](INFO): got valid direction response:
 00:51:03.1136 LVL=  8976, 16369, 15058, 13251, AGC= 27, IDX= 496, 0.04, 2.111, 2.781, 1.519,-2.980, PHS=-1.104,-0.475,-1.786, RAW=   1.3,  46.3, CAL= 356.2,  48.1, ROT= 153.8, -48.1

2025-01-09T00:51:04.305Z,1736383864.305 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-01-09T00:51:04.305Z,1736383864.305 [DAT](INFO): direction in FSK: [-0.599218,0.294852,0.744312]
2025-01-09T00:51:04.306Z,1736383864.306 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:04.340Z,1736383864.340 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-01-09T00:51:04.340Z,1736383864.340 [DockingStepper] No Fault, FailCount= 1
2025-01-09T00:51:04.357Z,1736383864.357 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.727674
2025-01-09T00:51:04.413Z,1736383864.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:04.465Z,1736383864.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.503930 s,
      deltaX: -0.100000 m,
      approachRate: -0.198440 m/s,
      rangeRepo size: 4

2025-01-09T00:51:04.467Z,1736383864.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 187.199903 deg,
      lat: 36.904006 deg,
      lon: -122.118954 deg,
      deltaT: 0.503930 s,
      deltaX: -0.100000 m,
      approachRate: -0.198440 m/s,
      posRepo size: 4

2025-01-09T00:51:04.511Z,1736383864.511 [DockingStepper](INFO): Start
2025-01-09T00:51:04.512Z,1736383864.512 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-09T00:51:04.512Z,1736383864.512 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-09T00:51:04.546Z,1736383864.546 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.916372
2025-01-09T00:51:04.776Z,1736383864.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:04.785Z,1736383864.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:04.797Z,1736383864.797 [DAT](INFO): DAT read: Rx Time:00:51:03.6137 

2025-01-09T00:51:04.797Z,1736383864.797 [DAT](INFO): Rx dataTimestamp_ set to:1736383864.797172
2025-01-09T00:51:04.799Z,1736383864.799 [DAT](INFO): DAT read: Bearing 150.6, -50.2 (Local)

2025-01-09T00:51:04.799Z,1736383864.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.6, -50.2 (Local)

2025-01-09T00:51:04.802Z,1736383864.802 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:51:04.826Z,1736383864.826 [DAT](INFO): DAT read: 00:51:03.6137 LVL= 10032, 15153, 16754, 14707, AGC= 26, IDX= 497, 0.08, 2.996,-2.704, 2.372,-2.106, PHS=-1.093,-0.550,-1.808, RAW=   4.5,  48.2, CAL= 359.4,  50.2, ROT= 150.6, -50.2

2025-01-09T00:51:04.829Z,1736383864.829 [DAT](INFO): got valid direction response:
 00:51:03.6137 LVL= 10032, 15153, 16754, 14707, AGC= 26, IDX= 497, 0.08, 2.996,-2.704, 2.372,-2.106, PHS=-1.093,-0.550,-1.808, RAW=   4.5,  48.2, CAL= 359.4,  50.2, ROT= 150.6, -50.2

2025-01-09T00:51:04.830Z,1736383864.830 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-01-09T00:51:04.843Z,1736383864.843 [DAT](INFO): direction in FSK: [-0.557672,0.314232,0.768284]
2025-01-09T00:51:04.853Z,1736383864.853 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:04.892Z,1736383864.892 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.256632
2025-01-09T00:51:04.989Z,1736383864.989 [DockingStepper](INFO): Starting
2025-01-09T00:51:05.048Z,1736383865.048 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.418503
2025-01-09T00:51:05.224Z,1736383865.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:05.239Z,1736383865.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504148 s,
      deltaX: 0.100000 m,
      approachRate: 0.198354 m/s,
      rangeRepo size: 4

2025-01-09T00:51:05.257Z,1736383865.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 181.665287 deg,
      lat: 36.904005 deg,
      lon: -122.118954 deg,
      deltaT: 0.504148 s,
      deltaX: 0.100000 m,
      approachRate: 0.198354 m/s,
      posRepo size: 4

2025-01-09T00:51:05.303Z,1736383865.303 [DAT](INFO): DAT read: Rx Time:00:51:04.1136 

2025-01-09T00:51:05.303Z,1736383865.303 [DAT](INFO): Rx dataTimestamp_ set to:1736383865.303183
2025-01-09T00:51:05.305Z,1736383865.305 [DAT](INFO): DAT read: Bearing 154.0, -48.2 (Local)

2025-01-09T00:51:05.306Z,1736383865.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.0, -48.2 (Local)

2025-01-09T00:51:05.309Z,1736383865.309 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:05.316Z,1736383865.316 [DAT](INFO): DAT read: 00:51:04.1136 LVL=  9136, 15921, 15010, 13027, AGC= 27, IDX= 496, 0.11, 2.359, 3.019, 1.788,-2.747, PHS=-1.090,-0.470,-1.751, RAW=   1.1,  46.5, CAL= 356.0,  48.2, ROT= 154.0, -48.2

2025-01-09T00:51:05.318Z,1736383865.318 [DAT](INFO): got valid direction response:
 00:51:04.1136 LVL=  9136, 15921, 15010, 13027, AGC= 27, IDX= 496, 0.11, 2.359, 3.019, 1.788,-2.747, PHS=-1.090,-0.470,-1.751, RAW=   1.1,  46.5, CAL= 356.0,  48.2, ROT= 154.0, -48.2

2025-01-09T00:51:05.318Z,1736383865.318 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-01-09T00:51:05.321Z,1736383865.321 [DockingStepper](INFO): Starting
2025-01-09T00:51:05.344Z,1736383865.344 [DAT](INFO): direction in FSK: [-0.599075,0.292189,0.745476]
2025-01-09T00:51:05.344Z,1736383865.344 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:05.362Z,1736383865.362 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.732241
2025-01-09T00:51:05.554Z,1736383865.554 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.923906
2025-01-09T00:51:05.617Z,1736383865.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:05.678Z,1736383865.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.506011 s,
      deltaX: -0.100000 m,
      approachRate: -0.197624 m/s,
      rangeRepo size: 4

2025-01-09T00:51:05.692Z,1736383865.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 182.022174 deg,
      lat: 36.904005 deg,
      lon: -122.118954 deg,
      deltaT: 0.506011 s,
      deltaX: -0.100000 m,
      approachRate: -0.197624 m/s,
      posRepo size: 4

2025-01-09T00:51:05.693Z,1736383865.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 0.80 m.
2025-01-09T00:51:05.805Z,1736383865.805 [DAT](INFO): DAT read: Rx Time:00:51:04.6138 

2025-01-09T00:51:05.805Z,1736383865.805 [DAT](INFO): Rx dataTimestamp_ set to:1736383865.804972
2025-01-09T00:51:05.807Z,1736383865.807 [DAT](INFO): DAT read: Bearing 151.7, -49.6 (Local)

2025-01-09T00:51:05.807Z,1736383865.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.7, -49.6 (Local)

2025-01-09T00:51:05.809Z,1736383865.809 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:51:05.814Z,1736383865.814 [DAT](INFO): DAT read: 00:51:04.6138 LVL= 10192, 15601, 16770, 14387, AGC= 26, IDX= 497, 0.17,-2.772,-2.173, 2.917,-1.610, PHS=-1.074,-0.516,-1.759, RAW=   3.4,  47.7, CAL= 358.3,  49.6, ROT= 151.7, -49.6

2025-01-09T00:51:05.815Z,1736383865.815 [DAT](INFO): got valid direction response:
 00:51:04.6138 LVL= 10192, 15601, 16770, 14387, AGC= 26, IDX= 497, 0.17,-2.772,-2.173, 2.917,-1.610, PHS=-1.074,-0.516,-1.759, RAW=   3.4,  47.7, CAL= 358.3,  49.6, ROT= 151.7, -49.6

2025-01-09T00:51:05.815Z,1736383865.815 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-01-09T00:51:05.817Z,1736383865.817 [DAT](INFO): direction in FSK: [-0.570655,0.307266,0.761538]
2025-01-09T00:51:05.817Z,1736383865.817 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:05.823Z,1736383865.823 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.192217
2025-01-09T00:51:05.863Z,1736383865.863 [DockingStepper](INFO): Starting
2025-01-09T00:51:05.916Z,1736383865.916 [DockingStepper](INFO): Init string: /1z14575aE13561N3m50
2025-01-09T00:51:06.056Z,1736383866.056 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.426521
2025-01-09T00:51:06.210Z,1736383866.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:06.225Z,1736383866.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.501789 s,
      deltaX: 0.300000 m,
      approachRate: 0.597861 m/s,
      rangeRepo size: 4

2025-01-09T00:51:06.227Z,1736383866.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 176.671105 deg,
      lat: 36.904005 deg,
      lon: -122.118954 deg,
      deltaT: 0.501789 s,
      deltaX: 0.300000 m,
      approachRate: 0.597861 m/s,
      posRepo size: 4

2025-01-09T00:51:06.248Z,1736383866.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.10 m.
2025-01-09T00:51:06.309Z,1736383866.309 [DAT](INFO): DAT read: Rx Time:00:51:05.1137 

2025-01-09T00:51:06.310Z,1736383866.310 [DAT](INFO): Rx dataTimestamp_ set to:1736383866.309358
2025-01-09T00:51:06.311Z,1736383866.311 [DAT](INFO): DAT read: Bearing 153.9, -47.4 (Local)

2025-01-09T00:51:06.311Z,1736383866.311 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9, -47.4 (Local)

2025-01-09T00:51:06.313Z,1736383866.313 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:51:06.319Z,1736383866.319 [DAT](INFO): DAT read: 00:51:05.1137 LVL=  9296, 14737, 16818, 13043, AGC= 27, IDX= 496, 0.23, 2.194, 2.854, 1.617,-2.940, PHS=-1.061,-0.442,-1.729, RAW=   1.3,  45.7, CAL= 356.1,  47.4, ROT= 153.9, -47.4

2025-01-09T00:51:06.320Z,1736383866.320 [DAT](INFO): got valid direction response:
 00:51:05.1137 LVL=  9296, 14737, 16818, 13043, AGC= 27, IDX= 496, 0.23, 2.194, 2.854, 1.617,-2.940, PHS=-1.061,-0.442,-1.729, RAW=   1.3,  45.7, CAL= 356.1,  47.4, ROT= 153.9, -47.4

2025-01-09T00:51:06.321Z,1736383866.321 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-01-09T00:51:06.321Z,1736383866.321 [DAT](INFO): direction in FSK: [-0.607853,0.297784,0.736097]
2025-01-09T00:51:06.322Z,1736383866.322 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:06.334Z,1736383866.334 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.704472
2025-01-09T00:51:06.408Z,1736383866.408 [DockingStepper](INFO): Starting
2025-01-09T00:51:06.563Z,1736383866.563 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.932335
2025-01-09T00:51:06.665Z,1736383866.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:06.707Z,1736383866.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504386 s,
      deltaX: -0.200000 m,
      approachRate: -0.396522 m/s,
      rangeRepo size: 4

2025-01-09T00:51:06.709Z,1736383866.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 178.319879 deg,
      lat: 36.904005 deg,
      lon: -122.118954 deg,
      deltaT: 0.504386 s,
      deltaX: -0.200000 m,
      approachRate: -0.396522 m/s,
      posRepo size: 4

2025-01-09T00:51:06.741Z,1736383866.741 [DockingStepper](INFO): Starting
2025-01-09T00:51:06.813Z,1736383866.813 [DAT](INFO): DAT read: Rx Time:00:51:05.6134 

2025-01-09T00:51:06.814Z,1736383866.814 [DAT](INFO): Rx dataTimestamp_ set to:1736383866.813259
2025-01-09T00:51:06.815Z,1736383866.815 [DAT](INFO): DAT read: Bearing 155.2, -44.6 (Local)

2025-01-09T00:51:06.815Z,1736383866.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.2, -44.6 (Local)

2025-01-09T00:51:06.818Z,1736383866.818 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:06.823Z,1736383866.823 [DAT](INFO): DAT read: 00:51:05.6134 LVL=  9776, 16177, 16530, 13123, AGC= 29, IDX= 496, 0.35, 1.543, 2.262, 0.951, 2.662, PHS=-1.031,-0.353,-1.715, RAW=   0.1,  42.9, CAL= 354.8,  44.6, ROT= 155.2, -44.6

2025-01-09T00:51:06.824Z,1736383866.824 [DAT](INFO): got valid direction response:
 00:51:05.6134 LVL=  9776, 16177, 16530, 13123, AGC= 29, IDX= 496, 0.35, 1.543, 2.262, 0.951, 2.662, PHS=-1.031,-0.353,-1.715, RAW=   0.1,  42.9, CAL= 354.8,  44.6, ROT= 155.2, -44.6

2025-01-09T00:51:06.825Z,1736383866.825 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-01-09T00:51:06.826Z,1736383866.826 [DAT](INFO): direction in FSK: [-0.646361,0.298661,0.702153]
2025-01-09T00:51:06.826Z,1736383866.826 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:06.829Z,1736383866.829 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.199711
2025-01-09T00:51:07.044Z,1736383867.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:07.064Z,1736383867.064 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.434690
2025-01-09T00:51:07.125Z,1736383867.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503901 s,
      deltaX: -0.400000 m,
      approachRate: -0.793807 m/s,
      rangeRepo size: 4

2025-01-09T00:51:07.149Z,1736383867.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 179.301260 deg,
      lat: 36.904005 deg,
      lon: -122.118954 deg,
      deltaT: 0.503901 s,
      deltaX: -0.400000 m,
      approachRate: -0.793807 m/s,
      posRepo size: 4

2025-01-09T00:51:07.180Z,1736383867.180 [DockingStepper](INFO): Starting
2025-01-09T00:51:07.317Z,1736383867.317 [DAT](INFO): DAT read: Rx Time:00:51:06.1134 

2025-01-09T00:51:07.318Z,1736383867.318 [DAT](INFO): Rx dataTimestamp_ set to:1736383867.317479
2025-01-09T00:51:07.319Z,1736383867.319 [DAT](INFO): DAT read: Bearing 141.8, -23.2 (Local)

2025-01-09T00:51:07.319Z,1736383867.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.8, -23.2 (Local)

2025-01-09T00:51:07.322Z,1736383867.322 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:07.326Z,1736383867.326 [DAT](INFO): DAT read: 00:51:06.1134 LVL= 11360, 18049, 17986, 14707, AGC= 27, IDX= 512,-0.48,-2.757,-1.902, 2.094,-2.330, PHS=-0.339, 0.474,-1.862, RAW=   9.9,  16.6, CAL=   8.2,  23.2, ROT= 141.8, -23.2

2025-01-09T00:51:07.327Z,1736383867.327 [DAT](INFO): got valid direction response:
 00:51:06.1134 LVL= 11360, 18049, 17986, 14707, AGC= 27, IDX= 512,-0.48,-2.757,-1.902, 2.094,-2.330, PHS=-0.339, 0.474,-1.862, RAW=   9.9,  16.6, CAL=   8.2,  23.2, ROT= 141.8, -23.2

2025-01-09T00:51:07.328Z,1736383867.328 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-01-09T00:51:07.329Z,1736383867.329 [DAT](INFO): direction in FSK: [-0.722309,0.568401,0.393942]
2025-01-09T00:51:07.329Z,1736383867.329 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:07.337Z,1736383867.337 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.707197
2025-01-09T00:51:07.445Z,1736383867.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:07.479Z,1736383867.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504220 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:07.487Z,1736383867.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 166.995849 deg,
      lat: 36.904004 deg,
      lon: -122.118954 deg,
      deltaT: 0.504220 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:07.516Z,1736383867.516 [DockingStepper](INFO): Starting
2025-01-09T00:51:07.544Z,1736383867.544 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-09T00:51:07.569Z,1736383867.569 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.939316
2025-01-09T00:51:07.821Z,1736383867.821 [DAT](INFO): DAT read: Rx Time:00:51:06.6135 

2025-01-09T00:51:07.821Z,1736383867.821 [DAT](INFO): Rx dataTimestamp_ set to:1736383867.821143
2025-01-09T00:51:07.823Z,1736383867.823 [DAT](INFO): DAT read: Bearing 144.4, -22.2 (Local)

2025-01-09T00:51:07.823Z,1736383867.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.4, -22.2 (Local)

2025-01-09T00:51:07.825Z,1736383867.825 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:07.835Z,1736383867.835 [DAT](INFO): DAT read: 00:51:06.6135 LVL= 10576, 17105, 16258, 13347, AGC= 29, IDX= 513,-0.36,-2.441,-1.512, 2.578,-1.996, PHS=-0.357, 0.531,-1.712, RAW=   6.9,  15.5, CAL=   5.6,  22.2, ROT= 144.4, -22.2

2025-01-09T00:51:07.836Z,1736383867.836 [DAT](INFO): got valid direction response:
 00:51:06.6135 LVL= 10576, 17105, 16258, 13347, AGC= 29, IDX= 513,-0.36,-2.441,-1.512, 2.578,-1.996, PHS=-0.357, 0.531,-1.712, RAW=   6.9,  15.5, CAL=   5.6,  22.2, ROT= 144.4, -22.2

2025-01-09T00:51:07.836Z,1736383867.836 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-01-09T00:51:07.837Z,1736383867.837 [DAT](INFO): direction in FSK: [-0.752826,0.538971,0.377841]
2025-01-09T00:51:07.837Z,1736383867.837 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:07.841Z,1736383867.841 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.211145
2025-01-09T00:51:07.870Z,1736383867.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:07.968Z,1736383867.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503664 s,
      deltaX: 0.100000 m,
      approachRate: 0.198545 m/s,
      rangeRepo size: 4

2025-01-09T00:51:07.970Z,1736383867.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 169.545514 deg,
      lat: 36.904003 deg,
      lon: -122.118954 deg,
      deltaT: 0.503664 s,
      deltaX: 0.100000 m,
      approachRate: 0.198545 m/s,
      posRepo size: 4

2025-01-09T00:51:07.970Z,1736383867.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 0.60 m.
2025-01-09T00:51:08.020Z,1736383868.020 [DockingStepper](INFO): Starting
2025-01-09T00:51:08.072Z,1736383868.072 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.442587
2025-01-09T00:51:08.277Z,1736383868.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:08.285Z,1736383868.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:08.301Z,1736383868.301 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T00:51:08.301Z,1736383868.301 [DockingStepper](INFO): Standby mode.
2025-01-09T00:51:08.326Z,1736383868.326 [DAT](INFO): DAT read: Rx Time:00:51:07.1134 

2025-01-09T00:51:08.327Z,1736383868.327 [DAT](INFO): Rx dataTimestamp_ set to:1736383868.326548
2025-01-09T00:51:08.329Z,1736383868.329 [DAT](INFO): DAT read: Bearing 142.8, -22.9 (Local)

2025-01-09T00:51:08.329Z,1736383868.329 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.8, -22.9 (Local)

2025-01-09T00:51:08.333Z,1736383868.333 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:08.340Z,1736383868.340 [DAT](INFO): DAT read: 00:51:07.1134 LVL= 10832, 18001, 16466, 13587, AGC= 29, IDX= 512,-0.26, 2.635,-2.759, 1.261, 3.075, PHS=-0.352, 0.496,-1.817, RAW=   8.7,  16.3, CAL=   7.2,  22.9, ROT= 142.8, -22.9

2025-01-09T00:51:08.342Z,1736383868.342 [DAT](INFO): got valid direction response:
 00:51:07.1134 LVL= 10832, 18001, 16466, 13587, AGC= 29, IDX= 512,-0.26, 2.635,-2.759, 1.261, 3.075, PHS=-0.352, 0.496,-1.817, RAW=   8.7,  16.3, CAL=   7.2,  22.9, ROT= 142.8, -22.9

2025-01-09T00:51:08.342Z,1736383868.342 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-01-09T00:51:08.344Z,1736383868.344 [DAT](INFO): direction in FSK: [-0.733752,0.556948,0.389124]
2025-01-09T00:51:08.344Z,1736383868.344 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:08.353Z,1736383868.353 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.723240
2025-01-09T00:51:08.377Z,1736383868.377 [DockingStepper](INFO): Commanding positive:11544
2025-01-09T00:51:08.576Z,1736383868.576 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.946598
2025-01-09T00:51:08.696Z,1736383868.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:08.722Z,1736383868.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505405 s,
      deltaX: -0.100000 m,
      approachRate: -0.197861 m/s,
      rangeRepo size: 4

2025-01-09T00:51:08.728Z,1736383868.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 168.448055 deg,
      lat: 36.904003 deg,
      lon: -122.118954 deg,
      deltaT: 0.505405 s,
      deltaX: -0.100000 m,
      approachRate: -0.197861 m/s,
      posRepo size: 4

2025-01-09T00:51:08.729Z,1736383868.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 0.50 m.
2025-01-09T00:51:08.829Z,1736383868.829 [DAT](INFO): DAT read: Rx Time:00:51:07.6136 

2025-01-09T00:51:08.829Z,1736383868.829 [DAT](INFO): Rx dataTimestamp_ set to:1736383868.829102
2025-01-09T00:51:08.831Z,1736383868.831 [DAT](INFO): DAT read: Bearing 153.0, -38.6 (Local)

2025-01-09T00:51:08.834Z,1736383868.834 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.0, -38.6 (Local)

2025-01-09T00:51:08.837Z,1736383868.837 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:08.842Z,1736383868.842 [DAT](INFO): DAT read: 00:51:07.6136 LVL= 10000, 17889, 16706, 15203, AGC= 33, IDX=   2,-0.18,-0.950,-0.196,-1.702, 0.022, PHS=-0.884,-0.172,-1.727, RAW=   2.8,  36.1, CAL= 357.0,  38.6, ROT= 153.0, -38.6

2025-01-09T00:51:08.843Z,1736383868.843 [DAT](INFO): got valid direction response:
 00:51:07.6136 LVL= 10000, 17889, 16706, 15203, AGC= 33, IDX=   2,-0.18,-0.950,-0.196,-1.702, 0.022, PHS=-0.884,-0.172,-1.727, RAW=   2.8,  36.1, CAL= 357.0,  38.6, ROT= 153.0, -38.6

2025-01-09T00:51:08.851Z,1736383868.851 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-01-09T00:51:08.852Z,1736383868.852 [DAT](INFO): direction in FSK: [-0.696340,0.354803,0.623880]
2025-01-09T00:51:08.853Z,1736383868.853 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:08.860Z,1736383868.860 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.230682
2025-01-09T00:51:09.080Z,1736383869.080 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.450686
2025-01-09T00:51:09.225Z,1736383869.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:09.239Z,1736383869.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.502554 s,
      deltaX: 0.300000 m,
      approachRate: 0.596951 m/s,
      rangeRepo size: 4

2025-01-09T00:51:09.241Z,1736383869.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 179.067431 deg,
      lat: 36.904003 deg,
      lon: -122.118955 deg,
      deltaT: 0.502554 s,
      deltaX: 0.300000 m,
      approachRate: 0.596951 m/s,
      posRepo size: 4

2025-01-09T00:51:09.343Z,1736383869.343 [DAT](INFO): DAT read: Rx Time:00:51:08.1135 

2025-01-09T00:51:09.344Z,1736383869.344 [DAT](INFO): Rx dataTimestamp_ set to:1736383869.343539
2025-01-09T00:51:09.346Z,1736383869.346 [DAT](INFO): DAT read: Bearing 151.8, -38.3 (Local)

2025-01-09T00:51:09.347Z,1736383869.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.8, -38.3 (Local)

2025-01-09T00:51:09.361Z,1736383869.361 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:09.366Z,1736383869.366 [DAT](INFO): DAT read: 00:51:08.1135 LVL= 13616, 21761, 18130, 15539, AGC= 30, IDX= 497,-0.13,-1.714,-0.978,-2.504,-0.767, PHS=-0.859,-0.164,-1.739, RAW=   3.9,  35.5, CAL= 358.2,  38.3, ROT= 151.8, -38.3

2025-01-09T00:51:09.381Z,1736383869.381 [DAT](INFO): got valid direction response:
 00:51:08.1135 LVL= 13616, 21761, 18130, 15539, AGC= 30, IDX= 497,-0.13,-1.714,-0.978,-2.504,-0.767, PHS=-0.859,-0.164,-1.739, RAW=   3.9,  35.5, CAL= 358.2,  38.3, ROT= 151.8, -38.3

2025-01-09T00:51:09.381Z,1736383869.381 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-01-09T00:51:09.382Z,1736383869.382 [DAT](INFO): direction in FSK: [-0.691626,0.370847,0.619779]
2025-01-09T00:51:09.382Z,1736383869.382 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:09.390Z,1736383869.390 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.760551
2025-01-09T00:51:09.569Z,1736383869.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:09.604Z,1736383869.604 [DAT](INFO): DAT read: Rx Time:00:51:08.6136 

2025-01-09T00:51:09.605Z,1736383869.605 [DAT](INFO): Rx dataTimestamp_ set to:1736383869.604551
2025-01-09T00:51:09.608Z,1736383869.608 [DAT](INFO): DAT read: Bearing 148.9, -38.2 (Local)

2025-01-09T00:51:09.609Z,1736383869.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.9, -38.2 (Local)

2025-01-09T00:51:09.614Z,1736383869.614 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:09.632Z,1736383869.632 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-01-09T00:51:09.644Z,1736383869.644 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.005032
2025-01-09T00:51:09.653Z,1736383869.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.775449 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:09.658Z,1736383869.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 177.907391 deg,
      lat: 36.904002 deg,
      lon: -122.118955 deg,
      deltaT: 0.514437 s,
      deltaX: -0.200000 m,
      approachRate: -0.388775 m/s,
      posRepo size: 4

2025-01-09T00:51:09.850Z,1736383869.850 [DAT](INFO): DAT read: 00:51:08.6136 LVL=  8656, 16913, 17154, 13971, AGC= 33, IDX=   2,-0.09,-0.842,-0.161,-1.739, 0.071, PHS=-0.825,-0.185,-1.813, RAW=   7.0,  35.1, CAL=   1.1,  38.2, ROT= 148.9, -38.2

2025-01-09T00:51:09.851Z,1736383869.851 [DAT](INFO): got valid direction response:
 00:51:08.6136 LVL=  8656, 16913, 17154, 13971, AGC= 33, IDX=   2,-0.09,-0.842,-0.161,-1.739, 0.071, PHS=-0.825,-0.185,-1.813, RAW=   7.0,  35.1, CAL=   1.1,  38.2, ROT= 148.9, -38.2

2025-01-09T00:51:09.852Z,1736383869.852 [DAT](INFO): #Rx 51: Read direction message, but no range.
2025-01-09T00:51:09.853Z,1736383869.853 [DAT](INFO): direction in FSK: [-0.672903,0.405921,0.618408]
2025-01-09T00:51:09.856Z,1736383869.856 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.226423
2025-01-09T00:51:09.905Z,1736383869.905 [DockingStepper](INFO): Commanding positive:10854
2025-01-09T00:51:10.100Z,1736383870.100 [DAT](INFO): DAT read: Rx Time:00:51:09.1135 

2025-01-09T00:51:10.102Z,1736383870.102 [DAT](INFO): Rx dataTimestamp_ set to:1736383870.100720
2025-01-09T00:51:10.105Z,1736383870.105 [DAT](INFO): DAT read: Bearing 144.6, -40.1 (Local)

2025-01-09T00:51:10.106Z,1736383870.106 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.6, -40.1 (Local)

2025-01-09T00:51:10.112Z,1736383870.112 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.481125
2025-01-09T00:51:10.238Z,1736383870.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:10.353Z,1736383870.353 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:10.378Z,1736383870.378 [DAT](INFO): DAT read: 00:51:09.1135 LVL= 16304, 22673, 16114, 17731, AGC= 29, IDX= 497,-0.05,-2.312,-1.766, 2.973,-1.423, PHS=-0.801,-0.296,-1.890, RAW=  11.9,  36.8, CAL=   5.4,  40.1, ROT= 144.6, -40.1

2025-01-09T00:51:10.379Z,1736383870.379 [DAT](INFO): got valid direction response:
 00:51:09.1135 LVL= 16304, 22673, 16114, 17731, AGC= 29, IDX= 497,-0.05,-2.312,-1.766, 2.973,-1.423, PHS=-0.801,-0.296,-1.890, RAW=  11.9,  36.8, CAL=   5.4,  40.1, ROT= 144.6, -40.1

2025-01-09T00:51:10.392Z,1736383870.392 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-01-09T00:51:10.393Z,1736383870.393 [DAT](INFO): direction in FSK: [-0.623509,0.443104,0.644124]
2025-01-09T00:51:10.394Z,1736383870.394 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:10.397Z,1736383870.397 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.767685
2025-01-09T00:51:10.588Z,1736383870.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:10.602Z,1736383870.602 [DAT](INFO): DAT read: Rx Time:00:51:09.6135 

2025-01-09T00:51:10.603Z,1736383870.603 [DAT](INFO): Rx dataTimestamp_ set to:1736383870.602530
2025-01-09T00:51:10.604Z,1736383870.604 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:10.605Z,1736383870.605 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-01-09T00:51:10.606Z,1736383870.606 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.975872
2025-01-09T00:51:10.640Z,1736383870.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.997979 s,
      deltaX: -0.200000 m,
      approachRate: -0.200405 m/s,
      rangeRepo size: 4

2025-01-09T00:51:10.642Z,1736383870.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 174.202257 deg,
      lat: 36.904002 deg,
      lon: -122.118955 deg,
      deltaT: 1.258991 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:10.853Z,1736383870.853 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.222979
2025-01-09T00:51:11.102Z,1736383871.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:11.105Z,1736383871.105 [DAT](INFO): DAT read: Rx Time:00:51:10.1134 

2025-01-09T00:51:11.105Z,1736383871.105 [DAT](INFO): Rx dataTimestamp_ set to:1736383871.104801
2025-01-09T00:51:11.106Z,1736383871.106 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:11.107Z,1736383871.107 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-01-09T00:51:11.108Z,1736383871.108 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.478279
2025-01-09T00:51:11.134Z,1736383871.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:11.142Z,1736383871.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.502271 s,
      deltaX: -0.100000 m,
      approachRate: -0.199096 m/s,
      rangeRepo size: 4

2025-01-09T00:51:11.243Z,1736383871.243 [DockingStepper](INFO): Commanding positive:10749
2025-01-09T00:51:11.356Z,1736383871.356 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.726460
2025-01-09T00:51:11.497Z,1736383871.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:11.610Z,1736383871.610 [DAT](INFO): DAT read: Rx Time:00:51:10.6135 

2025-01-09T00:51:11.612Z,1736383871.612 [DAT](INFO): Rx dataTimestamp_ set to:1736383871.610745
2025-01-09T00:51:11.615Z,1736383871.615 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:11.616Z,1736383871.616 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-01-09T00:51:11.617Z,1736383871.617 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.987000
2025-01-09T00:51:11.860Z,1736383871.860 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.230450
2025-01-09T00:51:11.893Z,1736383871.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:11.903Z,1736383871.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.505944 s,
      deltaX: 0.100000 m,
      approachRate: 0.197650 m/s,
      rangeRepo size: 4

2025-01-09T00:51:12.113Z,1736383872.113 [DAT](INFO): DAT read: Rx Time:00:51:11.1134 

2025-01-09T00:51:12.113Z,1736383872.113 [DAT](INFO): Rx dataTimestamp_ set to:1736383872.112707
2025-01-09T00:51:12.114Z,1736383872.114 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:12.115Z,1736383872.115 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-01-09T00:51:12.116Z,1736383872.116 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.486071
2025-01-09T00:51:12.322Z,1736383872.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:12.334Z,1736383872.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.501962 s,
      deltaX: -0.100000 m,
      approachRate: -0.199218 m/s,
      rangeRepo size: 4

2025-01-09T00:51:12.366Z,1736383872.366 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.735445
2025-01-09T00:51:12.543Z,1736383872.543 [DockingStepper](INFO): Commanding positive:10657
2025-01-09T00:51:12.616Z,1736383872.616 [DAT](INFO): DAT read: Rx Time:00:51:11.6135 

2025-01-09T00:51:12.617Z,1736383872.617 [DAT](INFO): Rx dataTimestamp_ set to:1736383872.616561
2025-01-09T00:51:12.618Z,1736383872.618 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:12.619Z,1736383872.619 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-01-09T00:51:12.620Z,1736383872.620 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.990391
2025-01-09T00:51:12.800Z,1736383872.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:12.813Z,1736383872.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503854 s,
      deltaX: 0.100000 m,
      approachRate: 0.198470 m/s,
      rangeRepo size: 4

2025-01-09T00:51:12.868Z,1736383872.868 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.238695
2025-01-09T00:51:13.121Z,1736383873.121 [DAT](INFO): DAT read: Rx Time:00:51:12.1136 

2025-01-09T00:51:13.121Z,1736383873.121 [DAT](INFO): Rx dataTimestamp_ set to:1736383873.120726
2025-01-09T00:51:13.122Z,1736383873.122 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:13.123Z,1736383873.123 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-01-09T00:51:13.124Z,1736383873.124 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.494072
2025-01-09T00:51:13.243Z,1736383873.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:13.251Z,1736383873.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:13.254Z,1736383873.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.504165 s,
      deltaX: 0.200000 m,
      approachRate: 0.396695 m/s,
      rangeRepo size: 4

2025-01-09T00:51:13.372Z,1736383873.372 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.742447
2025-01-09T00:51:13.626Z,1736383873.626 [DAT](INFO): DAT read: Rx Time:00:51:12.6136 

2025-01-09T00:51:13.626Z,1736383873.626 [DAT](INFO): Rx dataTimestamp_ set to:1736383873.625791
2025-01-09T00:51:13.627Z,1736383873.627 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:13.628Z,1736383873.628 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-01-09T00:51:13.629Z,1736383873.629 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.999125
2025-01-09T00:51:13.729Z,1736383873.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:13.746Z,1736383873.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.505065 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:13.876Z,1736383873.876 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.246593
2025-01-09T00:51:13.964Z,1736383873.964 [DockingStepper](INFO): Commanding positive:10559
2025-01-09T00:51:14.134Z,1736383874.134 [DAT](INFO): DAT read: Rx Time:00:51:13.1135 

2025-01-09T00:51:14.136Z,1736383874.136 [DAT](INFO): Rx dataTimestamp_ set to:1736383874.135297
2025-01-09T00:51:14.141Z,1736383874.141 [DAT](INFO): DAT read: Bearing 147.0, -40.0 (Local)

2025-01-09T00:51:14.143Z,1736383874.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.0, -40.0 (Local)

2025-01-09T00:51:14.148Z,1736383874.148 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:14.153Z,1736383874.153 [DAT](INFO): DAT read: 00:51:13.1135 LVL= 14320, 23281, 14978, 16371, AGC= 29, IDX= 511, 0.35, 2.724,-2.943, 1.769,-2.619, PHS=-0.852,-0.277,-1.898, RAW=   9.5,  36.9, CAL=   3.0,  40.0, ROT= 147.0, -40.0

2025-01-09T00:51:14.154Z,1736383874.154 [DAT](INFO): got valid direction response:
 00:51:13.1135 LVL= 14320, 23281, 14978, 16371, AGC= 29, IDX= 511, 0.35, 2.724,-2.943, 1.769,-2.619, PHS=-0.852,-0.277,-1.898, RAW=   9.5,  36.9, CAL=   3.0,  40.0, ROT= 147.0, -40.0

2025-01-09T00:51:14.155Z,1736383874.155 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-01-09T00:51:14.195Z,1736383874.195 [DAT](INFO): direction in FSK: [-0.642459,0.417218,0.642788]
2025-01-09T00:51:14.196Z,1736383874.196 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:14.211Z,1736383874.211 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.569307
2025-01-09T00:51:14.345Z,1736383874.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:14.376Z,1736383874.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.509506 s,
      deltaX: -0.200000 m,
      approachRate: -0.392537 m/s,
      rangeRepo size: 4

2025-01-09T00:51:14.378Z,1736383874.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 186.334276 deg,
      lat: 36.904002 deg,
      lon: -122.118955 deg,
      deltaT: 3.532767 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:14.380Z,1736383874.380 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.750538
2025-01-09T00:51:14.633Z,1736383874.633 [DAT](INFO): DAT read: Rx Time:00:51:13.6136 

2025-01-09T00:51:14.634Z,1736383874.634 [DAT](INFO): Rx dataTimestamp_ set to:1736383874.633458
2025-01-09T00:51:14.635Z,1736383874.635 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:14.637Z,1736383874.637 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-01-09T00:51:14.640Z,1736383874.640 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.008999
2025-01-09T00:51:14.738Z,1736383874.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:14.756Z,1736383874.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.498161 s,
      deltaX: 0.200000 m,
      approachRate: 0.401477 m/s,
      rangeRepo size: 4

2025-01-09T00:51:14.885Z,1736383874.885 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.255188
2025-01-09T00:51:15.142Z,1736383875.142 [DAT](INFO): DAT read: Rx Time:00:51:14.1135 

2025-01-09T00:51:15.144Z,1736383875.144 [DAT](INFO): Rx dataTimestamp_ set to:1736383875.142656
2025-01-09T00:51:15.147Z,1736383875.147 [DAT](INFO): DAT read: Bearing 149.4, -40.0 (Local)

2025-01-09T00:51:15.147Z,1736383875.147 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.4, -40.0 (Local)

2025-01-09T00:51:15.149Z,1736383875.149 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:15.155Z,1736383875.155 [DAT](INFO): DAT read: 00:51:14.1135 LVL= 10896, 18417, 10578, 11571, AGC= 27, IDX= 511, 0.46, 3.045,-2.594, 2.205,-2.300, PHS=-0.850,-0.247,-1.781, RAW=   7.0,  37.2, CAL=   0.6,  40.0, ROT= 149.4, -40.0

2025-01-09T00:51:15.156Z,1736383875.156 [DAT](INFO): got valid direction response:
 00:51:14.1135 LVL= 10896, 18417, 10578, 11571, AGC= 27, IDX= 511, 0.46, 3.045,-2.594, 2.205,-2.300, PHS=-0.850,-0.247,-1.781, RAW=   7.0,  37.2, CAL=   0.6,  40.0, ROT= 149.4, -40.0

2025-01-09T00:51:15.157Z,1736383875.157 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-01-09T00:51:15.157Z,1736383875.157 [DAT](INFO): direction in FSK: [-0.659367,0.389948,0.642788]
2025-01-09T00:51:15.158Z,1736383875.158 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:15.162Z,1736383875.162 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.531822
2025-01-09T00:51:15.261Z,1736383875.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:15.292Z,1736383875.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.509198 s,
      deltaX: -0.200000 m,
      approachRate: -0.392774 m/s,
      rangeRepo size: 4

2025-01-09T00:51:15.294Z,1736383875.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 189.488946 deg,
      lat: 36.904002 deg,
      lon: -122.118955 deg,
      deltaT: 1.007359 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:15.388Z,1736383875.388 [DockingStepper](INFO): Commanding positive:10454
2025-01-09T00:51:15.394Z,1736383875.394 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.763245
2025-01-09T00:51:15.632Z,1736383875.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:15.639Z,1736383875.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:15.641Z,1736383875.641 [DAT](INFO): DAT read: Rx Time:00:51:14.6136 

2025-01-09T00:51:15.641Z,1736383875.641 [DAT](INFO): Rx dataTimestamp_ set to:1736383875.640714
2025-01-09T00:51:15.642Z,1736383875.642 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:15.643Z,1736383875.643 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-01-09T00:51:15.646Z,1736383875.646 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.016052
2025-01-09T00:51:15.649Z,1736383875.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.498058 s,
      deltaX: 0.200000 m,
      approachRate: 0.401560 m/s,
      rangeRepo size: 4

2025-01-09T00:51:15.892Z,1736383875.892 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.262493
2025-01-09T00:51:16.093Z,1736383876.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:16.145Z,1736383876.145 [DAT](INFO): DAT read: Rx Time:00:51:15.1135 

2025-01-09T00:51:16.145Z,1736383876.145 [DAT](INFO): Rx dataTimestamp_ set to:1736383876.144778
2025-01-09T00:51:16.146Z,1736383876.146 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:16.147Z,1736383876.147 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-01-09T00:51:16.148Z,1736383876.148 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.518681
2025-01-09T00:51:16.397Z,1736383876.397 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.766796
2025-01-09T00:51:16.461Z,1736383876.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:16.472Z,1736383876.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504064 s,
      deltaX: -0.200000 m,
      approachRate: -0.396775 m/s,
      rangeRepo size: 4

2025-01-09T00:51:16.547Z,1736383876.547 [DockingStepper](INFO): Commanding positive:10368
2025-01-09T00:51:16.648Z,1736383876.648 [DAT](INFO): DAT read: Rx Time:00:51:15.6136 

2025-01-09T00:51:16.649Z,1736383876.649 [DAT](INFO): Rx dataTimestamp_ set to:1736383876.648614
2025-01-09T00:51:16.650Z,1736383876.650 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:16.651Z,1736383876.651 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-01-09T00:51:16.652Z,1736383876.652 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.021976
2025-01-09T00:51:16.853Z,1736383876.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:16.886Z,1736383876.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.503836 s,
      deltaX: 0.200000 m,
      approachRate: 0.396955 m/s,
      rangeRepo size: 4

2025-01-09T00:51:16.902Z,1736383876.902 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.272118
2025-01-09T00:51:17.153Z,1736383877.153 [DAT](INFO): DAT read: Rx Time:00:51:16.1135 

2025-01-09T00:51:17.153Z,1736383877.153 [DAT](INFO): Rx dataTimestamp_ set to:1736383877.152978
2025-01-09T00:51:17.154Z,1736383877.154 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:17.155Z,1736383877.155 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-01-09T00:51:17.156Z,1736383877.156 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.526310
2025-01-09T00:51:17.302Z,1736383877.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:17.312Z,1736383877.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504364 s,
      deltaX: -0.200000 m,
      approachRate: -0.396539 m/s,
      rangeRepo size: 4

2025-01-09T00:51:17.404Z,1736383877.404 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.774647
2025-01-09T00:51:17.657Z,1736383877.657 [DAT](INFO): DAT read: Rx Time:00:51:16.6135 

2025-01-09T00:51:17.658Z,1736383877.658 [DAT](INFO): Rx dataTimestamp_ set to:1736383877.657768
2025-01-09T00:51:17.660Z,1736383877.660 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:17.661Z,1736383877.661 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-01-09T00:51:17.662Z,1736383877.662 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.032661
2025-01-09T00:51:17.677Z,1736383877.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:17.693Z,1736383877.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:17.696Z,1736383877.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504790 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:17.909Z,1736383877.909 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.278942
2025-01-09T00:51:17.943Z,1736383877.943 [DockingStepper](INFO): Commanding positive:10362
2025-01-09T00:51:17.984Z,1736383877.984 [DockingStepper](FAULT): Timed out moving from: 14767 to: 16450 response: ÿ
2025-01-09T00:51:17.985Z,1736383877.985 [DockingStepper] Hardware Fault, FailCount= 2
2025-01-09T00:51:17.985Z,1736383877.985 [DockingStepper](ERROR): Hardware Fault
2025-01-09T00:51:18.163Z,1736383878.163 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-01-09T00:51:18.173Z,1736383878.173 [DAT](INFO): DAT read: Rx Time:00:51:17.1134 

2025-01-09T00:51:18.173Z,1736383878.173 [DAT](INFO): Rx dataTimestamp_ set to:1736383878.172749
2025-01-09T00:51:18.174Z,1736383878.174 [DAT](INFO): DAT read: Bearing 149.0, -39.5 (Local)

2025-01-09T00:51:18.175Z,1736383878.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.0, -39.5 (Local)

2025-01-09T00:51:18.177Z,1736383878.177 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:18.182Z,1736383878.182 [DAT](INFO): DAT read: 00:51:17.1134 LVL= 12208, 18161, 11442, 13587, AGC= 28, IDX= 511,-0.26, 1.922, 2.565, 1.063, 2.843, PHS=-0.834,-0.231,-1.783, RAW=   7.3,  36.6, CAL=   1.0,  39.5, ROT= 149.0, -39.5

2025-01-09T00:51:18.182Z,1736383878.182 [DAT](INFO): got valid direction response:
 00:51:17.1134 LVL= 12208, 18161, 11442, 13587, AGC= 28, IDX= 511,-0.26, 1.922, 2.565, 1.063, 2.843, PHS=-0.834,-0.231,-1.783, RAW=   7.3,  36.6, CAL=   1.0,  39.5, ROT= 149.0, -39.5

2025-01-09T00:51:18.203Z,1736383878.203 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-01-09T00:51:18.204Z,1736383878.204 [DAT](INFO): direction in FSK: [-0.661411,0.397416,0.636078]
2025-01-09T00:51:18.205Z,1736383878.205 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:18.221Z,1736383878.221 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.590786
2025-01-09T00:51:18.324Z,1736383878.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:18.380Z,1736383878.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.514981 s,
      deltaX: -0.100000 m,
      approachRate: -0.194182 m/s,
      rangeRepo size: 4

2025-01-09T00:51:18.386Z,1736383878.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 185.870278 deg,
      lat: 36.904003 deg,
      lon: -122.118952 deg,
      deltaT: 3.030093 s,
      deltaX: -0.100000 m,
      approachRate: -0.033002 m/s,
      posRepo size: 4

2025-01-09T00:51:18.424Z,1736383878.424 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.794716
2025-01-09T00:51:18.588Z,1736383878.588 [DockingStepper](INFO): Stop
2025-01-09T00:51:18.588Z,1736383878.588 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-01-09T00:51:18.589Z,1736383878.589 [DockingStepper](INFO): Powering down
2025-01-09T00:51:18.677Z,1736383878.677 [DAT](INFO): DAT read: Rx Time:00:51:17.6135 

2025-01-09T00:51:18.678Z,1736383878.678 [DAT](INFO): Rx dataTimestamp_ set to:1736383878.677640
2025-01-09T00:51:18.680Z,1736383878.680 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:18.681Z,1736383878.681 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-01-09T00:51:18.682Z,1736383878.682 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.052479
2025-01-09T00:51:18.798Z,1736383878.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:18.808Z,1736383878.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504891 s,
      deltaX: 0.100000 m,
      approachRate: 0.198063 m/s,
      rangeRepo size: 4

2025-01-09T00:51:18.929Z,1736383878.929 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.298782
2025-01-09T00:51:18.940Z,1736383878.940 [DockingStepper](INFO): Stopping
2025-01-09T00:51:19.181Z,1736383879.181 [DAT](INFO): DAT read: Rx Time:00:51:18.1134 

2025-01-09T00:51:19.181Z,1736383879.181 [DAT](INFO): Rx dataTimestamp_ set to:1736383879.181072
2025-01-09T00:51:19.183Z,1736383879.183 [DAT](INFO): DAT read: Bearing 150.7, -40.1 (Local)

2025-01-09T00:51:19.184Z,1736383879.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.7, -40.1 (Local)

2025-01-09T00:51:19.186Z,1736383879.186 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:19.195Z,1736383879.195 [DAT](INFO): DAT read: 00:51:18.1134 LVL= 12912, 21745, 16034, 15747, AGC= 30, IDX= 511,-0.19, 2.209, 2.904, 1.373,-3.078, PHS=-0.909,-0.254,-1.836, RAW=   5.7,  37.6, CAL= 359.3,  40.1, ROT= 150.7, -40.1

2025-01-09T00:51:19.196Z,1736383879.196 [DAT](INFO): got valid direction response:
 00:51:18.1134 LVL= 12912, 21745, 16034, 15747, AGC= 30, IDX= 511,-0.19, 2.209, 2.904, 1.373,-3.078, PHS=-0.909,-0.254,-1.836, RAW=   5.7,  37.6, CAL= 359.3,  40.1, ROT= 150.7, -40.1

2025-01-09T00:51:19.197Z,1736383879.197 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-01-09T00:51:19.198Z,1736383879.198 [DAT](INFO): direction in FSK: [-0.667064,0.374339,0.644124]
2025-01-09T00:51:19.198Z,1736383879.198 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:19.203Z,1736383879.203 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.573025
2025-01-09T00:51:19.212Z,1736383879.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:51:19.306Z,1736383879.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:19.337Z,1736383879.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503432 s,
      deltaX: -0.100000 m,
      approachRate: -0.198637 m/s,
      rangeRepo size: 4

2025-01-09T00:51:19.347Z,1736383879.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 185.673379 deg,
      lat: 36.904003 deg,
      lon: -122.118952 deg,
      deltaT: 1.008323 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:19.375Z,1736383879.375 [DockingStepper](INFO): Stopping
2025-01-09T00:51:19.433Z,1736383879.433 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.802761
2025-01-09T00:51:19.619Z,1736383879.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:19.661Z,1736383879.661 [DockingStepper](INFO): Stopping
2025-01-09T00:51:19.686Z,1736383879.686 [DAT](INFO): DAT read: Rx Time:00:51:18.6135 

2025-01-09T00:51:19.689Z,1736383879.689 [DAT](INFO): Rx dataTimestamp_ set to:1736383879.686355
2025-01-09T00:51:19.691Z,1736383879.691 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:19.693Z,1736383879.693 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-01-09T00:51:19.694Z,1736383879.694 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.064232
2025-01-09T00:51:19.936Z,1736383879.936 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.306545
2025-01-09T00:51:19.997Z,1736383879.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:20.005Z,1736383880.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:20.008Z,1736383880.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.505283 s,
      deltaX: 0.100000 m,
      approachRate: 0.197909 m/s,
      rangeRepo size: 4

2025-01-09T00:51:20.024Z,1736383880.024 [DockingStepper](INFO): Stopping
2025-01-09T00:51:20.190Z,1736383880.190 [DAT](INFO): DAT read: Rx Time:00:51:19.1135 

2025-01-09T00:51:20.190Z,1736383880.190 [DAT](INFO): Rx dataTimestamp_ set to:1736383880.190177
2025-01-09T00:51:20.195Z,1736383880.195 [DAT](INFO): DAT read: Bearing 150.7, -40.1 (Local)

2025-01-09T00:51:20.196Z,1736383880.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.7, -40.1 (Local)

2025-01-09T00:51:20.198Z,1736383880.198 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:20.214Z,1736383880.214 [DAT](INFO): DAT read: 00:51:19.1135 LVL= 11232, 19553, 14690, 14259, AGC= 29, IDX= 511,-0.11, 1.887, 2.586, 1.044, 2.888, PHS=-0.913,-0.255,-1.846, RAW=   5.7,  37.6, CAL= 359.3,  40.1, ROT= 150.7, -40.1

2025-01-09T00:51:20.218Z,1736383880.218 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:51:20.220Z,1736383880.220 [DAT](INFO): got valid direction response:
 00:51:19.1135 LVL= 11232, 19553, 14690, 14259, AGC= 29, IDX= 511,-0.11, 1.887, 2.586, 1.044, 2.888, PHS=-0.913,-0.255,-1.846, RAW=   5.7,  37.6, CAL= 359.3,  40.1, ROT= 150.7, -40.1

2025-01-09T00:51:20.221Z,1736383880.221 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-01-09T00:51:20.222Z,1736383880.222 [DAT](INFO): direction in FSK: [-0.667064,0.374339,0.644124]
2025-01-09T00:51:20.222Z,1736383880.222 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:20.229Z,1736383880.229 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.599667
2025-01-09T00:51:20.434Z,1736383880.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:20.440Z,1736383880.440 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.810619
2025-01-09T00:51:20.462Z,1736383880.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503822 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:20.469Z,1736383880.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 181.684505 deg,
      lat: 36.904004 deg,
      lon: -122.118950 deg,
      deltaT: 1.009105 s,
      deltaX: 0.100000 m,
      approachRate: 0.099098 m/s,
      posRepo size: 4

2025-01-09T00:51:20.490Z,1736383880.490 [DockingStepper](INFO): Stopping
2025-01-09T00:51:20.627Z,1736383880.627 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T00:51:20.697Z,1736383880.697 [DAT](INFO): DAT read: Rx Time:00:51:19.6136 

2025-01-09T00:51:20.697Z,1736383880.697 [DAT](INFO): Rx dataTimestamp_ set to:1736383880.697068
2025-01-09T00:51:20.699Z,1736383880.699 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:20.699Z,1736383880.699 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-01-09T00:51:20.700Z,1736383880.700 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.070396
2025-01-09T00:51:20.829Z,1736383880.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:20.846Z,1736383880.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.506891 s,
      deltaX: 0.200000 m,
      approachRate: 0.394562 m/s,
      rangeRepo size: 4

2025-01-09T00:51:20.893Z,1736383880.893 [DockingStepper](INFO): Stopping
2025-01-09T00:51:20.948Z,1736383880.948 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.318443
2025-01-09T00:51:21.202Z,1736383881.202 [DAT](INFO): DAT read: Rx Time:00:51:20.1135 

2025-01-09T00:51:21.203Z,1736383881.203 [DAT](INFO): Rx dataTimestamp_ set to:1736383881.202585
2025-01-09T00:51:21.204Z,1736383881.204 [DAT](INFO): DAT read: Bearing 151.9, -38.7 (Local)

2025-01-09T00:51:21.205Z,1736383881.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.9, -38.7 (Local)

2025-01-09T00:51:21.207Z,1736383881.207 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:21.211Z,1736383881.211 [DAT](INFO): DAT read: 00:51:20.1135 LVL= 11856, 20081, 14498, 13811, AGC= 29, IDX= 511,-0.02, 2.450,-3.089, 1.644,-2.856, PHS=-0.890,-0.186,-1.786, RAW=   4.0,  36.1, CAL= 358.1,  38.7, ROT= 151.9, -38.7

2025-01-09T00:51:21.212Z,1736383881.212 [DAT](INFO): got valid direction response:
 00:51:20.1135 LVL= 11856, 20081, 14498, 13811, AGC= 29, IDX= 511,-0.02, 2.450,-3.089, 1.644,-2.856, PHS=-0.890,-0.186,-1.786, RAW=   4.0,  36.1, CAL= 358.1,  38.7, ROT= 151.9, -38.7

2025-01-09T00:51:21.213Z,1736383881.213 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-01-09T00:51:21.214Z,1736383881.214 [DAT](INFO): direction in FSK: [-0.688439,0.367592,0.625243]
2025-01-09T00:51:21.214Z,1736383881.214 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:21.219Z,1736383881.219 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.589027
2025-01-09T00:51:21.329Z,1736383881.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:21.355Z,1736383881.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.505517 s,
      deltaX: -0.200000 m,
      approachRate: -0.395635 m/s,
      rangeRepo size: 4

2025-01-09T00:51:21.361Z,1736383881.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 181.614874 deg,
      lat: 36.904004 deg,
      lon: -122.118950 deg,
      deltaT: 1.012408 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:21.389Z,1736383881.389 [DockingStepper](INFO): Stopping
2025-01-09T00:51:21.453Z,1736383881.453 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.822990
2025-01-09T00:51:21.666Z,1736383881.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:21.707Z,1736383881.707 [DAT](INFO): DAT read: Rx Time:00:51:20.6136 

2025-01-09T00:51:21.708Z,1736383881.708 [DAT](INFO): Rx dataTimestamp_ set to:1736383881.707821
2025-01-09T00:51:21.711Z,1736383881.711 [DAT](INFO): DAT read: Bearing 152.6, -37.9 (Local)

2025-01-09T00:51:21.712Z,1736383881.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.6, -37.9 (Local)

2025-01-09T00:51:21.714Z,1736383881.714 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:21.727Z,1736383881.727 [DAT](INFO): DAT read: 00:51:20.6136 LVL= 13792, 22385, 15810, 15491, AGC= 30, IDX= 511, 0.04,-3.069,-2.299, 2.435,-2.104, PHS=-0.877,-0.148,-1.748, RAW=   2.9,  35.2, CAL= 357.4,  37.9, ROT= 152.6, -37.9

2025-01-09T00:51:21.732Z,1736383881.732 [DAT](INFO): got valid direction response:
 00:51:20.6136 LVL= 13792, 22385, 15810, 15491, AGC= 30, IDX= 511, 0.04,-3.069,-2.299, 2.435,-2.104, PHS=-0.877,-0.148,-1.748, RAW=   2.9,  35.2, CAL= 357.4,  37.9, ROT= 152.6, -37.9

2025-01-09T00:51:21.732Z,1736383881.732 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-01-09T00:51:21.734Z,1736383881.734 [DAT](INFO): direction in FSK: [-0.700561,0.363136,0.614285]
2025-01-09T00:51:21.734Z,1736383881.734 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:21.755Z,1736383881.755 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.124146
2025-01-09T00:51:21.777Z,1736383881.777 [DockingStepper](INFO): Stopping
2025-01-09T00:51:21.956Z,1736383881.956 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.326565
2025-01-09T00:51:22.015Z,1736383882.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:22.030Z,1736383882.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.505236 s,
      deltaX: 0.200000 m,
      approachRate: 0.395855 m/s,
      rangeRepo size: 4

2025-01-09T00:51:22.032Z,1736383882.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 181.437603 deg,
      lat: 36.904004 deg,
      lon: -122.118950 deg,
      deltaT: 0.505236 s,
      deltaX: 0.200000 m,
      approachRate: 0.395855 m/s,
      posRepo size: 4

2025-01-09T00:51:22.070Z,1736383882.070 [DockingStepper](INFO): Stopping
2025-01-09T00:51:22.211Z,1736383882.211 [DAT](INFO): DAT read: Rx Time:00:51:21.1135 

2025-01-09T00:51:22.212Z,1736383882.212 [DAT](INFO): Rx dataTimestamp_ set to:1736383882.211567
2025-01-09T00:51:22.213Z,1736383882.213 [DAT](INFO): DAT read: Bearing 152.6, -37.3 (Local)

2025-01-09T00:51:22.213Z,1736383882.213 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.6, -37.3 (Local)

2025-01-09T00:51:22.216Z,1736383882.216 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:22.225Z,1736383882.225 [DAT](INFO): DAT read: 00:51:21.1135 LVL= 11840, 18625, 12498, 12771, AGC= 28, IDX= 510, 0.10, 2.067, 2.842, 1.294, 3.008, PHS=-0.853,-0.119,-1.718, RAW=   2.7,  34.5, CAL= 357.4,  37.3, ROT= 152.6, -37.3

2025-01-09T00:51:22.227Z,1736383882.227 [DAT](INFO): got valid direction response:
 00:51:21.1135 LVL= 11840, 18625, 12498, 12771, AGC= 28, IDX= 510, 0.10, 2.067, 2.842, 1.294, 3.008, PHS=-0.853,-0.119,-1.718, RAW=   2.7,  34.5, CAL= 357.4,  37.3, ROT= 152.6, -37.3

2025-01-09T00:51:22.236Z,1736383882.236 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-01-09T00:51:22.237Z,1736383882.237 [DAT](INFO): direction in FSK: [-0.706234,0.366077,0.605988]
2025-01-09T00:51:22.237Z,1736383882.237 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:22.241Z,1736383882.241 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.611080
2025-01-09T00:51:22.446Z,1736383882.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:22.464Z,1736383882.464 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.834484
2025-01-09T00:51:22.481Z,1736383882.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503746 s,
      deltaX: -0.200000 m,
      approachRate: -0.397025 m/s,
      rangeRepo size: 4

2025-01-09T00:51:22.483Z,1736383882.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 181.470061 deg,
      lat: 36.904003 deg,
      lon: -122.118950 deg,
      deltaT: 0.503746 s,
      deltaX: -0.200000 m,
      approachRate: -0.397025 m/s,
      posRepo size: 4

2025-01-09T00:51:22.520Z,1736383882.520 [DockingStepper](INFO): Stopping
2025-01-09T00:51:22.718Z,1736383882.718 [DAT](INFO): DAT read: Rx Time:00:51:21.6136 

2025-01-09T00:51:22.719Z,1736383882.719 [DAT](INFO): Rx dataTimestamp_ set to:1736383882.718271
2025-01-09T00:51:22.722Z,1736383882.722 [DAT](INFO): DAT read: Bearing 151.9, -37.7 (Local)

2025-01-09T00:51:22.723Z,1736383882.723 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.9, -37.7 (Local)

2025-01-09T00:51:22.727Z,1736383882.727 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:22.733Z,1736383882.733 [DAT](INFO): DAT read: 00:51:21.6136 LVL= 10832, 16049, 10818, 11155, AGC= 27, IDX= 511, 0.16,-3.066,-2.337, 2.449,-2.153, PHS=-0.824,-0.136,-1.684, RAW=   3.7,  34.8, CAL= 358.1,  37.7, ROT= 151.9, -37.7

2025-01-09T00:51:22.734Z,1736383882.734 [DAT](INFO): got valid direction response:
 00:51:21.6136 LVL= 10832, 16049, 10818, 11155, AGC= 27, IDX= 511, 0.16,-3.066,-2.337, 2.449,-2.153, PHS=-0.824,-0.136,-1.684, RAW=   3.7,  34.8, CAL= 358.1,  37.7, ROT= 151.9, -37.7

2025-01-09T00:51:22.736Z,1736383882.736 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-01-09T00:51:22.739Z,1736383882.739 [DAT](INFO): direction in FSK: [-0.697959,0.372676,0.611527]
2025-01-09T00:51:22.753Z,1736383882.753 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:22.757Z,1736383882.757 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.126881
2025-01-09T00:51:22.880Z,1736383882.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:22.902Z,1736383882.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.506704 s,
      deltaX: 0.200000 m,
      approachRate: 0.394708 m/s,
      rangeRepo size: 4

2025-01-09T00:51:22.904Z,1736383882.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 180.762309 deg,
      lat: 36.904003 deg,
      lon: -122.118950 deg,
      deltaT: 0.506704 s,
      deltaX: 0.200000 m,
      approachRate: 0.394708 m/s,
      posRepo size: 4

2025-01-09T00:51:22.956Z,1736383882.956 [DockingStepper](INFO): Stopping
2025-01-09T00:51:22.969Z,1736383882.969 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.338867
2025-01-09T00:51:23.221Z,1736383883.221 [DAT](INFO): DAT read: Rx Time:00:51:22.1135 

2025-01-09T00:51:23.222Z,1736383883.222 [DAT](INFO): Rx dataTimestamp_ set to:1736383883.221474
2025-01-09T00:51:23.223Z,1736383883.223 [DAT](INFO): DAT read: Bearing 151.1, -35.9 (Local)

2025-01-09T00:51:23.223Z,1736383883.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.1, -35.9 (Local)

2025-01-09T00:51:23.225Z,1736383883.225 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:23.240Z,1736383883.240 [DAT](INFO): DAT read: 00:51:22.1135 LVL= 12320, 17505, 11922, 12579, AGC= 28, IDX= 510, 0.21, 2.072, 2.823, 1.259, 2.941, PHS=-0.781,-0.071,-1.685, RAW=   4.0,  32.6, CAL= 358.9,  35.9, ROT= 151.1, -35.9

2025-01-09T00:51:23.241Z,1736383883.241 [DAT](INFO): got valid direction response:
 00:51:22.1135 LVL= 12320, 17505, 11922, 12579, AGC= 28, IDX= 510, 0.21, 2.072, 2.823, 1.259, 2.941, PHS=-0.781,-0.071,-1.685, RAW=   4.0,  32.6, CAL= 358.9,  35.9, ROT= 151.1, -35.9

2025-01-09T00:51:23.241Z,1736383883.241 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-01-09T00:51:23.242Z,1736383883.242 [DAT](INFO): direction in FSK: [-0.709163,0.391479,0.586372]
2025-01-09T00:51:23.242Z,1736383883.242 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:23.246Z,1736383883.246 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.616043
2025-01-09T00:51:23.329Z,1736383883.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:23.359Z,1736383883.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503203 s,
      deltaX: -0.200000 m,
      approachRate: -0.397454 m/s,
      rangeRepo size: 4

2025-01-09T00:51:23.370Z,1736383883.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 179.774100 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 0.503203 s,
      deltaX: -0.200000 m,
      approachRate: -0.397454 m/s,
      posRepo size: 4

2025-01-09T00:51:23.473Z,1736383883.473 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.842892
2025-01-09T00:51:23.524Z,1736383883.524 [DockingStepper](INFO): Stopping
2025-01-09T00:51:23.725Z,1736383883.725 [DAT](INFO): DAT read: Rx Time:00:51:22.6136 

2025-01-09T00:51:23.725Z,1736383883.725 [DAT](INFO): Rx dataTimestamp_ set to:1736383883.725179
2025-01-09T00:51:23.727Z,1736383883.727 [DAT](INFO): DAT read: Bearing 149.6, -36.4 (Local)

2025-01-09T00:51:23.727Z,1736383883.727 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.6, -36.4 (Local)

2025-01-09T00:51:23.729Z,1736383883.729 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:23.738Z,1736383883.738 [DAT](INFO): DAT read: 00:51:22.6136 LVL= 11152, 15441, 10418, 11331, AGC= 27, IDX= 511, 0.28,-3.033,-2.344, 2.422,-2.199, PHS=-0.745,-0.098,-1.665, RAW=   5.7,  33.0, CAL=   0.4,  36.4, ROT= 149.6, -36.4

2025-01-09T00:51:23.753Z,1736383883.753 [DAT](INFO): got valid direction response:
 00:51:22.6136 LVL= 11152, 15441, 10418, 11331, AGC= 27, IDX= 511, 0.28,-3.033,-2.344, 2.422,-2.199, PHS=-0.745,-0.098,-1.665, RAW=   5.7,  33.0, CAL=   0.4,  36.4, ROT= 149.6, -36.4

2025-01-09T00:51:23.754Z,1736383883.754 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-01-09T00:51:23.771Z,1736383883.771 [DAT](INFO): direction in FSK: [-0.694232,0.407303,0.593419]
2025-01-09T00:51:23.771Z,1736383883.771 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:23.775Z,1736383883.775 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.144985
2025-01-09T00:51:23.808Z,1736383883.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:23.868Z,1736383883.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.503705 s,
      deltaX: 0.200000 m,
      approachRate: 0.397058 m/s,
      rangeRepo size: 4

2025-01-09T00:51:23.870Z,1736383883.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 178.442768 deg,
      lat: 36.904001 deg,
      lon: -122.118950 deg,
      deltaT: 0.503705 s,
      deltaX: 0.200000 m,
      approachRate: 0.397058 m/s,
      posRepo size: 4

2025-01-09T00:51:23.937Z,1736383883.937 [DockingStepper](INFO): Stopping
2025-01-09T00:51:23.976Z,1736383883.976 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.346722
2025-01-09T00:51:24.229Z,1736383884.229 [DAT](INFO): DAT read: Rx Time:00:51:23.1135 

2025-01-09T00:51:24.229Z,1736383884.229 [DAT](INFO): Rx dataTimestamp_ set to:1736383884.228881
2025-01-09T00:51:24.230Z,1736383884.230 [DAT](INFO): DAT read: Bearing 149.0, -35.1 (Local)

2025-01-09T00:51:24.231Z,1736383884.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.0, -35.1 (Local)

2025-01-09T00:51:24.234Z,1736383884.234 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:24.239Z,1736383884.239 [DAT](INFO): DAT read: 00:51:23.1135 LVL= 12576, 16865, 11474, 12435, AGC= 28, IDX= 510, 0.34, 2.033, 2.739, 1.165, 2.833, PHS=-0.712,-0.047,-1.671, RAW=   6.0,  31.3, CAL=   1.0,  35.1, ROT= 149.0, -35.1

2025-01-09T00:51:24.240Z,1736383884.240 [DAT](INFO): got valid direction response:
 00:51:23.1135 LVL= 12576, 16865, 11474, 12435, AGC= 28, IDX= 510, 0.34, 2.033, 2.739, 1.165, 2.833, PHS=-0.712,-0.047,-1.671, RAW=   6.0,  31.3, CAL=   1.0,  35.1, ROT= 149.0, -35.1

2025-01-09T00:51:24.240Z,1736383884.240 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-01-09T00:51:24.241Z,1736383884.241 [DAT](INFO): direction in FSK: [-0.701291,0.421378,0.575005]
2025-01-09T00:51:24.242Z,1736383884.242 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:24.253Z,1736383884.253 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.623207
2025-01-09T00:51:24.329Z,1736383884.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:24.362Z,1736383884.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503702 s,
      deltaX: -0.200000 m,
      approachRate: -0.397060 m/s,
      rangeRepo size: 4

2025-01-09T00:51:24.369Z,1736383884.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 177.913665 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 0.503702 s,
      deltaX: -0.200000 m,
      approachRate: -0.397060 m/s,
      posRepo size: 4

2025-01-09T00:51:24.480Z,1736383884.480 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.850708
2025-01-09T00:51:24.528Z,1736383884.528 [DockingStepper](INFO): Stopping
2025-01-09T00:51:24.733Z,1736383884.733 [DAT](INFO): DAT read: Rx Time:00:51:23.6136 

2025-01-09T00:51:24.733Z,1736383884.733 [DAT](INFO): Rx dataTimestamp_ set to:1736383884.733108
2025-01-09T00:51:24.735Z,1736383884.735 [DAT](INFO): DAT read: Bearing 142.2, -39.1 (Local)

2025-01-09T00:51:24.735Z,1736383884.735 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.2, -39.1 (Local)

2025-01-09T00:51:24.737Z,1736383884.737 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:24.742Z,1736383884.742 [DAT](INFO): DAT read: 00:51:23.6136 LVL= 15840, 16097, 11890, 13795, AGC= 27, IDX= 511, 0.43, 3.071,-2.762, 2.113,-2.466, PHS=-0.659,-0.249,-1.708, RAW=  14.2,  35.4, CAL=   7.8,  39.1, ROT= 142.2, -39.1

2025-01-09T00:51:24.743Z,1736383884.743 [DAT](INFO): got valid direction response:
 00:51:23.6136 LVL= 15840, 16097, 11890, 13795, AGC= 27, IDX= 511, 0.43, 3.071,-2.762, 2.113,-2.466, PHS=-0.659,-0.249,-1.708, RAW=  14.2,  35.4, CAL=   7.8,  39.1, ROT= 142.2, -39.1

2025-01-09T00:51:24.743Z,1736383884.743 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-01-09T00:51:24.744Z,1736383884.744 [DAT](INFO): direction in FSK: [-0.613197,0.475644,0.630676]
2025-01-09T00:51:24.745Z,1736383884.745 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:24.758Z,1736383884.758 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.127811
2025-01-09T00:51:24.773Z,1736383884.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:24.810Z,1736383884.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.504227 s,
      deltaX: 0.200000 m,
      approachRate: 0.396647 m/s,
      rangeRepo size: 4

2025-01-09T00:51:24.816Z,1736383884.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 172.135609 deg,
      lat: 36.904001 deg,
      lon: -122.118950 deg,
      deltaT: 0.504227 s,
      deltaX: 0.200000 m,
      approachRate: 0.396647 m/s,
      posRepo size: 4

2025-01-09T00:51:24.985Z,1736383884.985 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.355122
2025-01-09T00:51:24.996Z,1736383884.996 [DockingStepper](INFO): Stopping
2025-01-09T00:51:25.237Z,1736383885.237 [DAT](INFO): DAT read: Rx Time:00:51:24.1135 

2025-01-09T00:51:25.237Z,1736383885.237 [DAT](INFO): Rx dataTimestamp_ set to:1736383885.237142
2025-01-09T00:51:25.239Z,1736383885.239 [DAT](INFO): DAT read: Bearing 145.2, -35.7 (Local)

2025-01-09T00:51:25.239Z,1736383885.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.2, -35.7 (Local)

2025-01-09T00:51:25.241Z,1736383885.241 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:25.246Z,1736383885.246 [DAT](INFO): DAT read: 00:51:24.1135 LVL= 12784, 16497, 11314, 12675, AGC= 28, IDX= 511,-0.47, 0.419, 1.017,-0.541, 1.164, PHS=-0.657,-0.099,-1.708, RAW=  10.1,  31.6, CAL=   4.8,  35.7, ROT= 145.2, -35.7

2025-01-09T00:51:25.247Z,1736383885.247 [DAT](INFO): got valid direction response:
 00:51:24.1135 LVL= 12784, 16497, 11314, 12675, AGC= 28, IDX= 511,-0.47, 0.419, 1.017,-0.541, 1.164, PHS=-0.657,-0.099,-1.708, RAW=  10.1,  31.6, CAL=   4.8,  35.7, ROT= 145.2, -35.7

2025-01-09T00:51:25.248Z,1736383885.248 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-01-09T00:51:25.249Z,1736383885.249 [DAT](INFO): direction in FSK: [-0.666842,0.463467,0.583541]
2025-01-09T00:51:25.249Z,1736383885.249 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:25.253Z,1736383885.253 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.623463
2025-01-09T00:51:25.355Z,1736383885.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:25.389Z,1736383885.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504034 s,
      deltaX: -0.200000 m,
      approachRate: -0.396799 m/s,
      rangeRepo size: 4

2025-01-09T00:51:25.396Z,1736383885.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 175.117776 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 0.504034 s,
      deltaX: -0.200000 m,
      approachRate: -0.396799 m/s,
      posRepo size: 4

2025-01-09T00:51:25.488Z,1736383885.488 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.858665
2025-01-09T00:51:25.557Z,1736383885.557 [DockingStepper](INFO): Stopping
2025-01-09T00:51:25.745Z,1736383885.745 [DAT](INFO): DAT read: Rx Time:00:51:24.6135 

2025-01-09T00:51:25.746Z,1736383885.746 [DAT](INFO): Rx dataTimestamp_ set to:1736383885.745586
2025-01-09T00:51:25.747Z,1736383885.747 [DAT](INFO): DAT read: Bearing 139.0, -38.5 (Local)

2025-01-09T00:51:25.748Z,1736383885.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.0, -38.5 (Local)

2025-01-09T00:51:25.750Z,1736383885.750 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:25.754Z,1736383885.754 [DAT](INFO): DAT read: 00:51:24.6135 LVL= 14160, 16305, 11346, 12403, AGC= 27, IDX= 511,-0.36,-0.325, 0.071,-1.404, 0.377, PHS=-0.614,-0.259,-1.784, RAW=  17.2,  34.2, CAL=  11.0,  38.5, ROT= 139.0, -38.5

2025-01-09T00:51:25.785Z,1736383885.785 [DAT](INFO): got valid direction response:
 00:51:24.6135 LVL= 14160, 16305, 11346, 12403, AGC= 27, IDX= 511,-0.36,-0.325, 0.071,-1.404, 0.377, PHS=-0.614,-0.259,-1.784, RAW=  17.2,  34.2, CAL=  11.0,  38.5, ROT= 139.0, -38.5

2025-01-09T00:51:25.786Z,1736383885.786 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-01-09T00:51:25.800Z,1736383885.800 [DAT](INFO): direction in FSK: [-0.590642,0.513437,0.622515]
2025-01-09T00:51:25.800Z,1736383885.800 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:25.828Z,1736383885.828 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.198429
2025-01-09T00:51:25.864Z,1736383885.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:25.910Z,1736383885.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.508444 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:25.924Z,1736383885.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 170.655369 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 0.508444 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:25.993Z,1736383885.993 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.362804
2025-01-09T00:51:26.068Z,1736383886.068 [DockingStepper](INFO): Stopping
2025-01-09T00:51:26.246Z,1736383886.246 [DAT](INFO): DAT read: Rx Time:00:51:25.1134 

2025-01-09T00:51:26.247Z,1736383886.247 [DAT](INFO): Rx dataTimestamp_ set to:1736383886.246246
2025-01-09T00:51:26.250Z,1736383886.250 [DAT](INFO): DAT read: Bearing 141.1, -38.3 (Local)

2025-01-09T00:51:26.251Z,1736383886.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.1, -38.3 (Local)

2025-01-09T00:51:26.255Z,1736383886.255 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:26.268Z,1736383886.268 [DAT](INFO): DAT read: 00:51:25.1134 LVL= 12576, 16753, 11346, 12163, AGC= 27, IDX= 510,-0.26,-1.737,-1.292,-2.756,-1.011, PHS=-0.638,-0.234,-1.748, RAW=  15.1,  34.3, CAL=   8.9,  38.3, ROT= 141.1, -38.3

2025-01-09T00:51:26.269Z,1736383886.269 [DAT](INFO): got valid direction response:
 00:51:25.1134 LVL= 12576, 16753, 11346, 12163, AGC= 27, IDX= 510,-0.26,-1.737,-1.292,-2.756,-1.011, PHS=-0.638,-0.234,-1.748, RAW=  15.1,  34.3, CAL=   8.9,  38.3, ROT= 141.1, -38.3

2025-01-09T00:51:26.270Z,1736383886.270 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-01-09T00:51:26.280Z,1736383886.280 [DAT](INFO): direction in FSK: [-0.610747,0.492811,0.619779]
2025-01-09T00:51:26.280Z,1736383886.280 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:26.301Z,1736383886.301 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.671410
2025-01-09T00:51:26.412Z,1736383886.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:26.439Z,1736383886.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.500660 s,
      deltaX: -0.100000 m,
      approachRate: -0.199736 m/s,
      rangeRepo size: 4

2025-01-09T00:51:26.449Z,1736383886.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 173.247069 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 0.500660 s,
      deltaX: -0.100000 m,
      approachRate: -0.199736 m/s,
      posRepo size: 4

2025-01-09T00:51:26.476Z,1736383886.476 [DockingStepper](INFO): Stopping
2025-01-09T00:51:26.497Z,1736383886.497 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.867359
2025-01-09T00:51:26.730Z,1736383886.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:26.736Z,1736383886.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:26.749Z,1736383886.749 [DAT](INFO): DAT read: Rx Time:00:51:25.6135 

2025-01-09T00:51:26.749Z,1736383886.749 [DAT](INFO): Rx dataTimestamp_ set to:1736383886.749202
2025-01-09T00:51:26.751Z,1736383886.751 [DAT](INFO): DAT read: Bearing 141.5, -38.2 (Local)

2025-01-09T00:51:26.751Z,1736383886.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.5, -38.2 (Local)

2025-01-09T00:51:26.753Z,1736383886.753 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:26.758Z,1736383886.758 [DAT](INFO): DAT read: 00:51:25.6135 LVL= 12480, 17249, 11442, 11363, AGC= 27, IDX= 511,-0.22,-0.647,-0.182,-1.676, 0.094, PHS=-0.652,-0.228,-1.773, RAW=  14.6,  34.2, CAL=   8.5,  38.2, ROT= 141.5, -38.2

2025-01-09T00:51:26.767Z,1736383886.767 [DAT](INFO): got valid direction response:
 00:51:25.6135 LVL= 12480, 17249, 11442, 11363, AGC= 27, IDX= 511,-0.22,-0.647,-0.182,-1.676, 0.094, PHS=-0.652,-0.228,-1.773, RAW=  14.6,  34.2, CAL=   8.5,  38.2, ROT= 141.5, -38.2

2025-01-09T00:51:26.768Z,1736383886.768 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-01-09T00:51:26.769Z,1736383886.769 [DAT](INFO): direction in FSK: [-0.615018,0.489207,0.618408]
2025-01-09T00:51:26.769Z,1736383886.769 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:26.773Z,1736383886.773 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.142803
2025-01-09T00:51:26.777Z,1736383886.777 [DockingStepper](INFO): Stopping
2025-01-09T00:51:27.001Z,1736383887.001 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.371094
2025-01-09T00:51:27.169Z,1736383887.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:27.250Z,1736383887.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.502956 s,
      deltaX: 0.100000 m,
      approachRate: 0.198825 m/s,
      rangeRepo size: 4

2025-01-09T00:51:27.253Z,1736383887.253 [DAT](INFO): DAT read: Rx Time:00:51:26.1135 

2025-01-09T00:51:27.253Z,1736383887.253 [DAT](INFO): Rx dataTimestamp_ set to:1736383887.253199
2025-01-09T00:51:27.255Z,1736383887.255 [DAT](INFO): DAT read: Bearing 143.8, -37.3 (Local)

2025-01-09T00:51:27.255Z,1736383887.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.8, -37.3 (Local)

2025-01-09T00:51:27.257Z,1736383887.257 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:27.263Z,1736383887.263 [DAT](INFO): DAT read: 00:51:26.1135 LVL= 12752, 17489, 11602, 12483, AGC= 28, IDX= 510,-0.17,-1.902,-1.363,-2.890,-1.138, PHS=-0.676,-0.177,-1.754, RAW=  12.0,  33.4, CAL=   6.2,  37.3, ROT= 143.8, -37.3

2025-01-09T00:51:27.264Z,1736383887.264 [DAT](INFO): got valid direction response:
 00:51:26.1135 LVL= 12752, 17489, 11602, 12483, AGC= 28, IDX= 510,-0.17,-1.902,-1.363,-2.890,-1.138, PHS=-0.676,-0.177,-1.754, RAW=  12.0,  33.4, CAL=   6.2,  37.3, ROT= 143.8, -37.3

2025-01-09T00:51:27.265Z,1736383887.265 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-01-09T00:51:27.266Z,1736383887.266 [DAT](INFO): direction in FSK: [-0.641916,0.469811,0.605988]
2025-01-09T00:51:27.266Z,1736383887.266 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:27.270Z,1736383887.270 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.640343
2025-01-09T00:51:27.273Z,1736383887.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 174.726367 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 0.502956 s,
      deltaX: 0.100000 m,
      approachRate: 0.198825 m/s,
      posRepo size: 4

2025-01-09T00:51:27.304Z,1736383887.304 [DockingStepper](INFO): Stopping
2025-01-09T00:51:27.504Z,1736383887.504 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.874470
2025-01-09T00:51:27.611Z,1736383887.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:27.671Z,1736383887.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503997 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:27.678Z,1736383887.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 177.419572 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 0.503997 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:27.721Z,1736383887.721 [DockingStepper](INFO): Stopping
2025-01-09T00:51:27.757Z,1736383887.757 [DAT](INFO): DAT read: Rx Time:00:51:26.6136 

2025-01-09T00:51:27.757Z,1736383887.757 [DAT](INFO): Rx dataTimestamp_ set to:1736383887.757131
2025-01-09T00:51:27.759Z,1736383887.759 [DAT](INFO): DAT read: Bearing 139.5, -40.0 (Local)

2025-01-09T00:51:27.759Z,1736383887.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.5, -40.0 (Local)

2025-01-09T00:51:27.761Z,1736383887.761 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:27.766Z,1736383887.766 [DAT](INFO): DAT read: 00:51:26.6136 LVL= 14128, 18913, 12594, 12979, AGC= 27, IDX= 511,-0.12,-0.783,-0.391,-1.848,-0.028, PHS=-0.667,-0.316,-1.822, RAW=  17.1,  36.0, CAL=  10.5,  40.0, ROT= 139.5, -40.0

2025-01-09T00:51:27.767Z,1736383887.767 [DAT](INFO): got valid direction response:
 00:51:26.6136 LVL= 14128, 18913, 12594, 12979, AGC= 27, IDX= 511,-0.12,-0.783,-0.391,-1.848,-0.028, PHS=-0.667,-0.316,-1.822, RAW=  17.1,  36.0, CAL=  10.5,  40.0, ROT= 139.5, -40.0

2025-01-09T00:51:27.768Z,1736383887.768 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-01-09T00:51:27.769Z,1736383887.769 [DAT](INFO): direction in FSK: [-0.582505,0.497506,0.642788]
2025-01-09T00:51:27.769Z,1736383887.769 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:27.773Z,1736383887.773 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.142941
2025-01-09T00:51:27.948Z,1736383887.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:27.995Z,1736383887.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.503932 s,
      deltaX: 0.200000 m,
      approachRate: 0.396879 m/s,
      rangeRepo size: 4

2025-01-09T00:51:28.002Z,1736383888.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 173.726098 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 0.503932 s,
      deltaX: 0.200000 m,
      approachRate: 0.396879 m/s,
      posRepo size: 4

2025-01-09T00:51:28.008Z,1736383888.008 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.378605
2025-01-09T00:51:28.168Z,1736383888.168 [DockingStepper](INFO): Stopping
2025-01-09T00:51:28.261Z,1736383888.261 [DAT](INFO): DAT read: Rx Time:00:51:27.1135 

2025-01-09T00:51:28.261Z,1736383888.261 [DAT](INFO): Rx dataTimestamp_ set to:1736383888.261176
2025-01-09T00:51:28.263Z,1736383888.263 [DAT](INFO): DAT read: Bearing 144.4, -37.9 (Local)

2025-01-09T00:51:28.264Z,1736383888.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.4, -37.9 (Local)

2025-01-09T00:51:28.267Z,1736383888.267 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:28.272Z,1736383888.272 [DAT](INFO): DAT read: 00:51:27.1135 LVL= 12608, 17745, 11490, 11811, AGC= 28, IDX= 510,-0.10,-1.627,-1.080,-2.600,-0.835, PHS=-0.704,-0.198,-1.768, RAW=  11.6,  34.2, CAL=   5.6,  37.9, ROT= 144.4, -37.9

2025-01-09T00:51:28.273Z,1736383888.273 [DAT](INFO): got valid direction response:
 00:51:27.1135 LVL= 12608, 17745, 11490, 11811, AGC= 28, IDX= 510,-0.10,-1.627,-1.080,-2.600,-0.835, PHS=-0.704,-0.198,-1.768, RAW=  11.6,  34.2, CAL=   5.6,  37.9, ROT= 144.4, -37.9

2025-01-09T00:51:28.273Z,1736383888.273 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-01-09T00:51:28.274Z,1736383888.274 [DAT](INFO): direction in FSK: [-0.641605,0.459344,0.614285]
2025-01-09T00:51:28.274Z,1736383888.274 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:28.286Z,1736383888.286 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.656635
2025-01-09T00:51:28.429Z,1736383888.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:28.455Z,1736383888.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504045 s,
      deltaX: -0.200000 m,
      approachRate: -0.396790 m/s,
      rangeRepo size: 4

2025-01-09T00:51:28.461Z,1736383888.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 178.791231 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 0.504045 s,
      deltaX: -0.200000 m,
      approachRate: -0.396790 m/s,
      posRepo size: 4

2025-01-09T00:51:28.513Z,1736383888.513 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.883347
2025-01-09T00:51:28.517Z,1736383888.517 [DockingStepper](INFO): Stopping
2025-01-09T00:51:28.765Z,1736383888.765 [DAT](INFO): DAT read: Rx Time:00:51:27.6136 

2025-01-09T00:51:28.765Z,1736383888.765 [DAT](INFO): Rx dataTimestamp_ set to:1736383888.765134
2025-01-09T00:51:28.767Z,1736383888.767 [DAT](INFO): DAT read: Bearing 145.7, -37.7 (Local)

2025-01-09T00:51:28.767Z,1736383888.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.7, -37.7 (Local)

2025-01-09T00:51:28.769Z,1736383888.769 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:28.774Z,1736383888.774 [DAT](INFO): DAT read: 00:51:27.6136 LVL= 12560, 17889, 11426, 12787, AGC= 28, IDX= 511,-0.07, 0.060, 0.645,-0.887, 0.873, PHS=-0.725,-0.181,-1.763, RAW=  10.2,  34.1, CAL=   4.3,  37.7, ROT= 145.7, -37.7

2025-01-09T00:51:28.775Z,1736383888.775 [DAT](INFO): got valid direction response:
 00:51:27.6136 LVL= 12560, 17889, 11426, 12787, AGC= 28, IDX= 511,-0.07, 0.060, 0.645,-0.887, 0.873, PHS=-0.725,-0.181,-1.763, RAW=  10.2,  34.1, CAL=   4.3,  37.7, ROT= 145.7, -37.7

2025-01-09T00:51:28.775Z,1736383888.775 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-01-09T00:51:28.776Z,1736383888.776 [DAT](INFO): direction in FSK: [-0.653628,0.445875,0.611527]
2025-01-09T00:51:28.776Z,1736383888.776 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:28.784Z,1736383888.784 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.154144
2025-01-09T00:51:28.805Z,1736383888.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:28.872Z,1736383888.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.503958 s,
      deltaX: 0.200000 m,
      approachRate: 0.396858 m/s,
      rangeRepo size: 4

2025-01-09T00:51:28.880Z,1736383888.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 180.448312 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 0.503958 s,
      deltaX: 0.200000 m,
      approachRate: 0.396858 m/s,
      posRepo size: 4

2025-01-09T00:51:29.017Z,1736383889.017 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.386951
2025-01-09T00:51:29.056Z,1736383889.056 [DockingStepper](INFO): Stopping
2025-01-09T00:51:29.271Z,1736383889.271 [DAT](INFO): DAT read: Rx Time:00:51:28.1136 

2025-01-09T00:51:29.271Z,1736383889.271 [DAT](INFO): Rx dataTimestamp_ set to:1736383889.271143
2025-01-09T00:51:29.273Z,1736383889.273 [DAT](INFO): DAT read: Bearing 145.6, -38.9 (Local)

2025-01-09T00:51:29.273Z,1736383889.273 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.6, -38.9 (Local)

2025-01-09T00:51:29.276Z,1736383889.276 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:29.281Z,1736383889.281 [DAT](INFO): DAT read: 00:51:28.1136 LVL= 11200, 16289, 10098, 11731, AGC= 27, IDX= 510,-0.02,-1.130,-0.574,-2.051,-0.303, PHS=-0.739,-0.224,-1.752, RAW=  10.7,  35.5, CAL=   4.4,  38.9, ROT= 145.6, -38.9

2025-01-09T00:51:29.282Z,1736383889.282 [DAT](INFO): got valid direction response:
 00:51:28.1136 LVL= 11200, 16289, 10098, 11731, AGC= 27, IDX= 510,-0.02,-1.130,-0.574,-2.051,-0.303, PHS=-0.739,-0.224,-1.752, RAW=  10.7,  35.5, CAL=   4.4,  38.9, ROT= 145.6, -38.9

2025-01-09T00:51:29.282Z,1736383889.282 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-01-09T00:51:29.289Z,1736383889.289 [DAT](INFO): direction in FSK: [-0.642139,0.439682,0.627963]
2025-01-09T00:51:29.289Z,1736383889.289 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:29.298Z,1736383889.298 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.668530
2025-01-09T00:51:29.418Z,1736383889.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:29.453Z,1736383889.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.506009 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:29.460Z,1736383889.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 180.694552 deg,
      lat: 36.904001 deg,
      lon: -122.118950 deg,
      deltaT: 0.506009 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:29.520Z,1736383889.520 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.890694
2025-01-09T00:51:29.606Z,1736383889.606 [DockingStepper](INFO): Stopping
2025-01-09T00:51:29.774Z,1736383889.774 [DAT](INFO): DAT read: Rx Time:00:51:28.6136 

2025-01-09T00:51:29.775Z,1736383889.775 [DAT](INFO): Rx dataTimestamp_ set to:1736383889.774001
2025-01-09T00:51:29.777Z,1736383889.777 [DAT](INFO): DAT read: Bearing 147.3, -38.2 (Local)

2025-01-09T00:51:29.777Z,1736383889.777 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.3, -38.2 (Local)

2025-01-09T00:51:29.779Z,1736383889.779 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:29.796Z,1736383889.796 [DAT](INFO): DAT read: 00:51:28.6136 LVL= 11216, 15921, 10194, 11763, AGC= 27, IDX= 510, 0.01,-0.474, 0.140,-1.367, 0.374, PHS=-0.760,-0.187,-1.744, RAW=   8.7,  34.9, CAL=   2.7,  38.2, ROT= 147.3, -38.2

2025-01-09T00:51:29.797Z,1736383889.797 [DAT](INFO): got valid direction response:
 00:51:28.6136 LVL= 11216, 15921, 10194, 11763, AGC= 27, IDX= 510, 0.01,-0.474, 0.140,-1.367, 0.374, PHS=-0.760,-0.187,-1.744, RAW=   8.7,  34.9, CAL=   2.7,  38.2, ROT= 147.3, -38.2

2025-01-09T00:51:29.797Z,1736383889.797 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-01-09T00:51:29.798Z,1736383889.798 [DAT](INFO): direction in FSK: [-0.661307,0.424552,0.618408]
2025-01-09T00:51:29.798Z,1736383889.798 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:29.825Z,1736383889.825 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.195724
2025-01-09T00:51:29.896Z,1736383889.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:29.930Z,1736383889.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.502858 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:29.936Z,1736383889.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 182.379020 deg,
      lat: 36.904001 deg,
      lon: -122.118950 deg,
      deltaT: 0.502858 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:29.971Z,1736383889.971 [DockingStepper](INFO): Stopping
2025-01-09T00:51:30.024Z,1736383890.024 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.394634
2025-01-09T00:51:30.277Z,1736383890.277 [DAT](INFO): DAT read: Rx Time:00:51:29.1135 

2025-01-09T00:51:30.278Z,1736383890.278 [DAT](INFO): Rx dataTimestamp_ set to:1736383890.277266
2025-01-09T00:51:30.279Z,1736383890.279 [DAT](INFO): DAT read: Bearing 148.5, -38.0 (Local)

2025-01-09T00:51:30.279Z,1736383890.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.5, -38.0 (Local)

2025-01-09T00:51:30.281Z,1736383890.281 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:30.307Z,1736383890.307 [DAT](INFO): DAT read: 00:51:29.1135 LVL= 12416, 17649, 11250, 13043, AGC= 28, IDX= 509, 0.04,-1.096,-0.450,-1.961,-0.232, PHS=-0.776,-0.171,-1.732, RAW=   7.4,  34.8, CAL=   1.5,  38.0, ROT= 148.5, -38.0

2025-01-09T00:51:30.312Z,1736383890.312 [DAT](INFO): got valid direction response:
 00:51:29.1135 LVL= 12416, 17649, 11250, 13043, AGC= 28, IDX= 509, 0.04,-1.096,-0.450,-1.961,-0.232, PHS=-0.776,-0.171,-1.732, RAW=   7.4,  34.8, CAL=   1.5,  38.0, ROT= 148.5, -38.0

2025-01-09T00:51:30.312Z,1736383890.312 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-01-09T00:51:30.313Z,1736383890.313 [DAT](INFO): direction in FSK: [-0.671890,0.411734,0.615661]
2025-01-09T00:51:30.314Z,1736383890.314 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:30.325Z,1736383890.325 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.695454
2025-01-09T00:51:30.384Z,1736383890.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:30.409Z,1736383890.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503265 s,
      deltaX: -0.200000 m,
      approachRate: -0.397405 m/s,
      rangeRepo size: 4

2025-01-09T00:51:30.416Z,1736383890.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 183.545952 deg,
      lat: 36.904001 deg,
      lon: -122.118951 deg,
      deltaT: 0.503265 s,
      deltaX: -0.200000 m,
      approachRate: -0.397405 m/s,
      posRepo size: 4

2025-01-09T00:51:30.443Z,1736383890.443 [DockingStepper](INFO): Stopping
2025-01-09T00:51:30.528Z,1736383890.528 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.898697
2025-01-09T00:51:30.721Z,1736383890.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:30.738Z,1736383890.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:30.782Z,1736383890.782 [DAT](INFO): DAT read: Rx Time:00:51:29.6136 

2025-01-09T00:51:30.783Z,1736383890.783 [DAT](INFO): Rx dataTimestamp_ set to:1736383890.782237
2025-01-09T00:51:30.786Z,1736383890.786 [DAT](INFO): DAT read: Bearing 149.3, -38.0 (Local)

2025-01-09T00:51:30.787Z,1736383890.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.3, -38.0 (Local)

2025-01-09T00:51:30.790Z,1736383890.790 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:30.795Z,1736383890.795 [DAT](INFO): DAT read: 00:51:29.6136 LVL= 12400, 17905, 11346, 13379, AGC= 28, IDX= 510, 0.05, 0.496, 1.165,-0.354, 1.379, PHS=-0.795,-0.168,-1.737, RAW=   6.6,  34.9, CAL=   0.7,  38.0, ROT= 149.3, -38.0

2025-01-09T00:51:30.796Z,1736383890.796 [DAT](INFO): got valid direction response:
 00:51:29.6136 LVL= 12400, 17905, 11346, 13379, AGC= 28, IDX= 510, 0.05, 0.496, 1.165,-0.354, 1.379, PHS=-0.795,-0.168,-1.737, RAW=   6.6,  34.9, CAL=   0.7,  38.0, ROT= 149.3, -38.0

2025-01-09T00:51:30.797Z,1736383890.797 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-01-09T00:51:30.798Z,1736383890.798 [DAT](INFO): direction in FSK: [-0.677573,0.402313,0.615661]
2025-01-09T00:51:30.798Z,1736383890.798 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:30.802Z,1736383890.802 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.172436
2025-01-09T00:51:30.819Z,1736383890.819 [DockingStepper](INFO): Stopping
2025-01-09T00:51:31.032Z,1736383891.032 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.402493
2025-01-09T00:51:31.080Z,1736383891.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:31.157Z,1736383891.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.504971 s,
      deltaX: 0.200000 m,
      approachRate: 0.396062 m/s,
      rangeRepo size: 4

2025-01-09T00:51:31.159Z,1736383891.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 184.019664 deg,
      lat: 36.904001 deg,
      lon: -122.118951 deg,
      deltaT: 0.504971 s,
      deltaX: 0.200000 m,
      approachRate: 0.396062 m/s,
      posRepo size: 4

2025-01-09T00:51:31.185Z,1736383891.185 [DockingStepper](INFO): Stopping
2025-01-09T00:51:31.293Z,1736383891.293 [DAT](INFO): DAT read: Rx Time:00:51:30.1135 

2025-01-09T00:51:31.294Z,1736383891.294 [DAT](INFO): Rx dataTimestamp_ set to:1736383891.293251
2025-01-09T00:51:31.298Z,1736383891.298 [DAT](INFO): DAT read: Bearing 149.4, -39.0 (Local)

2025-01-09T00:51:31.299Z,1736383891.299 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.4, -39.0 (Local)

2025-01-09T00:51:31.302Z,1736383891.302 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:31.321Z,1736383891.321 [DAT](INFO): DAT read: 00:51:30.1135 LVL= 10992, 16225, 10274, 12147, AGC= 27, IDX= 509, 0.08,-0.909,-0.261,-1.738,-0.012, PHS=-0.810,-0.202,-1.730, RAW=   6.7,  36.0, CAL=   0.6,  39.0, ROT= 149.4, -39.0

2025-01-09T00:51:31.322Z,1736383891.322 [DAT](INFO): got valid direction response:
 00:51:30.1135 LVL= 10992, 16225, 10274, 12147, AGC= 27, IDX= 509, 0.08,-0.909,-0.261,-1.738,-0.012, PHS=-0.810,-0.202,-1.730, RAW=   6.7,  36.0, CAL=   0.6,  39.0, ROT= 149.4, -39.0

2025-01-09T00:51:31.323Z,1736383891.323 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-01-09T00:51:31.337Z,1736383891.337 [DAT](INFO): direction in FSK: [-0.668922,0.395600,0.629320]
2025-01-09T00:51:31.338Z,1736383891.338 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:31.342Z,1736383891.342 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.712486
2025-01-09T00:51:31.515Z,1736383891.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:31.530Z,1736383891.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.511014 s,
      deltaX: -0.200000 m,
      approachRate: -0.391379 m/s,
      rangeRepo size: 4

2025-01-09T00:51:31.534Z,1736383891.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 183.784005 deg,
      lat: 36.904001 deg,
      lon: -122.118951 deg,
      deltaT: 0.511014 s,
      deltaX: -0.200000 m,
      approachRate: -0.391379 m/s,
      posRepo size: 4

2025-01-09T00:51:31.540Z,1736383891.540 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.910622
2025-01-09T00:51:31.576Z,1736383891.576 [DockingStepper](INFO): Stopping
2025-01-09T00:51:31.793Z,1736383891.793 [DAT](INFO): DAT read: Rx Time:00:51:30.6136 

2025-01-09T00:51:31.794Z,1736383891.794 [DAT](INFO): Rx dataTimestamp_ set to:1736383891.793302
2025-01-09T00:51:31.795Z,1736383891.795 [DAT](INFO): DAT read: Bearing 150.4, -38.3 (Local)

2025-01-09T00:51:31.795Z,1736383891.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.4, -38.3 (Local)

2025-01-09T00:51:31.797Z,1736383891.797 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:31.803Z,1736383891.803 [DAT](INFO): DAT read: 00:51:30.6136 LVL= 12096, 18289, 11586, 13011, AGC= 28, IDX= 510, 0.08, 0.620, 1.316,-0.203, 1.537, PHS=-0.828,-0.173,-1.742, RAW=   5.4,  35.4, CAL= 359.6,  38.3, ROT= 150.4, -38.3

2025-01-09T00:51:31.806Z,1736383891.806 [DAT](INFO): got valid direction response:
 00:51:30.6136 LVL= 12096, 18289, 11586, 13011, AGC= 28, IDX= 510, 0.08, 0.620, 1.316,-0.203, 1.537, PHS=-0.828,-0.173,-1.742, RAW=   5.4,  35.4, CAL= 359.6,  38.3, ROT= 150.4, -38.3

2025-01-09T00:51:31.807Z,1736383891.807 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-01-09T00:51:31.823Z,1736383891.823 [DAT](INFO): direction in FSK: [-0.682359,0.387634,0.619779]
2025-01-09T00:51:31.823Z,1736383891.823 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:31.834Z,1736383891.834 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.204720
2025-01-09T00:51:31.931Z,1736383891.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:31.968Z,1736383891.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.500051 s,
      deltaX: 0.200000 m,
      approachRate: 0.399959 m/s,
      rangeRepo size: 4

2025-01-09T00:51:31.970Z,1736383891.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 184.437919 deg,
      lat: 36.904001 deg,
      lon: -122.118951 deg,
      deltaT: 0.500051 s,
      deltaX: 0.200000 m,
      approachRate: 0.399959 m/s,
      posRepo size: 4

2025-01-09T00:51:32.005Z,1736383892.005 [DockingStepper](INFO): Stopping
2025-01-09T00:51:32.045Z,1736383892.045 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.414734
2025-01-09T00:51:32.300Z,1736383892.300 [DAT](INFO): DAT read: Rx Time:00:51:31.1135 

2025-01-09T00:51:32.301Z,1736383892.301 [DAT](INFO): Rx dataTimestamp_ set to:1736383892.300550
2025-01-09T00:51:32.302Z,1736383892.302 [DAT](INFO): DAT read: Bearing 151.5, -39.0 (Local)

2025-01-09T00:51:32.302Z,1736383892.302 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.5, -39.0 (Local)

2025-01-09T00:51:32.305Z,1736383892.305 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:32.310Z,1736383892.310 [DAT](INFO): DAT read: 00:51:31.1135 LVL= 10768, 16593, 10626, 11763, AGC= 27, IDX= 509, 0.12,-0.125, 0.577,-0.903, 0.819, PHS=-0.856,-0.195,-1.725, RAW=   4.5,  36.4, CAL= 358.5,  39.0, ROT= 151.5, -39.0

2025-01-09T00:51:32.310Z,1736383892.310 [DAT](INFO): got valid direction response:
 00:51:31.1135 LVL= 10768, 16593, 10626, 11763, AGC= 27, IDX= 509, 0.12,-0.125, 0.577,-0.903, 0.819, PHS=-0.856,-0.195,-1.725, RAW=   4.5,  36.4, CAL= 358.5,  39.0, ROT= 151.5, -39.0

2025-01-09T00:51:32.311Z,1736383892.311 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-01-09T00:51:32.312Z,1736383892.312 [DAT](INFO): direction in FSK: [-0.682969,0.370822,0.629320]
2025-01-09T00:51:32.312Z,1736383892.312 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:32.316Z,1736383892.316 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.686119
2025-01-09T00:51:32.441Z,1736383892.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:32.483Z,1736383892.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.507248 s,
      deltaX: -0.200000 m,
      approachRate: -0.394284 m/s,
      rangeRepo size: 4

2025-01-09T00:51:32.489Z,1736383892.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 185.081404 deg,
      lat: 36.904003 deg,
      lon: -122.118951 deg,
      deltaT: 0.507248 s,
      deltaX: -0.200000 m,
      approachRate: -0.394284 m/s,
      posRepo size: 4

2025-01-09T00:51:32.524Z,1736383892.524 [DockingStepper](INFO): Stopping
2025-01-09T00:51:32.549Z,1736383892.549 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.919548
2025-01-09T00:51:32.745Z,1736383892.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:32.753Z,1736383892.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:32.797Z,1736383892.797 [DockingStepper](INFO): Stopping
2025-01-09T00:51:32.803Z,1736383892.803 [DAT](INFO): DAT read: Rx Time:00:51:31.6136 

2025-01-09T00:51:32.804Z,1736383892.804 [DAT](INFO): Rx dataTimestamp_ set to:1736383892.803550
2025-01-09T00:51:32.805Z,1736383892.805 [DAT](INFO): DAT read: Bearing 151.3, -38.1 (Local)

2025-01-09T00:51:32.805Z,1736383892.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.3, -38.1 (Local)

2025-01-09T00:51:32.808Z,1736383892.808 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:32.813Z,1736383892.813 [DAT](INFO): DAT read: 00:51:31.6136 LVL= 11904, 18753, 12018, 13299, AGC= 28, IDX= 510, 0.14, 0.941, 1.671, 0.132, 1.880, PHS=-0.850,-0.161,-1.750, RAW=   4.4,  35.3, CAL= 358.7,  38.1, ROT= 151.3, -38.1

2025-01-09T00:51:32.823Z,1736383892.823 [DAT](INFO): got valid direction response:
 00:51:31.6136 LVL= 11904, 18753, 12018, 13299, AGC= 28, IDX= 510, 0.14, 0.941, 1.671, 0.132, 1.880, PHS=-0.850,-0.161,-1.750, RAW=   4.4,  35.3, CAL= 358.7,  38.1, ROT= 151.3, -38.1

2025-01-09T00:51:32.827Z,1736383892.827 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-01-09T00:51:32.828Z,1736383892.828 [DAT](INFO): direction in FSK: [-0.690257,0.377905,0.617036]
2025-01-09T00:51:32.829Z,1736383892.829 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:32.836Z,1736383892.836 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.206486
2025-01-09T00:51:33.052Z,1736383893.052 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.422539
2025-01-09T00:51:33.165Z,1736383893.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:33.184Z,1736383893.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.503000 s,
      deltaX: 0.200000 m,
      approachRate: 0.397614 m/s,
      rangeRepo size: 4

2025-01-09T00:51:33.186Z,1736383893.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 184.023923 deg,
      lat: 36.904002 deg,
      lon: -122.118951 deg,
      deltaT: 0.503000 s,
      deltaX: 0.200000 m,
      approachRate: 0.397614 m/s,
      posRepo size: 4

2025-01-09T00:51:33.248Z,1736383893.248 [DockingStepper](INFO): Stopping
2025-01-09T00:51:33.312Z,1736383893.312 [DAT](INFO): DAT read: Rx Time:00:51:32.1136 

2025-01-09T00:51:33.313Z,1736383893.313 [DAT](INFO): Rx dataTimestamp_ set to:1736383893.312276
2025-01-09T00:51:33.318Z,1736383893.318 [DAT](INFO): DAT read: Bearing 152.7, -39.5 (Local)

2025-01-09T00:51:33.324Z,1736383893.324 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.7, -39.5 (Local)

2025-01-09T00:51:33.333Z,1736383893.333 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:33.356Z,1736383893.356 [DAT](INFO): DAT read: 00:51:32.1136 LVL= 10608, 17041, 10962, 11891, AGC= 27, IDX= 509, 0.18, 0.300, 1.022,-0.444, 1.277, PHS=-0.889,-0.209,-1.724, RAW=   3.4,  37.2, CAL= 357.3,  39.5, ROT= 152.7, -39.5

2025-01-09T00:51:33.357Z,1736383893.357 [DAT](INFO): got valid direction response:
 00:51:32.1136 LVL= 10608, 17041, 10962, 11891, AGC= 27, IDX= 509, 0.18, 0.300, 1.022,-0.444, 1.277, PHS=-0.889,-0.209,-1.724, RAW=   3.4,  37.2, CAL= 357.3,  39.5, ROT= 152.7, -39.5

2025-01-09T00:51:33.357Z,1736383893.357 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-01-09T00:51:33.358Z,1736383893.358 [DAT](INFO): direction in FSK: [-0.685679,0.353905,0.636078]
2025-01-09T00:51:33.358Z,1736383893.358 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:33.363Z,1736383893.363 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.732910
2025-01-09T00:51:33.556Z,1736383893.556 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.926674
2025-01-09T00:51:33.674Z,1736383893.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:33.707Z,1736383893.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.508726 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:33.713Z,1736383893.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 184.779621 deg,
      lat: 36.904002 deg,
      lon: -122.118951 deg,
      deltaT: 0.508726 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:33.745Z,1736383893.745 [DockingStepper](INFO): Stopping
2025-01-09T00:51:33.809Z,1736383893.809 [DAT](INFO): DAT read: Rx Time:.6136 

2025-01-09T00:51:33.809Z,1736383893.809 [DAT](INFO): Rx dataTimestamp_ set to:1736383893.808854
2025-01-09T00:51:33.810Z,1736383893.810 [DAT](INFO): DAT read: Bearing 152.4, -38.8 (Local)

2025-01-09T00:51:33.811Z,1736383893.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.4, -38.8 (Local)

2025-01-09T00:51:33.813Z,1736383893.813 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:33.819Z,1736383893.819 [DAT](INFO): DAT read: 00:51:32.6136 LVL= 11664, 19153, 12562, 12819, AGC= 28, IDX= 509, 0.21, 0.084, 0.827,-0.692, 1.057, PHS=-0.885,-0.183,-1.752, RAW=   3.5,  36.2, CAL= 357.6,  38.8, ROT= 152.4, -38.8

2025-01-09T00:51:33.820Z,1736383893.820 [DAT](INFO): got valid direction response:
 00:51:32.6136 LVL= 11664, 19153, 12562, 12819, AGC= 28, IDX= 509, 0.21, 0.084, 0.827,-0.692, 1.057, PHS=-0.885,-0.183,-1.752, RAW=   3.5,  36.2, CAL= 357.6,  38.8, ROT= 152.4, -38.8

2025-01-09T00:51:33.821Z,1736383893.821 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-01-09T00:51:33.822Z,1736383893.822 [DAT](INFO): direction in FSK: [-0.690652,0.361064,0.626604]
2025-01-09T00:51:33.822Z,1736383893.822 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:33.825Z,1736383893.825 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.195625
2025-01-09T00:51:33.970Z,1736383893.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:33.989Z,1736383893.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.496578 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:33.991Z,1736383893.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 184.526498 deg,
      lat: 36.904002 deg,
      lon: -122.118951 deg,
      deltaT: 0.496578 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:34.053Z,1736383894.053 [DockingStepper](INFO): Stopping
2025-01-09T00:51:34.060Z,1736383894.060 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.430698
2025-01-09T00:51:34.317Z,1736383894.317 [DAT](INFO): DAT read: Rx Time:00:51:33.1135 

2025-01-09T00:51:34.318Z,1736383894.318 [DAT](INFO): Rx dataTimestamp_ set to:1736383894.317129
2025-01-09T00:51:34.322Z,1736383894.322 [DAT](INFO): DAT read: Bearing 152.6, -38.8 (Local)

2025-01-09T00:51:34.323Z,1736383894.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.6, -38.8 (Local)

2025-01-09T00:51:34.330Z,1736383894.330 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:34.380Z,1736383894.380 [DAT](INFO): DAT read: 00:51:33.1135 LVL= 11584, 19393, 12562, 12851, AGC= 28, IDX= 508, 0.27,-1.190,-0.443,-1.961,-0.211, PHS=-0.891,-0.185,-1.753, RAW=   3.3,  36.3, CAL= 357.4,  38.8, ROT= 152.6, -38.8

2025-01-09T00:51:34.381Z,1736383894.381 [DAT](INFO): got valid direction response:
 00:51:33.1135 LVL= 11584, 19393, 12562, 12851, AGC= 28, IDX= 508, 0.27,-1.190,-0.443,-1.961,-0.211, PHS=-0.891,-0.185,-1.753, RAW=   3.3,  36.3, CAL= 357.4,  38.8, ROT= 152.6, -38.8

2025-01-09T00:51:34.381Z,1736383894.381 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-01-09T00:51:34.382Z,1736383894.382 [DAT](INFO): direction in FSK: [-0.691908,0.358651,0.626604]
2025-01-09T00:51:34.382Z,1736383894.382 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:34.411Z,1736383894.411 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.773369
2025-01-09T00:51:34.446Z,1736383894.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:34.481Z,1736383894.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.508275 s,
      deltaX: -0.200000 m,
      approachRate: -0.393488 m/s,
      rangeRepo size: 4

2025-01-09T00:51:34.492Z,1736383894.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 183.718375 deg,
      lat: 36.904002 deg,
      lon: -122.118951 deg,
      deltaT: 0.508275 s,
      deltaX: -0.200000 m,
      approachRate: -0.393488 m/s,
      posRepo size: 4

2025-01-09T00:51:34.524Z,1736383894.524 [DockingStepper](INFO): Stopping
2025-01-09T00:51:34.564Z,1736383894.564 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.934628
2025-01-09T00:51:34.761Z,1736383894.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:34.770Z,1736383894.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:34.785Z,1736383894.785 [DockingStepper](INFO): Stopping
2025-01-09T00:51:34.819Z,1736383894.819 [DAT](INFO): DAT read: Rx Time:00:51:33.6136 

2025-01-09T00:51:34.821Z,1736383894.821 [DAT](INFO): Rx dataTimestamp_ set to:1736383894.819483
2025-01-09T00:51:34.824Z,1736383894.824 [DAT](INFO): DAT read: Bearing 153.0, -38.5 (Local)

2025-01-09T00:51:34.825Z,1736383894.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.0, -38.5 (Local)

2025-01-09T00:51:34.827Z,1736383894.827 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:34.832Z,1736383894.832 [DAT](INFO): DAT read: 00:51:33.6136 LVL= 13616, 22961, 15554, 15555, AGC= 30, IDX= 509, 0.30, 0.421, 1.193,-0.349, 1.412, PHS=-0.904,-0.172,-1.765, RAW=   2.7,  36.0, CAL= 357.0,  38.5, ROT= 153.0, -38.5

2025-01-09T00:51:34.833Z,1736383894.833 [DAT](INFO): got valid direction response:
 00:51:33.6136 LVL= 13616, 22961, 15554, 15555, AGC= 30, IDX= 509, 0.30, 0.421, 1.193,-0.349, 1.412, PHS=-0.904,-0.172,-1.765, RAW=   2.7,  36.0, CAL= 357.0,  38.5, ROT= 153.0, -38.5

2025-01-09T00:51:34.834Z,1736383894.834 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-01-09T00:51:34.835Z,1736383894.835 [DAT](INFO): direction in FSK: [-0.697309,0.355297,0.622515]
2025-01-09T00:51:34.840Z,1736383894.840 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:34.843Z,1736383894.843 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.213116
2025-01-09T00:51:35.068Z,1736383895.068 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.438648
2025-01-09T00:51:35.170Z,1736383895.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:35.189Z,1736383895.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.502354 s,
      deltaX: 0.200000 m,
      approachRate: 0.398126 m/s,
      rangeRepo size: 4

2025-01-09T00:51:35.191Z,1736383895.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 183.253802 deg,
      lat: 36.904002 deg,
      lon: -122.118951 deg,
      deltaT: 0.502354 s,
      deltaX: 0.200000 m,
      approachRate: 0.398126 m/s,
      posRepo size: 4

2025-01-09T00:51:35.232Z,1736383895.232 [DockingStepper](INFO): Stopping
2025-01-09T00:51:35.325Z,1736383895.325 [DAT](INFO): DAT read: Rx Time:00:51:34.1135 

2025-01-09T00:51:35.327Z,1736383895.327 [DAT](INFO): Rx dataTimestamp_ set to:1736383895.325637
2025-01-09T00:51:35.331Z,1736383895.331 [DAT](INFO): DAT read: Bearing 152.2, -38.7 (Local)

2025-01-09T00:51:35.332Z,1736383895.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.2, -38.7 (Local)

2025-01-09T00:51:35.339Z,1736383895.339 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:35.354Z,1736383895.354 [DAT](INFO): DAT read: 00:51:34.1135 LVL= 12272, 20785, 14130, 13987, AGC= 29, IDX= 508, 0.38,-1.450,-0.700,-2.242,-0.471, PHS=-0.891,-0.182,-1.774, RAW=   3.6,  36.1, CAL= 357.8,  38.7, ROT= 152.2, -38.7

2025-01-09T00:51:35.366Z,1736383895.366 [DAT](INFO): got valid direction response:
 00:51:34.1135 LVL= 12272, 20785, 14130, 13987, AGC= 29, IDX= 508, 0.38,-1.450,-0.700,-2.242,-0.471, PHS=-0.891,-0.182,-1.774, RAW=   3.6,  36.1, CAL= 357.8,  38.7, ROT= 152.2, -38.7

2025-01-09T00:51:35.366Z,1736383895.366 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-01-09T00:51:35.372Z,1736383895.372 [DAT](INFO): direction in FSK: [-0.690354,0.363982,0.625243]
2025-01-09T00:51:35.373Z,1736383895.373 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:35.392Z,1736383895.392 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.762596
2025-01-09T00:51:35.573Z,1736383895.573 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.942867
2025-01-09T00:51:35.629Z,1736383895.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:35.684Z,1736383895.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.506154 s,
      deltaX: -0.200000 m,
      approachRate: -0.395137 m/s,
      rangeRepo size: 4

2025-01-09T00:51:35.687Z,1736383895.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 182.006843 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 0.506154 s,
      deltaX: -0.200000 m,
      approachRate: -0.395137 m/s,
      posRepo size: 4

2025-01-09T00:51:35.713Z,1736383895.713 [DockingStepper](INFO): Stopping
2025-01-09T00:51:35.825Z,1736383895.825 [DAT](INFO): DAT read: Rx Time:00:51:34.6136 

2025-01-09T00:51:35.825Z,1736383895.825 [DAT](INFO): Rx dataTimestamp_ set to:1736383895.825043
2025-01-09T00:51:35.827Z,1736383895.827 [DAT](INFO): DAT read: Bearing 150.6, -40.0 (Local)

2025-01-09T00:51:35.827Z,1736383895.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.6, -40.0 (Local)

2025-01-09T00:51:35.829Z,1736383895.829 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:35.834Z,1736383895.834 [DAT](INFO): DAT read: 00:51:34.6136 LVL= 11616, 19345, 12770, 12483, AGC= 28, IDX= 510,-0.48,-1.713,-1.038,-2.527,-0.746, PHS=-0.880,-0.245,-1.784, RAW=   5.8,  37.5, CAL= 359.4,  40.0, ROT= 150.6, -40.0

2025-01-09T00:51:35.836Z,1736383895.836 [DAT](INFO): got valid direction response:
 00:51:34.6136 LVL= 11616, 19345, 12770, 12483, AGC= 28, IDX= 510,-0.48,-1.713,-1.038,-2.527,-0.746, PHS=-0.880,-0.245,-1.784, RAW=   5.8,  37.5, CAL= 359.4,  40.0, ROT= 150.6, -40.0

2025-01-09T00:51:35.836Z,1736383895.836 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-01-09T00:51:35.837Z,1736383895.837 [DAT](INFO): direction in FSK: [-0.667389,0.376054,0.642788]
2025-01-09T00:51:35.837Z,1736383895.837 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:35.845Z,1736383895.845 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.215137
2025-01-09T00:51:35.984Z,1736383895.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:36.005Z,1736383896.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.499406 s,
      deltaX: 0.200000 m,
      approachRate: 0.400476 m/s,
      rangeRepo size: 4

2025-01-09T00:51:36.010Z,1736383896.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 180.355679 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 0.499406 s,
      deltaX: 0.200000 m,
      approachRate: 0.400476 m/s,
      posRepo size: 4

2025-01-09T00:51:36.077Z,1736383896.077 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.447712
2025-01-09T00:51:36.180Z,1736383896.180 [DockingStepper](INFO): Stopping
2025-01-09T00:51:36.333Z,1736383896.333 [DAT](INFO): DAT read: Rx Time:00:51:35.1135 

2025-01-09T00:51:36.335Z,1736383896.335 [DAT](INFO): Rx dataTimestamp_ set to:1736383896.333872
2025-01-09T00:51:36.340Z,1736383896.340 [DAT](INFO): DAT read: Bearing 149.9, -38.8 (Local)

2025-01-09T00:51:36.342Z,1736383896.342 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.9, -38.8 (Local)

2025-01-09T00:51:36.351Z,1736383896.351 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:36.386Z,1736383896.386 [DAT](INFO): DAT read: 00:51:35.1135 LVL= 13936, 22641, 15378, 15491, AGC= 30, IDX= 509,-0.42,-2.885,-2.193, 2.535,-1.943, PHS=-0.854,-0.202,-1.808, RAW=   6.2,  35.9, CAL=   0.1,  38.8, ROT= 149.9, -38.8

2025-01-09T00:51:36.387Z,1736383896.387 [DAT](INFO): got valid direction response:
 00:51:35.1135 LVL= 13936, 22641, 15378, 15491, AGC= 30, IDX= 509,-0.42,-2.885,-2.193, 2.535,-1.943, PHS=-0.854,-0.202,-1.808, RAW=   6.2,  35.9, CAL=   0.1,  38.8, ROT= 149.9, -38.8

2025-01-09T00:51:36.400Z,1736383896.400 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-01-09T00:51:36.429Z,1736383896.429 [DAT](INFO): direction in FSK: [-0.674245,0.390846,0.626604]
2025-01-09T00:51:36.429Z,1736383896.429 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:36.450Z,1736383896.450 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.819763
2025-01-09T00:51:36.516Z,1736383896.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:36.548Z,1736383896.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.508829 s,
      deltaX: -0.200000 m,
      approachRate: -0.393059 m/s,
      rangeRepo size: 4

2025-01-09T00:51:36.556Z,1736383896.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 178.785648 deg,
      lat: 36.904003 deg,
      lon: -122.118950 deg,
      deltaT: 0.508829 s,
      deltaX: -0.200000 m,
      approachRate: -0.393059 m/s,
      posRepo size: 4

2025-01-09T00:51:36.582Z,1736383896.582 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.952679
2025-01-09T00:51:36.610Z,1736383896.610 [DockingStepper](INFO): Stopping
2025-01-09T00:51:36.810Z,1736383896.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:36.817Z,1736383896.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:36.833Z,1736383896.833 [DAT](INFO): DAT read: Rx Time:00:51:35.6135 

2025-01-09T00:51:36.834Z,1736383896.834 [DAT](INFO): Rx dataTimestamp_ set to:1736383896.832947
2025-01-09T00:51:36.835Z,1736383896.835 [DAT](INFO): DAT read: Bearing 149.8, -38.7 (Local)

2025-01-09T00:51:36.836Z,1736383896.836 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.8, -38.7 (Local)

2025-01-09T00:51:36.838Z,1736383896.838 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:36.842Z,1736383896.842 [DAT](INFO): DAT read: 00:51:35.6135 LVL= 12528, 20129, 13682, 13859, AGC= 29, IDX= 509,-0.33,-2.835,-2.145, 2.586,-1.901, PHS=-0.846,-0.197,-1.800, RAW=   6.3,  35.8, CAL=   0.2,  38.7, ROT= 149.8, -38.7

2025-01-09T00:51:36.843Z,1736383896.843 [DAT](INFO): got valid direction response:
 00:51:35.6135 LVL= 12528, 20129, 13682, 13859, AGC= 29, IDX= 509,-0.33,-2.835,-2.145, 2.586,-1.901, PHS=-0.846,-0.197,-1.800, RAW=   6.3,  35.8, CAL=   0.2,  38.7, ROT= 149.8, -38.7

2025-01-09T00:51:36.844Z,1736383896.844 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-01-09T00:51:36.845Z,1736383896.845 [DAT](INFO): direction in FSK: [-0.674506,0.392572,0.625243]
2025-01-09T00:51:36.845Z,1736383896.845 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:36.848Z,1736383896.848 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.218735
2025-01-09T00:51:37.016Z,1736383897.016 [DockingStepper](INFO): Stopping
2025-01-09T00:51:37.088Z,1736383897.088 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.456905
2025-01-09T00:51:37.231Z,1736383897.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:37.247Z,1736383897.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.499075 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:37.249Z,1736383897.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 178.183394 deg,
      lat: 36.904003 deg,
      lon: -122.118950 deg,
      deltaT: 0.499075 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:37.341Z,1736383897.341 [DAT](INFO): DAT read: Rx Time:00:51:36.1134 

2025-01-09T00:51:37.343Z,1736383897.343 [DAT](INFO): Rx dataTimestamp_ set to:1736383897.341951
2025-01-09T00:51:37.347Z,1736383897.347 [DAT](INFO): DAT read: Bearing 149.0, -40.4 (Local)

2025-01-09T00:51:37.349Z,1736383897.349 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.0, -40.4 (Local)

2025-01-09T00:51:37.355Z,1736383897.355 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:37.382Z,1736383897.382 [DAT](INFO): DAT read: 00:51:36.1134 LVL= 10496, 16657, 10962, 11715, AGC= 27, IDX= 508,-0.22, 1.482, 2.112, 0.641, 2.421, PHS=-0.851,-0.262,-1.783, RAW=   7.4,  37.6, CAL=   1.0,  40.4, ROT= 149.0, -40.4

2025-01-09T00:51:37.392Z,1736383897.392 [DAT](INFO): got valid direction response:
 00:51:36.1134 LVL= 10496, 16657, 10962, 11715, AGC= 27, IDX= 508,-0.22, 1.482, 2.112, 0.641, 2.421, PHS=-0.851,-0.262,-1.783, RAW=   7.4,  37.6, CAL=   1.0,  40.4, ROT= 149.0, -40.4

2025-01-09T00:51:37.392Z,1736383897.392 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-01-09T00:51:37.393Z,1736383897.393 [DAT](INFO): direction in FSK: [-0.652766,0.392221,0.648120]
2025-01-09T00:51:37.394Z,1736383897.394 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:37.404Z,1736383897.404 [DockingStepper](INFO): Stopping
2025-01-09T00:51:37.418Z,1736383897.418 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.788578
2025-01-09T00:51:37.592Z,1736383897.592 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.961609
2025-01-09T00:51:37.701Z,1736383897.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:37.731Z,1736383897.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.509004 s,
      deltaX: -0.100000 m,
      approachRate: -0.196462 m/s,
      rangeRepo size: 4

2025-01-09T00:51:37.738Z,1736383897.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 177.111529 deg,
      lat: 36.904003 deg,
      lon: -122.118950 deg,
      deltaT: 0.509004 s,
      deltaX: -0.100000 m,
      approachRate: -0.196462 m/s,
      posRepo size: 4

2025-01-09T00:51:37.773Z,1736383897.773 [DockingStepper](INFO): Stopping
2025-01-09T00:51:37.841Z,1736383897.841 [DAT](INFO): DAT read: Rx Time:00:51:36.6135 

2025-01-09T00:51:37.842Z,1736383897.842 [DAT](INFO): Rx dataTimestamp_ set to:1736383897.841375
2025-01-09T00:51:37.843Z,1736383897.843 [DAT](INFO): DAT read: Bearing 148.5, -40.4 (Local)

2025-01-09T00:51:37.844Z,1736383897.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.5, -40.4 (Local)

2025-01-09T00:51:37.846Z,1736383897.846 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:37.852Z,1736383897.852 [DAT](INFO): DAT read: 00:51:36.6135 LVL= 10768, 16417, 10898, 13267, AGC= 27, IDX= 509,-0.18, 2.623,-3.049, 1.778,-2.738, PHS=-0.834,-0.263,-1.769, RAW=   8.0,  37.6, CAL=   1.5,  40.4, ROT= 148.5, -40.4

2025-01-09T00:51:37.853Z,1736383897.853 [DAT](INFO): got valid direction response:
 00:51:36.6135 LVL= 10768, 16417, 10898, 13267, AGC= 27, IDX= 509,-0.18, 2.623,-3.049, 1.778,-2.738, PHS=-0.834,-0.263,-1.769, RAW=   8.0,  37.6, CAL=   1.5,  40.4, ROT= 148.5, -40.4

2025-01-09T00:51:37.853Z,1736383897.853 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-01-09T00:51:37.854Z,1736383897.854 [DAT](INFO): direction in FSK: [-0.649318,0.397903,0.648120]
2025-01-09T00:51:37.854Z,1736383897.854 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:37.862Z,1736383897.862 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.232262
2025-01-09T00:51:38.044Z,1736383898.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:38.083Z,1736383898.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.499424 s,
      deltaX: 0.100000 m,
      approachRate: 0.200231 m/s,
      rangeRepo size: 4

2025-01-09T00:51:38.096Z,1736383898.096 [DAT](INFO): DAT read: Rx Time:00:51:37.1134 

2025-01-09T00:51:38.098Z,1736383898.098 [DAT](INFO): Rx dataTimestamp_ set to:1736383898.097071
2025-01-09T00:51:38.102Z,1736383898.102 [DAT](INFO): DAT read: Bearing 149.2, -39.7 (Local)

2025-01-09T00:51:38.103Z,1736383898.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.2, -39.7 (Local)

2025-01-09T00:51:38.106Z,1736383898.106 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.475033
2025-01-09T00:51:38.120Z,1736383898.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 176.533975 deg,
      lat: 36.904003 deg,
      lon: -122.118950 deg,
      deltaT: 0.499424 s,
      deltaX: 0.100000 m,
      approachRate: 0.200231 m/s,
      posRepo size: 4

2025-01-09T00:51:38.179Z,1736383898.179 [DockingStepper](INFO): Stopping
2025-01-09T00:51:38.351Z,1736383898.351 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:38.389Z,1736383898.389 [DAT](INFO): DAT read: 00:51:37.1134 LVL= 10784, 16033, 10770, 11843, AGC= 27, IDX= 508,-0.15, 1.930, 2.566, 1.097, 2.849, PHS=-0.831,-0.236,-1.756, RAW=   7.2,  37.0, CAL=   0.8,  39.7, ROT= 149.2, -39.7

2025-01-09T00:51:38.391Z,1736383898.391 [DAT](INFO): got valid direction response:
 00:51:37.1134 LVL= 10784, 16033, 10770, 11843, AGC= 27, IDX= 508,-0.15, 1.930, 2.566, 1.097, 2.849, PHS=-0.831,-0.236,-1.756, RAW=   7.2,  37.0, CAL=   0.8,  39.7, ROT= 149.2, -39.7

2025-01-09T00:51:38.391Z,1736383898.391 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-01-09T00:51:38.396Z,1736383898.396 [DAT](INFO): direction in FSK: [-0.660883,0.393966,0.638768]
2025-01-09T00:51:38.396Z,1736383898.396 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:38.404Z,1736383898.404 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.774353
2025-01-09T00:51:38.504Z,1736383898.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:38.518Z,1736383898.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503791 s,
      deltaX: -0.100000 m,
      approachRate: -0.198495 m/s,
      rangeRepo size: 4

2025-01-09T00:51:38.520Z,1736383898.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 177.265150 deg,
      lat: 36.904003 deg,
      lon: -122.118950 deg,
      deltaT: 0.503791 s,
      deltaX: -0.100000 m,
      approachRate: -0.198495 m/s,
      posRepo size: 4

2025-01-09T00:51:38.554Z,1736383898.554 [DockingStepper](INFO): Stopping
2025-01-09T00:51:38.600Z,1736383898.600 [DAT](INFO): DAT read: Rx Time:00:51:37.6135 

2025-01-09T00:51:38.602Z,1736383898.602 [DAT](INFO): Rx dataTimestamp_ set to:1736383898.601118
2025-01-09T00:51:38.607Z,1736383898.607 [DAT](INFO): DAT read: Bearing 148.9, -38.3 (Local)

2025-01-09T00:51:38.608Z,1736383898.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.9, -38.3 (Local)

2025-01-09T00:51:38.628Z,1736383898.628 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:38.658Z,1736383898.658 [DAT](INFO): DAT read: 00:51:37.6135 LVL= 12192, 17473, 11890, 13251, AGC= 28, IDX= 509,-0.11,-3.135,-2.478, 2.288,-2.251, PHS=-0.796,-0.180,-1.747, RAW=   7.0,  35.1, CAL=   1.1,  38.3, ROT= 148.9, -38.3

2025-01-09T00:51:38.688Z,1736383898.688 [DAT](INFO): got valid direction response:
 00:51:37.6135 LVL= 12192, 17473, 11890, 13251, AGC= 28, IDX= 509,-0.11,-3.135,-2.478, 2.288,-2.251, PHS=-0.796,-0.180,-1.747, RAW=   7.0,  35.1, CAL=   1.1,  38.3, ROT= 148.9, -38.3

2025-01-09T00:51:38.689Z,1736383898.689 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-01-09T00:51:38.690Z,1736383898.690 [DAT](INFO): direction in FSK: [-0.671978,0.405363,0.619779]
2025-01-09T00:51:38.691Z,1736383898.691 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:38.725Z,1736383898.725 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.095654
2025-01-09T00:51:38.848Z,1736383898.848 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.218719
2025-01-09T00:51:38.858Z,1736383898.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:38.898Z,1736383898.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.255952 s,
      deltaX: 0.100000 m,
      approachRate: 0.390698 m/s,
      rangeRepo size: 4

2025-01-09T00:51:38.905Z,1736383898.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 176.995409 deg,
      lat: 36.904003 deg,
      lon: -122.118950 deg,
      deltaT: 0.255952 s,
      deltaX: 0.100000 m,
      approachRate: 0.390698 m/s,
      posRepo size: 4

2025-01-09T00:51:38.930Z,1736383898.930 [DockingStepper](INFO): Stopping
2025-01-09T00:51:39.104Z,1736383899.104 [DAT](INFO): DAT read: Rx Time:00:51:38.1134 

2025-01-09T00:51:39.106Z,1736383899.106 [DAT](INFO): Rx dataTimestamp_ set to:1736383899.104684
2025-01-09T00:51:39.114Z,1736383899.114 [DAT](INFO): DAT read: Bearing 149.9, -38.8 (Local)

2025-01-09T00:51:39.123Z,1736383899.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.9, -38.8 (Local)

2025-01-09T00:51:39.132Z,1736383899.132 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:39.134Z,1736383899.134 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-01-09T00:51:39.149Z,1736383899.149 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.518749
2025-01-09T00:51:39.247Z,1736383899.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:39.255Z,1736383899.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:39.258Z,1736383899.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503566 s,
      deltaX: -0.100000 m,
      approachRate: -0.198584 m/s,
      rangeRepo size: 4

2025-01-09T00:51:39.292Z,1736383899.292 [DockingStepper](INFO): Stopped
2025-01-09T00:51:39.365Z,1736383899.365 [DAT](INFO): DAT read: 00:51:38.1134 LVL= 11056, 15521, 10482, 11731, AGC= 27, IDX= 508,-0.07, 2.465, 3.122, 1.651,-2.921, PHS=-0.810,-0.193,-1.714, RAW=   6.2,  35.9, CAL=   0.1,  38.8, ROT= 149.9, -38.8

2025-01-09T00:51:39.371Z,1736383899.371 [DAT](INFO): got valid direction response:
 00:51:38.1134 LVL= 11056, 15521, 10482, 11731, AGC= 27, IDX= 508,-0.07, 2.465, 3.122, 1.651,-2.921, PHS=-0.810,-0.193,-1.714, RAW=   6.2,  35.9, CAL=   0.1,  38.8, ROT= 149.9, -38.8

2025-01-09T00:51:39.372Z,1736383899.372 [DAT](INFO): #Rx 111: Read direction message, but no range.
2025-01-09T00:51:39.378Z,1736383899.378 [DAT](INFO): direction in FSK: [-0.674245,0.390846,0.626604]
2025-01-09T00:51:39.421Z,1736383899.421 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=56.791340
2025-01-09T00:51:39.455Z,1736383899.455 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-01-09T00:51:39.455Z,1736383899.455 [DockingStepper] No Fault, FailCount= 2
2025-01-09T00:51:39.608Z,1736383899.608 [DAT](INFO): DAT read: Rx Time:00:51:38.6135 

2025-01-09T00:51:39.610Z,1736383899.610 [DAT](INFO): Rx dataTimestamp_ set to:1736383899.608842
2025-01-09T00:51:39.614Z,1736383899.614 [DAT](INFO): DAT read: Bearing 149.6, -38.0 (Local)

2025-01-09T00:51:39.616Z,1736383899.616 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.6, -38.0 (Local)

2025-01-09T00:51:39.642Z,1736383899.642 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:39.646Z,1736383899.646 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-01-09T00:51:39.648Z,1736383899.648 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.018139
2025-01-09T00:51:39.755Z,1736383899.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:39.783Z,1736383899.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504158 s,
      deltaX: 0.100000 m,
      approachRate: 0.198351 m/s,
      rangeRepo size: 4

2025-01-09T00:51:39.791Z,1736383899.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 178.148629 deg,
      lat: 36.904003 deg,
      lon: -122.118950 deg,
      deltaT: 1.007724 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:39.830Z,1736383899.830 [DockingStepper](INFO): Start
2025-01-09T00:51:39.830Z,1736383899.830 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-09T00:51:39.831Z,1736383899.831 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-09T00:51:39.862Z,1736383899.862 [DAT](INFO): DAT read: 00:51:38.6135 LVL= 12336, 17041, 11746, 13251, AGC= 28, IDX= 509,-0.05,-2.704,-2.036, 2.750,-1.825, PHS=-0.791,-0.163,-1.711, RAW=   6.2,  34.9, CAL=   0.4,  38.0, ROT= 149.6, -38.0

2025-01-09T00:51:39.863Z,1736383899.863 [DAT](INFO): got valid direction response:
 00:51:38.6135 LVL= 12336, 17041, 11746, 13251, AGC= 28, IDX= 509,-0.05,-2.704,-2.036, 2.750,-1.825, PHS=-0.791,-0.163,-1.711, RAW=   6.2,  34.9, CAL=   0.4,  38.0, ROT= 149.6, -38.0

2025-01-09T00:51:39.864Z,1736383899.864 [DAT](INFO): #Rx 113: Read direction message, but no range.
2025-01-09T00:51:39.865Z,1736383899.865 [DAT](INFO): direction in FSK: [-0.679670,0.398760,0.615661]
2025-01-09T00:51:39.869Z,1736383899.869 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.239014
2025-01-09T00:51:40.059Z,1736383900.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:40.084Z,1736383900.084 [DockingStepper](INFO): Starting
2025-01-09T00:51:40.113Z,1736383900.113 [DAT](INFO): DAT read: Rx Time:00:51:39.1136 

2025-01-09T00:51:40.115Z,1736383900.115 [DAT](INFO): Rx dataTimestamp_ set to:1736383900.113618
2025-01-09T00:51:40.120Z,1736383900.120 [DAT](INFO): DAT read: Bearing 150.7, -38.3 (Local)

2025-01-09T00:51:40.121Z,1736383900.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.7, -38.3 (Local)

2025-01-09T00:51:40.137Z,1736383900.137 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:40.144Z,1736383900.144 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-01-09T00:51:40.152Z,1736383900.152 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.521828
2025-01-09T00:51:40.383Z,1736383900.383 [DAT](INFO): DAT read: 00:51:39.1136 LVL= 11328, 15025, 10594, 13299, AGC= 27, IDX= 508,-0.00, 3.021,-2.583, 2.235,-2.370, PHS=-0.805,-0.166,-1.682, RAW=   5.2,  35.4, CAL= 359.3,  38.3, ROT= 150.7, -38.3

2025-01-09T00:51:40.387Z,1736383900.387 [DAT](INFO): got valid direction response:
 00:51:39.1136 LVL= 11328, 15025, 10594, 13299, AGC= 27, IDX= 508,-0.00, 3.021,-2.583, 2.235,-2.370, PHS=-0.805,-0.166,-1.682, RAW=   5.2,  35.4, CAL= 359.3,  38.3, ROT= 150.7, -38.3

2025-01-09T00:51:40.388Z,1736383900.388 [DAT](INFO): #Rx 115: Read direction message, but no range.
2025-01-09T00:51:40.392Z,1736383900.392 [DAT](INFO): direction in FSK: [-0.684379,0.384056,0.619779]
2025-01-09T00:51:40.405Z,1736383900.405 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.773125
2025-01-09T00:51:40.505Z,1736383900.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:40.520Z,1736383900.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.504776 s,
      deltaX: 0.200000 m,
      approachRate: 0.396215 m/s,
      rangeRepo size: 4

2025-01-09T00:51:40.522Z,1736383900.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 179.539452 deg,
      lat: 36.904003 deg,
      lon: -122.118950 deg,
      deltaT: 0.504776 s,
      deltaX: 0.200000 m,
      approachRate: 0.396215 m/s,
      posRepo size: 4

2025-01-09T00:51:40.568Z,1736383900.568 [DockingStepper](INFO): Starting
2025-01-09T00:51:40.618Z,1736383900.618 [DAT](INFO): DAT read: Rx Time:00:51:39.6136 

2025-01-09T00:51:40.623Z,1736383900.623 [DAT](INFO): Rx dataTimestamp_ set to:1736383900.618875
2025-01-09T00:51:40.626Z,1736383900.626 [DAT](INFO): DAT read: Bearing 151.5, -37.9 (Local)

2025-01-09T00:51:40.628Z,1736383900.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.5, -37.9 (Local)

2025-01-09T00:51:40.641Z,1736383900.641 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:40.648Z,1736383900.648 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-01-09T00:51:40.649Z,1736383900.649 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.018829
2025-01-09T00:51:40.869Z,1736383900.869 [DAT](INFO): DAT read: 00:51:39.6136 LVL= 11248, 14673, 10418, 13395, AGC= 27, IDX= 508, 0.02,-2.711,-2.009, 2.809,-1.815, PHS=-0.808,-0.146,-1.662, RAW=   4.2,  35.1, CAL= 358.5,  37.9, ROT= 151.5, -37.9

2025-01-09T00:51:40.870Z,1736383900.870 [DAT](INFO): got valid direction response:
 00:51:39.6136 LVL= 11248, 14673, 10418, 13395, AGC= 27, IDX= 508, 0.02,-2.711,-2.009, 2.809,-1.815, PHS=-0.808,-0.146,-1.662, RAW=   4.2,  35.1, CAL= 358.5,  37.9, ROT= 151.5, -37.9

2025-01-09T00:51:40.870Z,1736383900.870 [DAT](INFO): #Rx 117: Read direction message, but no range.
2025-01-09T00:51:40.872Z,1736383900.872 [DAT](INFO): direction in FSK: [-0.693461,0.376518,0.614285]
2025-01-09T00:51:40.875Z,1736383900.875 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.245163
2025-01-09T00:51:40.878Z,1736383900.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:40.892Z,1736383900.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.505257 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:40.894Z,1736383900.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 180.739821 deg,
      lat: 36.904003 deg,
      lon: -122.118950 deg,
      deltaT: 0.505257 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:40.947Z,1736383900.947 [DockingStepper](INFO): Starting
2025-01-09T00:51:40.996Z,1736383900.996 [DockingStepper](INFO): Init string: /1z14751aE13561N3m50
2025-01-09T00:51:41.121Z,1736383901.121 [DAT](INFO): DAT read: Rx Time:00:51:40.1135 

2025-01-09T00:51:41.122Z,1736383901.122 [DAT](INFO): Rx dataTimestamp_ set to:1736383901.121320
2025-01-09T00:51:41.126Z,1736383901.126 [DAT](INFO): DAT read: Bearing 152.5, -37.1 (Local)

2025-01-09T00:51:41.128Z,1736383901.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.5, -37.1 (Local)

2025-01-09T00:51:41.153Z,1736383901.153 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:41.160Z,1736383901.160 [DAT](INFO): DAT read: 00:51:40.1135 LVL= 11328, 14625, 10450, 11955, AGC= 27, IDX= 507, 0.05, 2.988,-2.551, 2.246,-2.395, PHS=-0.812,-0.109,-1.64  2.8,  34.3, CAL= 357.5,  37.1, ROT= 152.5, -37.1

2025-01-09T00:51:41.161Z,1736383901.161 [DAT](INFO): unknown deviceResponse_: 00:51:40.1135 LVL= 11328, 14625, 10450, 11955, AGC= 27, IDX= 507, 0.05, 2.988,-2.551, 2.246,-2.395, PHS=-0.812,-0.109,-1.64  2.8,  34.3, CAL= 357.5,  37.1, ROT= 152.5, -37.1

2025-01-09T00:51:41.162Z,1736383901.162 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-01-09T00:51:41.163Z,1736383901.163 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.532982
2025-01-09T00:51:41.312Z,1736383901.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:41.328Z,1736383901.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:41.331Z,1736383901.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.502445 s,
      deltaX: -0.200000 m,
      approachRate: -0.398053 m/s,
      rangeRepo size: 4

2025-01-09T00:51:41.369Z,1736383901.369 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.738850
2025-01-09T00:51:41.492Z,1736383901.492 [DockingStepper](INFO): Starting
2025-01-09T00:51:41.627Z,1736383901.627 [DAT](INFO): DAT read: Rx Time:00:51:40.6136 

2025-01-09T00:51:41.629Z,1736383901.629 [DAT](INFO): Rx dataTimestamp_ set to:1736383901.627838
2025-01-09T00:51:41.632Z,1736383901.632 [DAT](INFO): DAT read: Bearing 152.4, -36.3 (Local)

2025-01-09T00:51:41.634Z,1736383901.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.4, -36.3 (Local)

2025-01-09T00:51:41.640Z,1736383901.640 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:41.642Z,1736383901.642 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-01-09T00:51:41.646Z,1736383901.646 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.016052
2025-01-09T00:51:41.788Z,1736383901.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:41.797Z,1736383901.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.506518 s,
      deltaX: 0.200000 m,
      approachRate: 0.394853 m/s,
      rangeRepo size: 4

2025-01-09T00:51:41.836Z,1736383901.836 [DockingStepper](INFO): Starting
2025-01-09T00:51:41.876Z,1736383901.876 [DAT](INFO): DAT read: 00:51:40.6136 LVL= 12624, 16177, 11570, 13299, AGC= 28, IDX= 508, 0.09,-2.170,-1.408,-2.929,-1.282, PHS=-0.800,-0.079,-1.650, RAW=   2.7,  33.3, CAL= 357.6,  36.3, ROT= 152.4, -36.3

2025-01-09T00:51:41.877Z,1736383901.877 [DAT](INFO): got valid direction response:
 00:51:40.6136 LVL= 12624, 16177, 11570, 13299, AGC= 28, IDX= 508, 0.09,-2.170,-1.408,-2.929,-1.282, PHS=-0.800,-0.079,-1.650, RAW=   2.7,  33.3, CAL= 357.6,  36.3, ROT= 152.4, -36.3

2025-01-09T00:51:41.878Z,1736383901.878 [DAT](INFO): #Rx 120: Read direction message, but no range.
2025-01-09T00:51:41.879Z,1736383901.879 [DAT](INFO): direction in FSK: [-0.714216,0.373384,0.592013]
2025-01-09T00:51:41.882Z,1736383901.882 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:51:41.882Z,1736383901.882 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:51:41.883Z,1736383901.883 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:42.129Z,1736383902.129 [DAT](INFO): DAT read: Rx Time:00:51:41.1135 

2025-01-09T00:51:42.130Z,1736383902.130 [DAT](INFO): Rx dataTimestamp_ set to:1736383902.128935
2025-01-09T00:51:42.134Z,1736383902.134 [DAT](INFO): DAT read: Bearing 153.0, -35.9 (Local)

2025-01-09T00:51:42.135Z,1736383902.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.0, -35.9 (Local)

2025-01-09T00:51:42.151Z,1736383902.151 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:42.160Z,1736383902.160 [DAT](INFO): DAT read: 00:51:41.1135 LVL= 12624, 16161, 11538, 13283, AGC= 28, IDX= 507, 0.12,-2.742,-1.954, 2.794,-1.850, PHS=-0.804,-0.056,-1.642, RAW=   1.9,  32.8, CAL= 357.0,  35.9, ROT= 153.0, -35.9

2025-01-09T00:51:42.161Z,1736383902.161 [DAT](INFO): got valid direction response:
 00:51:41.1135 LVL= 12624, 16161, 11538, 13283, AGC= 28, IDX= 507, 0.12,-2.742,-1.954, 2.794,-1.850, PHS=-0.804,-0.056,-1.642, RAW=   1.9,  32.8, CAL= 357.0,  35.9, ROT= 153.0, -35.9

2025-01-09T00:51:42.162Z,1736383902.162 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:51:42.163Z,1736383902.163 [DAT](INFO): direction in FSK: [-0.721752,0.367751,0.586372]
2025-01-09T00:51:42.203Z,1736383902.203 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:42.206Z,1736383902.206 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:42.207Z,1736383902.207 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:42.229Z,1736383902.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:42.258Z,1736383902.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.501097 s,
      deltaX: -0.200000 m,
      approachRate: -0.399124 m/s,
      rangeRepo size: 4

2025-01-09T00:51:42.269Z,1736383902.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 184.046486 deg,
      lat: 36.904002 deg,
      lon: -122.118950 deg,
      deltaT: 1.510060 s,
      deltaX: -0.200000 m,
      approachRate: -0.132445 m/s,
      posRepo size: 4

2025-01-09T00:51:42.376Z,1736383902.376 [DAT](INFO): Reached modem response timeout
2025-01-09T00:51:42.376Z,1736383902.376 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:42.377Z,1736383902.377 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:42.426Z,1736383902.426 [DockingStepper](INFO): Starting
2025-01-09T00:51:42.632Z,1736383902.632 [DAT](INFO): DAT read: Rx Time:00:51:41.6136 

2025-01-09T00:51:42.634Z,1736383902.634 [DAT](INFO): Rx dataTimestamp_ set to:1736383902.633292
2025-01-09T00:51:42.640Z,1736383902.640 [DAT](INFO): DAT read: Bearing 152.6, -35.9 (Local)

2025-01-09T00:51:42.641Z,1736383902.641 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.6, -35.9 (Local)

2025-01-09T00:51:42.648Z,1736383902.648 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:42.654Z,1736383902.654 [DAT](INFO): DAT read: 00:51:41.6136 LVL= 12512, 16177, 11506, 12947, AGC= 28, IDX= 508, 0.16,-1.719,-0.945,-2.476,-0.836, PHS=-0.795,-0.062,-1.643, RAW=   2.4,  32.8, CAL= 357.4,  35.9, ROT= 152.6, -35.9

2025-01-09T00:51:42.696Z,1736383902.696 [DAT](INFO): got valid direction response:
 00:51:41.6136 LVL= 12512, 16177, 11506, 12947, AGC= 28, IDX= 508, 0.16,-1.719,-0.945,-2.476,-0.836, PHS=-0.795,-0.062,-1.643, RAW=   2.4,  32.8, CAL= 357.4,  35.9, ROT= 152.6, -35.9

2025-01-09T00:51:42.696Z,1736383902.696 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:51:42.697Z,1736383902.697 [DAT](INFO): direction in FSK: [-0.719167,0.372781,0.586372]
2025-01-09T00:51:42.697Z,1736383902.697 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:42.709Z,1736383902.709 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:42.709Z,1736383902.709 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:42.827Z,1736383902.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:42.858Z,1736383902.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.504357 s,
      deltaX: 0.200000 m,
      approachRate: 0.396544 m/s,
      rangeRepo size: 4

2025-01-09T00:51:42.864Z,1736383902.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 185.273666 deg,
      lat: 36.904001 deg,
      lon: -122.118950 deg,
      deltaT: 0.504357 s,
      deltaX: 0.200000 m,
      approachRate: 0.396544 m/s,
      posRepo size: 4

2025-01-09T00:51:42.880Z,1736383902.880 [DAT](INFO): Reached modem response timeout
2025-01-09T00:51:42.880Z,1736383902.880 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:42.881Z,1736383902.881 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:43.024Z,1736383903.024 [DockingStepper](INFO): Starting
2025-01-09T00:51:43.055Z,1736383903.055 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-09T00:51:43.140Z,1736383903.140 [DAT](INFO): DAT read: Rx Time:00:51:42.1135 

2025-01-09T00:51:43.141Z,1736383903.141 [DAT](INFO): Rx dataTimestamp_ set to:1736383903.140626
2025-01-09T00:51:43.148Z,1736383903.148 [DAT](INFO): DAT read: Bearing 152.3, -36.5 (Local)

2025-01-09T00:51:43.149Z,1736383903.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.3, -36.5 (Local)

2025-01-09T00:51:43.151Z,1736383903.151 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:43.189Z,1736383903.189 [DAT](INFO): DAT read: 00:51:42.1135 LVL= 11248, 14545, 10466, 11763, AGC= 27, IDX= 507, 0.23,-3.007,-2.255, 2.525,-2.123, PHS=-0.796,-0.085,-1.638, RAW=   2.8,  33.5, CAL= 357.7,  36.5, ROT= 152.3, -36.5

2025-01-09T00:51:43.191Z,1736383903.191 [DAT](INFO): got valid direction response:
 00:51:42.1135 LVL= 11248, 14545, 10466, 11763, AGC= 27, IDX= 507, 0.23,-3.007,-2.255, 2.525,-2.123, PHS=-0.796,-0.085,-1.638, RAW=   2.8,  33.5, CAL= 357.7,  36.5, ROT= 152.3, -36.5

2025-01-09T00:51:43.200Z,1736383903.200 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:51:43.202Z,1736383903.202 [DAT](INFO): direction in FSK: [-0.711730,0.373666,0.594823]
2025-01-09T00:51:43.203Z,1736383903.203 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:43.265Z,1736383903.265 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:43.265Z,1736383903.265 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:43.293Z,1736383903.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:43.338Z,1736383903.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.507334 s,
      deltaX: -0.200000 m,
      approachRate: -0.394218 m/s,
      rangeRepo size: 4

2025-01-09T00:51:43.344Z,1736383903.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 185.841005 deg,
      lat: 36.904001 deg,
      lon: -122.118951 deg,
      deltaT: 0.507334 s,
      deltaX: -0.200000 m,
      approachRate: -0.394218 m/s,
      posRepo size: 4

2025-01-09T00:51:43.373Z,1736383903.373 [DockingStepper](INFO): Starting
2025-01-09T00:51:43.385Z,1736383903.385 [DAT](INFO): Reached modem response timeout
2025-01-09T00:51:43.385Z,1736383903.385 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:43.386Z,1736383903.386 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:43.642Z,1736383903.642 [DAT](INFO): DAT read: Rx Time:00:51:42.6136 

2025-01-09T00:51:43.659Z,1736383903.659 [DAT](INFO): Rx dataTimestamp_ set to:1736383903.642429
2025-01-09T00:51:43.661Z,1736383903.661 [DAT](INFO): DAT read: Bearing 152.1, -36.0 (Local)

2025-01-09T00:51:43.662Z,1736383903.662 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.1, -36.0 (Local)

2025-01-09T00:51:43.665Z,1736383903.665 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:51:43.696Z,1736383903.696 [DAT](INFO): DAT read: 00:51:42.6136 LVL= 12480, 16625, 11442, 13267, AGC= 28, IDX= 508, 0.27,-1.983,-1.219,-2.754,-1.105, PHS=-0.789,-0.067,-1.652, RAW=   2.9,  32.8, CAL= 357.9,  36.0, ROT= 152.1, -36.0

2025-01-09T00:51:43.697Z,1736383903.697 [DAT](INFO): got valid direction response:
 00:51:42.6136 LVL= 12480, 16625, 11442, 13267, AGC= 28, IDX= 508, 0.27,-1.983,-1.219,-2.754,-1.105, PHS=-0.789,-0.067,-1.652, RAW=   2.9,  32.8, CAL= 357.9,  36.0, ROT= 152.1, -36.0

2025-01-09T00:51:43.697Z,1736383903.697 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:51:43.698Z,1736383903.698 [DAT](INFO): direction in FSK: [-0.714981,0.378563,0.587785]
2025-01-09T00:51:43.699Z,1736383903.699 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:43.706Z,1736383903.706 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:43.707Z,1736383903.707 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:43.761Z,1736383903.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:43.832Z,1736383903.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.501803 s,
      deltaX: 0.200000 m,
      approachRate: 0.398563 m/s,
      rangeRepo size: 4

2025-01-09T00:51:43.844Z,1736383903.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 186.674898 deg,
      lat: 36.904001 deg,
      lon: -122.118951 deg,
      deltaT: 0.501803 s,
      deltaX: 0.200000 m,
      approachRate: 0.398563 m/s,
      posRepo size: 4

2025-01-09T00:51:43.871Z,1736383903.871 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T00:51:43.875Z,1736383903.875 [DockingStepper](INFO): Standby mode.
2025-01-09T00:51:43.888Z,1736383903.888 [DAT](INFO): Reached modem response timeout
2025-01-09T00:51:43.888Z,1736383903.888 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:43.889Z,1736383903.889 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:43.939Z,1736383903.939 [DockingStepper](INFO): Commanding positive:10552
2025-01-09T00:51:44.146Z,1736383904.146 [DAT](INFO): DAT read: Rx Time:00:51:43.1135 

2025-01-09T00:51:44.147Z,1736383904.147 [DAT](INFO): Rx dataTimestamp_ set to:1736383904.146237
2025-01-09T00:51:44.149Z,1736383904.149 [DAT](INFO): DAT read: Bearing 151.7, -36.1 (Local)

2025-01-09T00:51:44.149Z,1736383904.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.7, -36.1 (Local)

2025-01-09T00:51:44.153Z,1736383904.153 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:44.161Z,1736383904.161 [DAT](INFO): DAT read: 00:51:43.1135 LVL= 12528, 16497, 11570, 13299, AGC= 28, IDX= 507, 0.33, 3.023,-2.507, 2.238,-2.386, PHS=-0.786,-0.073,-1.662, RAW=   3.4,  32.9, CAL= 358.3,  36.1, ROT= 151.7, -36.1

2025-01-09T00:51:44.162Z,1736383904.162 [DAT](INFO): got valid direction response:
 00:51:43.1135 LVL= 12528, 16497, 11570, 13299, AGC= 28, IDX= 507, 0.33, 3.023,-2.507, 2.238,-2.386, PHS=-0.786,-0.073,-1.662, RAW=   3.4,  32.9, CAL= 358.3,  36.1, ROT= 151.7, -36.1

2025-01-09T00:51:44.162Z,1736383904.162 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:51:44.195Z,1736383904.195 [DAT](INFO): direction in FSK: [-0.711417,0.383059,0.589196]
2025-01-09T00:51:44.196Z,1736383904.196 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:44.199Z,1736383904.199 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:44.212Z,1736383904.212 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:44.290Z,1736383904.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:44.335Z,1736383904.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503808 s,
      deltaX: -0.200000 m,
      approachRate: -0.396977 m/s,
      rangeRepo size: 4

2025-01-09T00:51:44.345Z,1736383904.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 187.208008 deg,
      lat: 36.904002 deg,
      lon: -122.118951 deg,
      deltaT: 0.503808 s,
      deltaX: -0.200000 m,
      approachRate: -0.396977 m/s,
      posRepo size: 4

2025-01-09T00:51:44.394Z,1736383904.394 [DAT](INFO): Reached modem response timeout
2025-01-09T00:51:44.395Z,1736383904.395 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:44.396Z,1736383904.396 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:44.648Z,1736383904.648 [DAT](INFO): DAT read: Rx Time:00:51:43.6135 

2025-01-09T00:51:44.649Z,1736383904.649 [DAT](INFO): Rx dataTimestamp_ set to:1736383904.648466
2025-01-09T00:51:44.651Z,1736383904.651 [DAT](INFO): DAT read: Bearing 151.0, -36.3 (Local)

2025-01-09T00:51:44.652Z,1736383904.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.0, -36.3 (Local)

2025-01-09T00:51:44.654Z,1736383904.654 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:44.693Z,1736383904.693 [DAT](INFO): DAT read: 00:51:43.6135 LVL= 12480, 16593, 11458, 13155, AGC= 28, IDX= 507, 0.40, 2.873,-2.673, 2.069,-2.543, PHS=-0.779,-0.084,-1.675, RAW=   4.1,  33.0, CAL= 359.0,  36.3, ROT= 151.0, -36.3

2025-01-09T00:51:44.694Z,1736383904.694 [DAT](INFO): got valid direction response:
 00:51:43.6135 LVL= 12480, 16593, 11458, 13155, AGC= 28, IDX= 507, 0.40, 2.873,-2.673, 2.069,-2.543, PHS=-0.779,-0.084,-1.675, RAW=   4.1,  33.0, CAL= 359.0,  36.3, ROT= 151.0, -36.3

2025-01-09T00:51:44.694Z,1736383904.694 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:51:44.706Z,1736383904.706 [DAT](INFO): direction in FSK: [-0.704881,0.390722,0.592013]
2025-01-09T00:51:44.706Z,1736383904.706 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:44.745Z,1736383904.745 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:44.745Z,1736383904.745 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:44.837Z,1736383904.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:44.868Z,1736383904.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.502229 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:44.870Z,1736383904.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 188.298838 deg,
      lat: 36.904002 deg,
      lon: -122.118952 deg,
      deltaT: 0.502229 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:44.896Z,1736383904.896 [DAT](INFO): Reached modem response timeout
2025-01-09T00:51:44.896Z,1736383904.896 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:44.897Z,1736383904.897 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:45.148Z,1736383905.148 [DAT](INFO): DAT read: user:3789>

2025-01-09T00:51:45.149Z,1736383905.149 [DAT](INFO): Reached modem response timeout
2025-01-09T00:51:45.149Z,1736383905.149 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:51:45.149Z,1736383905.149 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:51:45.204Z,1736383905.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:45.212Z,1736383905.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:45.339Z,1736383905.339 [DockingStepper](INFO): Commanding positive:10355
2025-01-09T00:51:45.401Z,1736383905.401 [DAT](INFO): DAT read: 120

2025-01-09T00:51:45.401Z,1736383905.401 [DAT](INFO): unknown deviceResponse_: 120

2025-01-09T00:51:45.402Z,1736383905.402 [DAT](INFO): DAT read: Ok

2025-01-09T00:51:45.402Z,1736383905.402 [DAT](INFO): unknown deviceResponse_: Ok

2025-01-09T00:51:45.403Z,1736383905.403 [DAT](INFO): DAT read: user:3790>

2025-01-09T00:51:45.404Z,1736383905.404 [DAT](INFO): DAT read: Tx time:00:51:44.6344

2025-01-09T00:51:45.404Z,1736383905.404 [DAT](INFO): Ping request sent.
2025-01-09T00:51:45.404Z,1736383905.404 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:51:45.404Z,1736383905.404 [DAT](INFO): publishing transmit ping time
2025-01-09T00:51:45.405Z,1736383905.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-01-09T00:51:45.642Z,1736383905.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:45.653Z,1736383905.653 [DAT](INFO): DAT read: TxSync time:00:51:44.6336

2025-01-09T00:51:45.653Z,1736383905.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249343
2025-01-09T00:51:45.906Z,1736383905.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502150
2025-01-09T00:51:45.998Z,1736383905.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:46.158Z,1736383906.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753522
2025-01-09T00:51:46.408Z,1736383906.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004261
2025-01-09T00:51:46.594Z,1736383906.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:46.665Z,1736383906.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260045
2025-01-09T00:51:46.867Z,1736383906.867 [DockingStepper](INFO): Commanding positive:10251
2025-01-09T00:51:46.913Z,1736383906.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509133
2025-01-09T00:51:47.114Z,1736383907.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:47.164Z,1736383907.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760265
2025-01-09T00:51:47.417Z,1736383907.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012076
2025-01-09T00:51:47.582Z,1736383907.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:47.590Z,1736383907.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:47.670Z,1736383907.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265473
2025-01-09T00:51:47.921Z,1736383907.921 [DAT](INFO): DAT read: Rx Time:00:51:46.7644 

2025-01-09T00:51:47.922Z,1736383907.922 [DAT](INFO): Rx dataTimestamp_ set to:1736383907.921334
2025-01-09T00:51:47.923Z,1736383907.923 [DAT](INFO): DAT read: Bearing 148.6, -39.7 (Local)

2025-01-09T00:51:47.923Z,1736383907.923 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.6, -39.7 (Local)

2025-01-09T00:51:47.925Z,1736383907.925 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:47.930Z,1736383907.930 [DAT](INFO): DAT read: 00:51:46.7644 LVL= 11888, 15377,  9170, 13763, AGC= 27, IDX= 484, 0.04,-1.015,-0.412,-1.834,-0.136, PHS=-0.791,-0.229,-1.701, RAW=   7.8,  36.8, CAL=   1.4,  39.7, ROT= 148.6, -39.7

2025-01-09T00:51:47.959Z,1736383907.959 [DAT](INFO): got valid direction response:
 00:51:46.7644 LVL= 11888, 15377,  9170, 13763, AGC= 27, IDX= 484, 0.04,-1.015,-0.412,-1.834,-0.136, PHS=-0.791,-0.229,-1.701, RAW=   7.8,  36.8, CAL=   1.4,  39.7, ROT= 148.6, -39.7

2025-01-09T00:51:47.960Z,1736383907.960 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:51:47.961Z,1736383907.961 [DAT](INFO): direction in FSK: [-0.656722,0.400865,0.638768]
2025-01-09T00:51:47.961Z,1736383907.961 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:47.969Z,1736383907.969 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.564799
2025-01-09T00:51:47.978Z,1736383907.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:48.005Z,1736383908.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 3.272868 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:48.012Z,1736383908.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 189.083874 deg,
      lat: 36.904002 deg,
      lon: -122.118952 deg,
      deltaT: 3.272868 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:48.103Z,1736383908.103 [DockingStepper](INFO): Commanding positive:10158
2025-01-09T00:51:48.174Z,1736383908.174 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769664
2025-01-09T00:51:48.344Z,1736383908.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:48.426Z,1736383908.426 [DAT](INFO): DAT read: Rx Time:00:51:47.2642 

2025-01-09T00:51:48.427Z,1736383908.427 [DAT](INFO): Rx dataTimestamp_ set to:1736383908.425904
2025-01-09T00:51:48.428Z,1736383908.428 [DAT](INFO): DAT read: Bearing-38.9 (Local)

2025-01-09T00:51:48.429Z,1736383908.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing-38.9 (Local)

2025-01-09T00:51:48.431Z,1736383908.431 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:48.436Z,1736383908.436 [DAT](INFO): DAT read: 00:51:47.2642 LVL= 13008, 17697, 10178, 14755, AGC= 28, IDX= 498, 0.05,-2.951,-2.315, 2.493,-2.066, PHS=-0.798,-0.202,-1.728, RAW=   7.2,  35.9, CAL=   1.0,  38.9, ROT= 149.0, -38.9

2025-01-09T00:51:48.437Z,1736383908.437 [DAT](INFO): got valid direction response:
 00:51:47.2642 LVL= 13008, 17697, 10178, 14755, AGC= 28, IDX= 498, 0.05,-2.951,-2.315, 2.493,-2.066, PHS=-0.798,-0.202,-1.728, RAW=   7.2,  35.9, CAL=   1.0,  38.9, ROT= 149.0, -38.9

2025-01-09T00:51:48.438Z,1736383908.438 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-09T00:51:48.439Z,1736383908.439 [DAT](INFO): direction in FSK: [-0.667085,0.400825,0.627963]
2025-01-09T00:51:48.440Z,1736383908.440 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:48.443Z,1736383908.443 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.038713
2025-01-09T00:51:48.677Z,1736383908.677 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273068
2025-01-09T00:51:48.841Z,1736383908.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:48.860Z,1736383908.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504570 s,
      deltaX: -0.300000 m,
      approachRate: -0.594566 m/s,
      rangeRepo size: 4

2025-01-09T00:51:48.862Z,1736383908.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 188.701721 deg,
      lat: 36.904002 deg,
      lon: -122.118952 deg,
      deltaT: 0.504570 s,
      deltaX: -0.300000 m,
      approachRate: -0.594566 m/s,
      posRepo size: 4

2025-01-09T00:51:48.862Z,1736383908.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 0.30 m.
2025-01-09T00:51:48.930Z,1736383908.930 [DAT](INFO): DAT read: Rx Time:00:51:47.7643 

2025-01-09T00:51:48.931Z,1736383908.931 [DAT](INFO): Rx dataTimestamp_ set to:1736383908.930352
2025-01-09T00:51:48.934Z,1736383908.934 [DAT](INFO): DAT read: Bearing 150.2, -40.5 (Local)

2025-01-09T00:51:48.935Z,1736383908.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.2, -40.5 (Local)

2025-01-09T00:51:48.938Z,1736383908.938 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:48.945Z,1736383908.945 [DAT](INFO): DAT read: 00:51:47.7643 LVL= 11344, 16273,  9954, 14323, AGC= 27, IDX= 499, 0.10,-1.961,-1.322,-2.744,-1.023, PHS=-0.850,-0.252,-1.724, RAW=   6.2,  37.9, CAL= 359.8,  40.5, ROT= 150.2, -40.5

2025-01-09T00:51:48.947Z,1736383908.947 [DAT](INFO): got valid direction response:
 00:51:47.7643 LVL= 11344, 16273,  9954, 14323, AGC= 27, IDX= 499, 0.10,-1.961,-1.322,-2.744,-1.023, PHS=-0.850,-0.252,-1.724, RAW=   6.2,  37.9, CAL= 359.8,  40.5, ROT= 150.2, -40.5

2025-01-09T00:51:48.948Z,1736383908.948 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-09T00:51:48.949Z,1736383908.949 [DAT](INFO): direction in FSK: [-0.659854,0.377902,0.649448]
2025-01-09T00:51:48.949Z,1736383908.949 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:48.966Z,1736383908.966 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.561320
2025-01-09T00:51:49.159Z,1736383909.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:49.180Z,1736383909.180 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.776207
2025-01-09T00:51:49.197Z,1736383909.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504448 s,
      deltaX: 0.200000 m,
      approachRate: 0.396473 m/s,
      rangeRepo size: 4

2025-01-09T00:51:49.199Z,1736383909.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 189.037303 deg,
      lat: 36.904004 deg,
      lon: -122.118951 deg,
      deltaT: 0.504448 s,
      deltaX: 0.200000 m,
      approachRate: 0.396473 m/s,
      posRepo size: 4

2025-01-09T00:51:49.204Z,1736383909.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 0.50 m.
2025-01-09T00:51:49.434Z,1736383909.434 [DAT](INFO): DAT read: Rx Time:00:51:48.2642 

2025-01-09T00:51:49.435Z,1736383909.435 [DAT](INFO): Rx dataTimestamp_ set to:1736383909.434320
2025-01-09T00:51:49.437Z,1736383909.437 [DAT](INFO): DAT read: Bearing 150.8, -40.3 (Local)

2025-01-09T00:51:49.437Z,1736383909.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.8, -40.3 (Local)

2025-01-09T00:51:49.440Z,1736383909.440 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:49.445Z,1736383909.445 [DAT](INFO): DAT read: 00:51:48.2642 LVL= 12080, 18209, 10866, 13891, AGC= 28, IDX= 498, 0.09,-2.678,-2.007, 2.811,-1.711, PHS=-0.879,-0.250,-1.764, RAW=   5.6,  37.8, CAL= 359.2,  40.3, ROT= 150.8, -40.3

2025-01-09T00:51:49.446Z,1736383909.446 [DAT](INFO): got valid direction response:
 00:51:48.2642 LVL= 12080, 18209, 10866, 13891, AGC= 28, IDX= 498, 0.09,-2.678,-2.007, 2.811,-1.711, PHS=-0.879,-0.250,-1.764, RAW=   5.6,  37.8, CAL= 359.2,  40.3, ROT= 150.8, -40.3

2025-01-09T00:51:49.447Z,1736383909.447 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-01-09T00:51:49.449Z,1736383909.449 [DAT](INFO): direction in FSK: [-0.665750,0.372075,0.646790]
2025-01-09T00:51:49.449Z,1736383909.449 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:49.453Z,1736383909.453 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.048999
2025-01-09T00:51:49.459Z,1736383909.459 [DockingStepper](INFO): Commanding positive:10189
2025-01-09T00:51:49.686Z,1736383909.686 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281718
2025-01-09T00:51:49.799Z,1736383909.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:49.836Z,1736383909.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503968 s,
      deltaX: -0.200000 m,
      approachRate: -0.396851 m/s,
      rangeRepo size: 4

2025-01-09T00:51:49.838Z,1736383909.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 188.879108 deg,
      lat: 36.904005 deg,
      lon: -122.118950 deg,
      deltaT: 0.503968 s,
      deltaX: -0.200000 m,
      approachRate: -0.396851 m/s,
      posRepo size: 4

2025-01-09T00:51:49.940Z,1736383909.940 [DAT](INFO): DAT read: Rx Time:00:51:48.7643 

2025-01-09T00:51:49.941Z,1736383909.941 [DAT](INFO): Rx dataTimestamp_ set to:1736383909.940462
2025-01-09T00:51:49.948Z,1736383909.948 [DAT](INFO): DAT read: Bearing 151.9, -40.7 (Local)

2025-01-09T00:51:49.949Z,1736383909.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.9, -40.7 (Local)

2025-01-09T00:51:49.953Z,1736383909.953 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:49.985Z,1736383909.985 [DAT](INFO): DAT read: 00:51:48.7643 LVL= 12352, 19265, 12994, 15011, AGC= 29, IDX= 499, 0.11,-0.874,-0.166,-1.649, 0.142, PHS=-0.928,-0.261,-1.795, RAW=   4.3,  38.4, CAL= 358.1,  40.7, ROT= 151.9, -40.7

2025-01-09T00:51:49.986Z,1736383909.986 [DAT](INFO): got valid direction response:
 00:51:48.7643 LVL= 12352, 19265, 12994, 15011, AGC= 29, IDX= 499, 0.11,-0.874,-0.166,-1.649, 0.142, PHS=-0.928,-0.261,-1.795, RAW=   4.3,  38.4, CAL= 358.1,  40.7, ROT= 151.9, -40.7

2025-01-09T00:51:49.986Z,1736383909.986 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-01-09T00:51:49.987Z,1736383909.987 [DAT](INFO): direction in FSK: [-0.668771,0.357090,0.652098]
2025-01-09T00:51:49.991Z,1736383909.991 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:50.009Z,1736383910.009 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.604394
2025-01-09T00:51:50.189Z,1736383910.189 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.784810
2025-01-09T00:51:50.328Z,1736383910.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:50.362Z,1736383910.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.506142 s,
      deltaX: 0.200000 m,
      approachRate: 0.395146 m/s,
      rangeRepo size: 4

2025-01-09T00:51:50.372Z,1736383910.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:51:50.373Z,1736383910.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 187.912304 deg,
      lat: 36.904006 deg,
      lon: -122.118950 deg,
      deltaT: 0.506142 s,
      deltaX: 0.200000 m,
      approachRate: 0.395146 m/s,
      posRepo size: 4

2025-01-09T00:51:50.441Z,1736383910.441 [DAT](INFO): DAT read: Rx Time:00:51:49.2643 

2025-01-09T00:51:50.442Z,1736383910.442 [DAT](INFO): Rx dataTimestamp_ set to:1736383910.441263
2025-01-09T00:51:50.443Z,1736383910.443 [DAT](INFO): DAT read: Bearing 151.9, -41.3 (Local)

2025-01-09T00:51:50.443Z,1736383910.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.9, -41.3 (Local)

2025-01-09T00:51:50.445Z,1736383910.445 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:50.451Z,1736383910.451 [DAT](INFO): DAT read: 00:51:49.2643 LVL= 11440, 18961, 13730, 14707, AGC= 29, IDX= 498, 0.14,-2.118,-1.411,-2.888,-1.082, PHS=-0.949,-0.283,-1.810, RAW=   4.2,  39.0, CAL= 358.1,  41.3, ROT= 151.9, -41.3

2025-01-09T00:51:50.452Z,1736383910.452 [DAT](INFO): got valid direction response:
 00:51:49.2643 LVL= 11440, 18961, 13730, 14707, AGC= 29, IDX= 498, 0.14,-2.118,-1.411,-2.888,-1.082, PHS=-0.949,-0.283,-1.810, RAW=   4.2,  39.0, CAL= 358.1,  41.3, ROT= 151.9, -41.3

2025-01-09T00:51:50.453Z,1736383910.453 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-01-09T00:51:50.453Z,1736383910.453 [DAT](INFO): direction in FSK: [-0.662710,0.353854,0.660002]
2025-01-09T00:51:50.454Z,1736383910.454 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:50.457Z,1736383910.457 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.053144
2025-01-09T00:51:50.603Z,1736383910.603 [DockingStepper](INFO): Commanding positive:10257
2025-01-09T00:51:50.692Z,1736383910.692 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.288076
2025-01-09T00:51:50.860Z,1736383910.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:50.875Z,1736383910.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.500801 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:50.877Z,1736383910.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 186.613742 deg,
      lat: 36.904006 deg,
      lon: -122.118950 deg,
      deltaT: 0.500801 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:50.947Z,1736383910.947 [DAT](INFO): DAT read: Rx Time:00:51:49.7644 

2025-01-09T00:51:50.948Z,1736383910.948 [DAT](INFO): Rx dataTimestamp_ set to:1736383910.946779
2025-01-09T00:51:50.949Z,1736383910.949 [DAT](INFO): DAT read: Bearing 153.2, -41.9 (Local)

2025-01-09T00:51:50.950Z,1736383910.950 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.2, -41.9 (Local)

2025-01-09T00:51:50.953Z,1736383910.953 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:51:50.960Z,1736383910.960 [DAT](INFO): DAT read: 00:51:49.7644 LVL= 10800, 18049, 14306, 14435, AGC= 29, IDX= 499, 0.18,-0.350, 0.381,-1.073, 0.723, PHS=-0.985,-0.295,-1.799, RAW=   2.7,  39.8, CAL= 356.8,  41.9, ROT= 153.2, -41.9

2025-01-09T00:51:50.962Z,1736383910.962 [DAT](INFO): got valid direction response:
 00:51:49.7644 LVL= 10800, 18049, 14306, 14435, AGC= 29, IDX= 499, 0.18,-0.350, 0.381,-1.073, 0.723, PHS=-0.985,-0.295,-1.799, RAW=   2.7,  39.8, CAL= 356.8,  41.9, ROT= 153.2, -41.9

2025-01-09T00:51:50.962Z,1736383910.962 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-01-09T00:51:50.963Z,1736383910.963 [DAT](INFO): direction in FSK: [-0.664362,0.335593,0.667833]
2025-01-09T00:51:50.964Z,1736383910.964 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:50.968Z,1736383910.968 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.563915
2025-01-09T00:51:51.196Z,1736383911.196 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.792078
2025-01-09T00:51:51.287Z,1736383911.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:51.332Z,1736383911.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.505516 s,
      deltaX: 0.100000 m,
      approachRate: 0.197818 m/s,
      rangeRepo size: 4

2025-01-09T00:51:51.341Z,1736383911.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 186.673277 deg,
      lat: 36.904006 deg,
      lon: -122.118950 deg,
      deltaT: 0.505516 s,
      deltaX: 0.100000 m,
      approachRate: 0.197818 m/s,
      posRepo size: 4

2025-01-09T00:51:51.381Z,1736383911.381 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:51:51.450Z,1736383911.450 [DAT](INFO): DAT read: Rx Time:00:51:50.2643 

2025-01-09T00:51:51.451Z,1736383911.451 [DAT](INFO): Rx dataTimestamp_ set to:1736383911.450153
2025-01-09T00:51:51.453Z,1736383911.453 [DAT](INFO): DAT read: Bearing 153.0, -42.6 (Local)

2025-01-09T00:51:51.453Z,1736383911.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.0, -42.6 (Local)

2025-01-09T00:51:51.456Z,1736383911.456 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:51.461Z,1736383911.461 [DAT](INFO): DAT read: 00:51:50.2643 LVL= 10416, 17601, 14834, 14371, AGC= 29, IDX= 498, 0.21,-1.583,-0.866,-2.295,-0.504, PHS=-0.991,-0.315,-1.794, RAW=   2.8,  40.5, CAL= 357.0,  42.6, ROT= 153.0, -42.6

2025-01-09T00:51:51.462Z,1736383911.462 [DAT](INFO): got valid direction response:
 00:51:50.2643 LVL= 10416, 17601, 14834, 14371, AGC= 29, IDX= 498, 0.21,-1.583,-0.866,-2.295,-0.504, PHS=-0.991,-0.315,-1.794, RAW=   2.8,  40.5, CAL= 357.0,  42.6, ROT= 153.0, -42.6

2025-01-09T00:51:51.462Z,1736383911.462 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-01-09T00:51:51.470Z,1736383911.470 [DAT](INFO): direction in FSK: [-0.655867,0.334181,0.676876]
2025-01-09T00:51:51.470Z,1736383911.470 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:51.493Z,1736383911.493 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.088314
2025-01-09T00:51:51.702Z,1736383911.702 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297651
2025-01-09T00:51:51.771Z,1736383911.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:51.827Z,1736383911.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503374 s,
      deltaX: -0.100000 m,
      approachRate: -0.198659 m/s,
      rangeRepo size: 4

2025-01-09T00:51:51.833Z,1736383911.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 185.161600 deg,
      lat: 36.904006 deg,
      lon: -122.118950 deg,
      deltaT: 0.503374 s,
      deltaX: -0.100000 m,
      approachRate: -0.198659 m/s,
      posRepo size: 4

2025-01-09T00:51:51.920Z,1736383911.920 [DockingStepper](INFO): Commanding positive:10263
2025-01-09T00:51:51.953Z,1736383911.953 [DAT](INFO): DAT read: Rx Time:00:51:50.7643 

2025-01-09T00:51:51.954Z,1736383911.954 [DAT](INFO): Rx dataTimestamp_ set to:1736383911.953469
2025-01-09T00:51:51.956Z,1736383911.956 [DAT](INFO): DAT read: Bearing 153.4, -42.9 (Local)

2025-01-09T00:51:51.956Z,1736383911.956 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4, -42.9 (Local)

2025-01-09T00:51:51.958Z,1736383911.958 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:51.965Z,1736383911.965 [DAT](INFO): DAT read: 00:51:50.7643 LVL= 10320, 16801, 15346, 14259, AGC= 29, IDX= 498, 0.26,-1.694,-0.973,-2.386,-0.604, PHS=-1.002,-0.323,-1.786, RAW=   2.4,  40.9, CAL= 356.6,  42.9, ROT= 153.4, -42.9

2025-01-09T00:51:51.967Z,1736383911.967 [DAT](INFO): got valid direction response:
 00:51:50.7643 LVL= 10320, 16801, 15346, 14259, AGC= 29, IDX= 498, 0.26,-1.694,-0.973,-2.386,-0.604, PHS=-1.002,-0.323,-1.786, RAW=   2.4,  40.9, CAL= 356.6,  42.9, ROT= 153.4, -42.9

2025-01-09T00:51:51.977Z,1736383911.977 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-01-09T00:51:51.978Z,1736383911.978 [DAT](INFO): direction in FSK: [-0.655006,0.328003,0.680721]
2025-01-09T00:51:51.978Z,1736383911.978 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:51.982Z,1736383911.982 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.577465
2025-01-09T00:51:52.144Z,1736383912.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:52.160Z,1736383912.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503316 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:52.162Z,1736383912.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 184.354575 deg,
      lat: 36.904005 deg,
      lon: -122.118950 deg,
      deltaT: 0.503316 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:52.205Z,1736383912.205 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801093
2025-01-09T00:51:52.457Z,1736383912.457 [DAT](INFO): DAT read: Rx Time:00:51:51.2642 

2025-01-09T00:51:52.457Z,1736383912.457 [DAT](INFO): Rx dataTimestamp_ set to:1736383912.457062
2025-01-09T00:51:52.459Z,1736383912.459 [DAT](INFO): DAT read: Bearing 153.4, -43.5 (Local)

2025-01-09T00:51:52.459Z,1736383912.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4, -43.5 (Local)

2025-01-09T00:51:52.461Z,1736383912.461 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:52.466Z,1736383912.466 [DAT](INFO): DAT read: 00:51:51.2642 LVL= 10080, 16353, 15474, 13939, AGC= 29, IDX= 497, 0.31,-2.905,-2.193, 2.700,-1.807, PHS=-1.011,-0.339,-1.780, RAW=   2.3,  41.6, CAL= 356.6,  43.5, ROT= 153.4, -43.5

2025-01-09T00:51:52.468Z,1736383912.468 [DAT](INFO): got valid direction response:
 00:51:51.2642 LVL= 10080, 16353, 15474, 13939, AGC= 29, IDX= 497, 0.31,-2.905,-2.193, 2.700,-1.807, PHS=-1.011,-0.339,-1.780, RAW=   2.3,  41.6, CAL= 356.6,  43.5, ROT= 153.4, -43.5

2025-01-09T00:51:52.468Z,1736383912.468 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-01-09T00:51:52.469Z,1736383912.469 [DAT](INFO): direction in FSK: [-0.648597,0.324793,0.688355]
2025-01-09T00:51:52.469Z,1736383912.469 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:52.473Z,1736383912.473 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.069158
2025-01-09T00:51:52.670Z,1736383912.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:52.708Z,1736383912.708 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.304161
2025-01-09T00:51:52.709Z,1736383912.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503593 s,
      deltaX: -0.200000 m,
      approachRate: -0.397146 m/s,
      rangeRepo size: 4

2025-01-09T00:51:52.716Z,1736383912.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 183.089919 deg,
      lat: 36.904005 deg,
      lon: -122.118950 deg,
      deltaT: 0.503593 s,
      deltaX: -0.200000 m,
      approachRate: -0.397146 m/s,
      posRepo size: 4

2025-01-09T00:51:52.964Z,1736383912.964 [DAT](INFO): DAT read: Rx Time:00:51:51.7643 

2025-01-09T00:51:52.965Z,1736383912.965 [DAT](INFO): Rx dataTimestamp_ set to:1736383912.964543
2025-01-09T00:51:52.966Z,1736383912.966 [DAT](INFO): DAT read: Bearing 153.8, -43.6 (Local)

2025-01-09T00:51:52.967Z,1736383912.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.8, -43.6 (Local)

2025-01-09T00:51:52.969Z,1736383912.969 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:52.974Z,1736383912.974 [DAT](INFO): DAT read: 00:51:51.7643 LVL=  9920, 16305, 15794, 13939, AGC= 29, IDX= 498, 0.40,-1.836,-1.117,-2.501,-0.730, PHS=-1.018,-0.340,-1.774, RAW=   1.8,  41.7, CAL= 356.2,  43.6, ROT= 153.8, -43.6

2025-01-09T00:51:52.981Z,1736383912.981 [DAT](INFO): got valid direction response:
 00:51:51.7643 LVL=  9920, 16305, 15794, 13939, AGC= 29, IDX= 498, 0.40,-1.836,-1.117,-2.501,-0.730, PHS=-1.018,-0.340,-1.774, RAW=   1.8,  41.7, CAL= 356.2,  43.6, ROT= 153.8, -43.6

2025-01-09T00:51:52.981Z,1736383912.981 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-01-09T00:51:52.982Z,1736383912.982 [DAT](INFO): direction in FSK: [-0.649769,0.319726,0.689620]
2025-01-09T00:51:52.982Z,1736383912.982 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:52.986Z,1736383912.986 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.582221
2025-01-09T00:51:53.101Z,1736383913.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:53.123Z,1736383913.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.507481 s,
      deltaX: 0.200000 m,
      approachRate: 0.394103 m/s,
      rangeRepo size: 4

2025-01-09T00:51:53.133Z,1736383913.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 181.625802 deg,
      lat: 36.904005 deg,
      lon: -122.118950 deg,
      deltaT: 0.507481 s,
      deltaX: 0.200000 m,
      approachRate: 0.394103 m/s,
      posRepo size: 4

2025-01-09T00:51:53.213Z,1736383913.213 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.808503
2025-01-09T00:51:53.227Z,1736383913.227 [DockingStepper](INFO): Commanding positive:10257
2025-01-09T00:51:53.278Z,1736383913.278 [DockingStepper](FAULT): Timed out moving from: 14784 to: 16450 response: ÿ
2025-01-09T00:51:53.279Z,1736383913.279 [DockingStepper] Hardware Fault, FailCount= 3
2025-01-09T00:51:53.280Z,1736383913.280 [DockingStepper](ERROR): Hardware Fault
2025-01-09T00:51:53.465Z,1736383913.465 [DAT](INFO): DAT read: Rx Time:00:51:52.2642 

2025-01-09T00:51:53.465Z,1736383913.465 [DAT](INFO): Rx dataTimestamp_ set to:1736383913.465132
2025-01-09T00:51:53.467Z,1736383913.467 [DAT](INFO): DAT read: Bearing 152.5, -43.4 (Local)

2025-01-09T00:51:53.468Z,1736383913.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.5, -43.4 (Local)

2025-01-09T00:51:53.470Z,1736383913.470 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:53.475Z,1736383913.475 [DAT](INFO): DAT read: 00:51:52.2642 LVL=  9872, 16289, 15986, 13587, AGC= 29, IDX= 498,-0.46, 1.895, 2.596, 1.181, 2.989, PHS=-1.006,-0.345,-1.811, RAW=   3.3,  41.3, CAL= 357.5,  43.4, ROT= 152.5, -43.4

2025-01-09T00:51:53.476Z,1736383913.476 [DAT](INFO): got valid direction response:
 00:51:52.2642 LVL=  9872, 16289, 15986, 13587, AGC= 29, IDX= 498,-0.46, 1.895, 2.596, 1.181, 2.989, PHS=-1.006,-0.345,-1.811, RAW=   3.3,  41.3, CAL= 357.5,  43.4, ROT= 152.5, -43.4

2025-01-09T00:51:53.476Z,1736383913.476 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-01-09T00:51:53.477Z,1736383913.477 [DAT](INFO): direction in FSK: [-0.644480,0.335495,0.687088]
2025-01-09T00:51:53.477Z,1736383913.477 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:53.484Z,1736383913.484 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-01-09T00:51:53.492Z,1736383913.492 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.087888
2025-01-09T00:51:53.635Z,1736383913.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:53.694Z,1736383913.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.500589 s,
      deltaX: -0.200000 m,
      approachRate: -0.399529 m/s,
      rangeRepo size: 4

2025-01-09T00:51:53.702Z,1736383913.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 179.590727 deg,
      lat: 36.904005 deg,
      lon: -122.118950 deg,
      deltaT: 0.500589 s,
      deltaX: -0.200000 m,
      approachRate: -0.399529 m/s,
      posRepo size: 4

2025-01-09T00:51:53.717Z,1736383913.717 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.312231
2025-01-09T00:51:53.731Z,1736383913.731 [DockingStepper](INFO): Stop
2025-01-09T00:51:53.731Z,1736383913.731 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-01-09T00:51:53.731Z,1736383913.731 [DockingStepper](INFO): Powering down
2025-01-09T00:51:53.960Z,1736383913.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.3 s old, using for 20.0 s.
2025-01-09T00:51:53.960Z,1736383913.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:53.970Z,1736383913.970 [DAT](INFO): DAT read: Rx Time:00:51:52.7643 

2025-01-09T00:51:53.970Z,1736383913.970 [DAT](INFO): Rx dataTimestamp_ set to:1736383913.969888
2025-01-09T00:51:53.972Z,1736383913.972 [DAT](INFO): DAT read: Bearing 151.6, -43.2 (Local)

2025-01-09T00:51:53.972Z,1736383913.972 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.6, -43.2 (Local)

2025-01-09T00:51:53.974Z,1736383913.974 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:53.983Z,1736383913.983 [DAT](INFO): DAT read: 00:51:52.7643 LVL=  9792, 16353, 16114, 13619, AGC= 29, IDX= 499,-0.37, 2.207, 2.892, 1.463,-2.999, PHS=-0.990,-0.345,-1.825, RAW=   4.2,  41.0, CAL= 358.4,  43.2, ROT= 151.6, -43.2

2025-01-09T00:51:53.985Z,1736383913.985 [DAT](INFO): got valid direction response:
 00:51:52.7643 LVL=  9792, 16353, 16114, 13619, AGC= 29, IDX= 499,-0.37, 2.207, 2.892, 1.463,-2.999, PHS=-0.990,-0.345,-1.825, RAW=   4.2,  41.0, CAL= 358.4,  43.2, ROT= 151.6, -43.2

2025-01-09T00:51:53.985Z,1736383913.985 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-01-09T00:51:53.986Z,1736383913.986 [DAT](INFO): direction in FSK: [-0.641236,0.346715,0.684547]
2025-01-09T00:51:53.986Z,1736383913.986 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:53.991Z,1736383913.991 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.586432
2025-01-09T00:51:54.006Z,1736383914.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504756 s,
      deltaX: 0.200000 m,
      approachRate: 0.396231 m/s,
      rangeRepo size: 4

2025-01-09T00:51:54.012Z,1736383914.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 178.694063 deg,
      lat: 36.904005 deg,
      lon: -122.118950 deg,
      deltaT: 0.504756 s,
      deltaX: 0.200000 m,
      approachRate: 0.396231 m/s,
      posRepo size: 4

2025-01-09T00:51:54.063Z,1736383914.063 [DockingStepper](INFO): Stopping
2025-01-09T00:51:54.221Z,1736383914.221 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.817080
2025-01-09T00:51:54.332Z,1736383914.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.7 s old, using for 20.0 s.
2025-01-09T00:51:54.332Z,1736383914.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:54.379Z,1736383914.379 [DockingStepper](INFO): Stopping
2025-01-09T00:51:54.475Z,1736383914.475 [DAT](INFO): DAT read: Rx Time:00:51:53.2642 

2025-01-09T00:51:54.476Z,1736383914.476 [DAT](INFO): Rx dataTimestamp_ set to:1736383914.474878
2025-01-09T00:51:54.478Z,1736383914.478 [DAT](INFO): DAT read: Bearing 152.1, -42.7 (Local)

2025-01-09T00:51:54.478Z,1736383914.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.1, -42.7 (Local)

2025-01-09T00:51:54.492Z,1736383914.492 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:54.498Z,1736383914.498 [DAT](INFO): DAT read: 00:51:53.2642 LVL=  9952, 16689, 16066, 13651, AGC= 29, IDX= 498,-0.30, 0.789, 1.491, 0.047, 1.864, PHS=-0.987,-0.326,-1.820, RAW=   3.8,  40.5, CAL= 357.9,  42.7, ROT= 152.1, -42.7

2025-01-09T00:51:54.499Z,1736383914.499 [DAT](INFO): got valid direction response:
 00:51:53.2642 LVL=  9952, 16689, 16066, 13651, AGC= 29, IDX= 498,-0.30, 0.789, 1.491, 0.047, 1.864, PHS=-0.987,-0.326,-1.820, RAW=   3.8,  40.5, CAL= 357.9,  42.7, ROT= 152.1, -42.7

2025-01-09T00:51:54.499Z,1736383914.499 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-01-09T00:51:54.501Z,1736383914.501 [DAT](INFO): direction in FSK: [-0.649492,0.343888,0.678160]
2025-01-09T00:51:54.501Z,1736383914.501 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:54.505Z,1736383914.505 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.100803
2025-01-09T00:51:54.724Z,1736383914.724 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.320082
2025-01-09T00:51:54.824Z,1736383914.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:54.856Z,1736383914.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504990 s,
      deltaX: -0.200000 m,
      approachRate: -0.396047 m/s,
      rangeRepo size: 4

2025-01-09T00:51:54.858Z,1736383914.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 177.957015 deg,
      lat: 36.904005 deg,
      lon: -122.118950 deg,
      deltaT: 0.504990 s,
      deltaX: -0.200000 m,
      approachRate: -0.396047 m/s,
      posRepo size: 4

2025-01-09T00:51:54.920Z,1736383914.920 [DockingStepper](INFO): Stopping
2025-01-09T00:51:54.977Z,1736383914.977 [DAT](INFO): DAT read: Rx Time:00:51:53.7643 

2025-01-09T00:51:54.977Z,1736383914.977 [DAT](INFO): Rx dataTimestamp_ set to:1736383914.977007
2025-01-09T00:51:54.979Z,1736383914.979 [DAT](INFO): DAT read: Bearing 152.8, -42.0 (Local)

2025-01-09T00:51:54.979Z,1736383914.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.8, -42.0 (Local)

2025-01-09T00:51:54.981Z,1736383914.981 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:54.986Z,1736383914.986 [DAT](INFO): DAT read: 00:51:53.7643 LVL= 10048, 16849, 16082, 13459, AGC= 29, IDX= 499,-0.21, 1.958, 2.676, 1.228, 3.020, PHS=-0.975,-0.298,-1.795, RAW=   3.2,  39.9, CAL= 357.2,  42.0, ROT= 152.8, -42.0

2025-01-09T00:51:54.988Z,1736383914.988 [DAT](INFO): got valid direction response:
 00:51:53.7643 LVL= 10048, 16849, 16082, 13459, AGC= 29, IDX= 499,-0.21, 1.958, 2.676, 1.228, 3.020, PHS=-0.975,-0.298,-1.795, RAW=   3.2,  39.9, CAL= 357.2,  42.0, ROT= 152.8, -42.0

2025-01-09T00:51:54.988Z,1736383914.988 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-01-09T00:51:54.989Z,1736383914.989 [DAT](INFO): direction in FSK: [-0.660965,0.339690,0.669131]
2025-01-09T00:51:54.989Z,1736383914.989 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:54.993Z,1736383914.993 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.588845
2025-01-09T00:51:55.153Z,1736383915.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:55.179Z,1736383915.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.502129 s,
      deltaX: 0.200000 m,
      approachRate: 0.398304 m/s,
      rangeRepo size: 4

2025-01-09T00:51:55.181Z,1736383915.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 178.731606 deg,
      lat: 36.904004 deg,
      lon: -122.118950 deg,
      deltaT: 0.502129 s,
      deltaX: 0.200000 m,
      approachRate: 0.398304 m/s,
      posRepo size: 4

2025-01-09T00:51:55.207Z,1736383915.207 [DockingStepper](INFO): Stopping
2025-01-09T00:51:55.232Z,1736383915.232 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.828074
2025-01-09T00:51:55.486Z,1736383915.486 [DAT](INFO): DAT read: Rx Time:00:51:54.2642 

2025-01-09T00:51:55.486Z,1736383915.486 [DAT](INFO): Rx dataTimestamp_ set to:1736383915.485715
2025-01-09T00:51:55.487Z,1736383915.487 [DAT](INFO): DAT read: Bearing 153.0, -41.3 (Local)

2025-01-09T00:51:55.488Z,1736383915.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.0, -41.3 (Local)

2025-01-09T00:51:55.490Z,1736383915.490 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:55.494Z,1736383915.494 [DAT](INFO): DAT read: 00:51:54.2642 LVL= 10224, 17233, 16114, 13491, AGC= 29, IDX= 498,-0.17, 0.548, 1.280,-0.188, 1.601, PHS=-0.965,-0.274,-1.792, RAW=   3.0,  39.1, CAL= 357.0,  41.3, ROT= 153.0, -41.3

2025-01-09T00:51:55.496Z,1736383915.496 [DAT](INFO): got valid direction response:
 00:51:54.2642 LVL= 10224, 17233, 16114, 13491, AGC= 29, IDX= 498,-0.17, 0.548, 1.280,-0.188, 1.601, PHS=-0.965,-0.274,-1.792, RAW=   3.0,  39.1, CAL= 357.0,  41.3, ROT= 153.0, -41.3

2025-01-09T00:51:55.496Z,1736383915.496 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-01-09T00:51:55.497Z,1736383915.497 [DAT](INFO): direction in FSK: [-0.669381,0.341067,0.660002]
2025-01-09T00:51:55.497Z,1736383915.497 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:55.502Z,1736383915.502 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.097477
2025-01-09T00:51:55.587Z,1736383915.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:55.704Z,1736383915.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.508708 s,
      deltaX: -0.200000 m,
      approachRate: -0.393153 m/s,
      rangeRepo size: 4

2025-01-09T00:51:55.706Z,1736383915.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 179.005505 deg,
      lat: 36.904004 deg,
      lon: -122.118951 deg,
      deltaT: 0.508708 s,
      deltaX: -0.200000 m,
      approachRate: -0.393153 m/s,
      posRepo size: 4

2025-01-09T00:51:55.738Z,1736383915.738 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.332716
2025-01-09T00:51:55.754Z,1736383915.754 [DockingStepper](INFO): Stopping
2025-01-09T00:51:55.989Z,1736383915.989 [DAT](INFO): DAT read: Rx Time:00:51:54.7642 

2025-01-09T00:51:55.989Z,1736383915.989 [DAT](INFO): Rx dataTimestamp_ set to:1736383915.989158
2025-01-09T00:51:55.991Z,1736383915.991 [DAT](INFO): DAT read: Bearing 153.1, -40.8 (Local)

2025-01-09T00:51:55.991Z,1736383915.991 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.1, -40.8 (Local)

2025-01-09T00:51:55.993Z,1736383915.993 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:55.998Z,1736383915.998 [DAT](INFO): DAT read: 00:51:54.7642 LVL= 10288, 17681, 16242, 13555, AGC= 29, IDX= 498,-0.11, 0.482, 1.219,-0.258, 1.525, PHS=-0.955,-0.259,-1.786, RAW=   2.9,  38.7, CAL= 356.9,  40.8, ROT= 153.1, -40.8

2025-01-09T00:51:55.999Z,1736383915.999 [DAT](INFO): got valid direction response:
 00:51:54.7642 LVL= 10288, 17681, 16242, 13555, AGC= 29, IDX= 498,-0.11, 0.482, 1.219,-0.258, 1.525, PHS=-0.955,-0.259,-1.786, RAW=   2.9,  38.7, CAL= 356.9,  40.8, ROT= 153.1, -40.8

2025-01-09T00:51:55.999Z,1736383915.999 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-01-09T00:51:56.001Z,1736383916.001 [DAT](INFO): direction in FSK: [-0.675086,0.342491,0.653421]
2025-01-09T00:51:56.002Z,1736383916.002 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:56.005Z,1736383916.005 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.601111
2025-01-09T00:51:56.012Z,1736383916.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:56.027Z,1736383916.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503443 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:56.029Z,1736383916.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 179.156906 deg,
      lat: 36.904004 deg,
      lon: -122.118951 deg,
      deltaT: 0.503443 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:56.088Z,1736383916.088 [DockingStepper](INFO): Stopping
2025-01-09T00:51:56.244Z,1736383916.244 [DAT](INFO): DAT read: Rx Time:00:51:55.2641 

2025-01-09T00:51:56.246Z,1736383916.246 [DAT](INFO): Rx dataTimestamp_ set to:1736383916.244842
2025-01-09T00:51:56.249Z,1736383916.249 [DAT](INFO): DAT read: Bearing 151.6, -42.2 (Local)

2025-01-09T00:51:56.250Z,1736383916.250 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.6, -42.2 (Local)

2025-01-09T00:51:56.252Z,1736383916.252 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.847532
2025-01-09T00:51:56.386Z,1736383916.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:56.402Z,1736383916.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:56.441Z,1736383916.441 [DockingStepper](INFO): Stopping
2025-01-09T00:51:56.494Z,1736383916.494 [DAT](INFO): DAT read: Range 10 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-01-09T00:51:56.499Z,1736383916.499 [DAT](INFO): DAT read: 00:51:55.2641 LVL= 11584, 20033, 18258, 15155, AGC= 27, IDX= 497,-0.06,-0.093, 0.589,-0.842, 0.943, PHS=-0.949,-0.307,-1.788, RAW=   4.4,  39.9, CAL= 358.4,  42.2, ROT= 151.6, -42.2

2025-01-09T00:51:56.503Z,1736383916.503 [DAT](INFO): got valid direction response:
 00:51:55.2641 LVL= 11584, 20033, 18258, 15155, AGC= 27, IDX= 497,-0.06,-0.093, 0.589,-0.842, 0.943, PHS=-0.949,-0.307,-1.788, RAW=   4.4,  39.9, CAL= 358.4,  42.2, ROT= 151.6, -42.2

2025-01-09T00:51:56.503Z,1736383916.503 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-01-09T00:51:56.504Z,1736383916.504 [DAT](INFO): direction in FSK: [-0.651648,0.352344,0.671721]
2025-01-09T00:51:56.505Z,1736383916.505 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:56.508Z,1736383916.508 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.103957
2025-01-09T00:51:56.748Z,1736383916.748 [DAT](INFO): DAT read: Rx Time:00:51:55.7642 

2025-01-09T00:51:56.750Z,1736383916.750 [DAT](INFO): Rx dataTimestamp_ set to:1736383916.749077
2025-01-09T00:51:56.754Z,1736383916.754 [DAT](INFO): DAT read: Bearing 153.1, -40.6 (Local)

2025-01-09T00:51:56.755Z,1736383916.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.1, -40.6 (Local)

2025-01-09T00:51:56.758Z,1736383916.758 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.353098
2025-01-09T00:51:56.872Z,1736383916.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:56.886Z,1736383916.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.200000 m,
      deltaT: 0.502537 s,
      deltaX: -0.100000 m,
      approachRate: -0.198990 m/s,
      rangeRepo size: 4

2025-01-09T00:51:56.910Z,1736383916.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.200000 m,
      bearing: 180.287049 deg,
      lat: 36.904004 deg,
      lon: -122.118951 deg,
      deltaT: 0.502537 s,
      deltaX: -0.100000 m,
      approachRate: -0.198990 m/s,
      posRepo size: 4

2025-01-09T00:51:56.945Z,1736383916.945 [DockingStepper](INFO): Stopping
2025-01-09T00:51:56.998Z,1736383916.998 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:57.003Z,1736383917.003 [DAT](INFO): DAT read: 00:51:55.7642 LVL=  9200, 16033, 15586, 13331, AGC= 32, IDX=   2,-0.01, 0.867, 1.603, 0.125, 1.903, PHS=-0.948,-0.253,-1.781, RAW=   3.0,  38.5, CAL= 356.9,  40.6, ROT= 153.1, -40.6

2025-01-09T00:51:57.004Z,1736383917.004 [DAT](INFO): got valid direction response:
 00:51:55.7642 LVL=  9200, 16033, 15586, 13331, AGC= 32, IDX=   2,-0.01, 0.867, 1.603, 0.125, 1.903, PHS=-0.948,-0.253,-1.781, RAW=   3.0,  38.5, CAL= 356.9,  40.6, ROT= 153.1, -40.6

2025-01-09T00:51:57.005Z,1736383917.005 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-01-09T00:51:57.006Z,1736383917.006 [DAT](INFO): direction in FSK: [-0.677116,0.343521,0.650774]
2025-01-09T00:51:57.006Z,1736383917.006 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:57.010Z,1736383917.010 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.605747
2025-01-09T00:51:57.168Z,1736383917.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:57.182Z,1736383917.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504188 s,
      deltaX: 0.100000 m,
      approachRate: 0.198339 m/s,
      rangeRepo size: 4

2025-01-09T00:51:57.185Z,1736383917.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 183.220415 deg,
      lat: 36.904004 deg,
      lon: -122.118951 deg,
      deltaT: 0.504188 s,
      deltaX: 0.100000 m,
      approachRate: 0.198339 m/s,
      posRepo size: 4

2025-01-09T00:51:57.224Z,1736383917.224 [DockingStepper](INFO): Stopping
2025-01-09T00:51:57.253Z,1736383917.253 [DAT](INFO): DAT read: Rx Time:00:51:56.2642 

2025-01-09T00:51:57.254Z,1736383917.254 [DAT](INFO): Rx dataTimestamp_ set to:1736383917.253349
2025-01-09T00:51:57.268Z,1736383917.268 [DAT](INFO): DAT read: Bearing 152.4, -41.4 (Local)

2025-01-09T00:51:57.269Z,1736383917.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.4, -41.4 (Local)

2025-01-09T00:51:57.305Z,1736383917.305 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:57.329Z,1736383917.329 [DAT](INFO): DAT read: 00:51:56.2642 LVL= 11024, 18337, 16530, 13859, AGC= 29, IDX= 497, 0.03, 0.015, 0.728,-0.735, 1.055, PHS=-0.953,-0.281,-1.794, RAW=   3.7,  39.2, CAL= 357.6,  41.4, ROT= 152.4, -41.4

2025-01-09T00:51:57.330Z,1736383917.330 [DAT](INFO): got valid direction response:
 00:51:56.2642 LVL= 11024, 18337, 16530, 13859, AGC= 29, IDX= 497, 0.03, 0.015, 0.728,-0.735, 1.055, PHS=-0.953,-0.281,-1.794, RAW=   3.7,  39.2, CAL= 357.6,  41.4, ROT= 152.4, -41.4

2025-01-09T00:51:57.331Z,1736383917.331 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-01-09T00:51:57.348Z,1736383917.348 [DAT](INFO): direction in FSK: [-0.664751,0.347524,0.661312]
2025-01-09T00:51:57.349Z,1736383917.349 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:57.356Z,1736383917.356 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.951999
2025-01-09T00:51:57.501Z,1736383917.501 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.096926
2025-01-09T00:51:57.585Z,1736383917.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:57.598Z,1736383917.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.257466 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:51:57.601Z,1736383917.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 183.944214 deg,
      lat: 36.904004 deg,
      lon: -122.118952 deg,
      deltaT: 0.257466 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:51:57.622Z,1736383917.622 [DockingStepper](INFO): Stopping
2025-01-09T00:51:57.756Z,1736383917.756 [DAT](INFO): DAT read: Rx Time:00:51:56.7643 

2025-01-09T00:51:57.757Z,1736383917.757 [DAT](INFO): Rx dataTimestamp_ set to:1736383917.756513
2025-01-09T00:51:57.764Z,1736383917.764 [DAT](INFO): DAT read: Bearing 150.7, -41.6 (Local)

2025-01-09T00:51:57.765Z,1736383917.765 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.7, -41.6 (Local)

2025-01-09T00:51:57.800Z,1736383917.800 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:57.822Z,1736383917.822 [DAT](INFO): DAT read: 00:51:56.7643 LVL=  8896, 15793, 16162, 12435, AGC= 32, IDX=   2, 0.07, 1.032, 1.714, 0.225, 2.061, PHS=-0.941,-0.300,-1.839, RAW=   5.5,  39.1, CAL= 359.3,  41.6, ROT= 150.7, -41.6

2025-01-09T00:51:57.828Z,1736383917.828 [DAT](INFO): got valid direction response:
 00:51:56.7643 LVL=  8896, 15793, 16162, 12435, AGC= 32, IDX=   2, 0.07, 1.032, 1.714, 0.225, 2.061, PHS=-0.941,-0.300,-1.839, RAW=   5.5,  39.1, CAL= 359.3,  41.6, ROT= 150.7, -41.6

2025-01-09T00:51:57.829Z,1736383917.829 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-01-09T00:51:57.836Z,1736383917.836 [DAT](INFO): direction in FSK: [-0.652132,0.365959,0.663926]
2025-01-09T00:51:57.837Z,1736383917.837 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:57.861Z,1736383917.861 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.456684
2025-01-09T00:51:58.004Z,1736383918.004 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.600276
2025-01-09T00:51:58.009Z,1736383918.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:58.049Z,1736383918.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503164 s,
      deltaX: 0.200000 m,
      approachRate: 0.397485 m/s,
      rangeRepo size: 4

2025-01-09T00:51:58.054Z,1736383918.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 183.888871 deg,
      lat: 36.904004 deg,
      lon: -122.118952 deg,
      deltaT: 0.503164 s,
      deltaX: 0.200000 m,
      approachRate: 0.397485 m/s,
      posRepo size: 4

2025-01-09T00:51:58.089Z,1736383918.089 [DockingStepper](INFO): Stopping
2025-01-09T00:51:58.257Z,1736383918.257 [DAT](INFO): DAT read: Rx Time:00:51:57.2642 

2025-01-09T00:51:58.257Z,1736383918.257 [DAT](INFO): Rx dataTimestamp_ set to:1736383918.256966
2025-01-09T00:51:58.258Z,1736383918.258 [DAT](INFO): DAT read: Bearing 148.4, -42.2 (Local)

2025-01-09T00:51:58.258Z,1736383918.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.4, -42.2 (Local)

2025-01-09T00:51:58.260Z,1736383918.260 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:58.260Z,1736383918.260 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-01-09T00:51:58.261Z,1736383918.261 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.857120
2025-01-09T00:51:58.392Z,1736383918.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:58.401Z,1736383918.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.500453 s,
      deltaX: -0.200000 m,
      approachRate: -0.399638 m/s,
      rangeRepo size: 4

2025-01-09T00:51:58.511Z,1736383918.511 [DAT](INFO): DAT read: 00:51:57.2251, AGC= 29, IDX= 497, 0.13,-0.348, 0.284,-1.216, 0.669, PHS=-0.929,-0.338,-1.888, RAW=   7.8,  39.5, CAL=   1.6,  42.2, ROT= 148.4, -42.2

2025-01-09T00:51:58.512Z,1736383918.512 [DAT](INFO): unknown deviceResponse_: 00:51:57.2251, AGC= 29, IDX= 497, 0.13,-0.348, 0.284,-1.216, 0.669, PHS=-0.929,-0.338,-1.888, RAW=   7.8,  39.5, CAL=   1.6,  42.2, ROT= 148.4, -42.2

2025-01-09T00:51:58.512Z,1736383918.512 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.108334
2025-01-09T00:51:58.576Z,1736383918.576 [DockingStepper](INFO): Stopping
2025-01-09T00:51:58.764Z,1736383918.764 [DAT](INFO): DAT read: Rx Time:00:51:57.7643 

2025-01-09T00:51:58.766Z,1736383918.766 [DAT](INFO): Rx dataTimestamp_ set to:1736383918.764643
2025-01-09T00:51:58.769Z,1736383918.769 [DAT](INFO): DAT read: Bearing 145.1, -43.1 (Local)

2025-01-09T00:51:58.770Z,1736383918.770 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.1, -43.1 (Local)

2025-01-09T00:51:58.777Z,1736383918.777 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:51:58.778Z,1736383918.778 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-01-09T00:51:58.782Z,1736383918.782 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.377556
2025-01-09T00:51:58.914Z,1736383918.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:58.922Z,1736383918.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:51:58.932Z,1736383918.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.507677 s,
      deltaX: 0.200000 m,
      approachRate: 0.393951 m/s,
      rangeRepo size: 4

2025-01-09T00:51:58.972Z,1736383918.972 [DockingStepper](INFO): Stopping
2025-01-09T00:51:59.017Z,1736383919.017 [DAT](INFO): DAT read: 00:51:57.7643 LVL=  8928, 16625, 17058,  9827, AGC= 30, IDX=   2, 0.19, 0.705, 1.266,-0.256, 1.713, PHS=-0.920,-0.400,-1.972, RAW=  11.1,  40.0, CAL=   4.9,  43.1, ROT= 145.1, -43.1

2025-01-09T00:51:59.019Z,1736383919.019 [DAT](INFO): got valid direction response:
 00:51:57.7643 LVL=  8928, 16625, 17058,  9827, AGC= 30, IDX=   2, 0.19, 0.705, 1.266,-0.256, 1.713, PHS=-0.920,-0.400,-1.972, RAW=  11.1,  40.0, CAL=   4.9,  43.1, ROT= 145.1, -43.1

2025-01-09T00:51:59.019Z,1736383919.019 [DAT](INFO): #Rx 24: Read direction message, but no range.
2025-01-09T00:51:59.020Z,1736383919.020 [DAT](INFO): direction in FSK: [-0.598844,0.417759,0.683274]
2025-01-09T00:51:59.024Z,1736383919.024 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.619750
2025-01-09T00:51:59.213Z,1736383919.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:59.269Z,1736383919.269 [DAT](INFO): DAT read: Rx Time:00:51:58.2642 

2025-01-09T00:51:59.270Z,1736383919.270 [DAT](INFO): Rx dataTimestamp_ set to:1736383919.269562
2025-01-09T00:51:59.274Z,1736383919.274 [DAT](INFO): DAT read: Bearing 146.5, -42.4 (Local)

2025-01-09T00:51:59.276Z,1736383919.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.5, -42.4 (Local)

2025-01-09T00:51:59.304Z,1736383919.304 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:59.321Z,1736383919.321 [DAT](INFO): DAT read: 00:51:58.2642 LVL= 13520, 18481, 15586, 15043, AGC= 28, IDX= 497, 0.21,-0.134, 0.465,-1.073, 0.879, PHS=-0.926,-0.367,-1.955, RAW=   9.7,  39.4, CAL=   3.5,  42.4, ROT= 146.5, -42.4

2025-01-09T00:51:59.322Z,1736383919.322 [DAT](INFO): got valid direction response:
 00:51:58.2642 LVL= 13520, 18481, 15586, 15043, AGC= 28, IDX= 497, 0.21,-0.134, 0.465,-1.073, 0.879, PHS=-0.926,-0.367,-1.955, RAW=   9.7,  39.4, CAL=   3.5,  42.4, ROT= 146.5, -42.4

2025-01-09T00:51:59.322Z,1736383919.322 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-01-09T00:51:59.335Z,1736383919.335 [DAT](INFO): direction in FSK: [-0.615787,0.407581,0.674302]
2025-01-09T00:51:59.336Z,1736383919.336 [DAT](INFO): publishing direction and range info
2025-01-09T00:51:59.345Z,1736383919.345 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.940379
2025-01-09T00:51:59.452Z,1736383919.452 [DockingStepper](INFO): Stopping
2025-01-09T00:51:59.517Z,1736383919.517 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.112151
2025-01-09T00:51:59.673Z,1736383919.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:51:59.765Z,1736383919.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504919 s,
      deltaX: -0.200000 m,
      approachRate: -0.396103 m/s,
      rangeRepo size: 4

2025-01-09T00:51:59.769Z,1736383919.769 [DAT](INFO): DAT read: Rx Time:00:51:58.7642 

2025-01-09T00:51:59.770Z,1736383919.770 [DAT](INFO): Rx dataTimestamp_ set to:1736383919.769668
2025-01-09T00:51:59.771Z,1736383919.771 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:51:59.772Z,1736383919.772 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-01-09T00:51:59.773Z,1736383919.773 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.368590
2025-01-09T00:51:59.777Z,1736383919.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 187.102407 deg,
      lat: 36.904004 deg,
      lon: -122.118952 deg,
      deltaT: 1.513049 s,
      deltaX: -0.200000 m,
      approachRate: -0.132183 m/s,
      posRepo size: 4

2025-01-09T00:51:59.932Z,1736383919.932 [DockingStepper](INFO): Stopping
2025-01-09T00:52:00.020Z,1736383920.020 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.616146
2025-01-09T00:52:00.186Z,1736383920.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:00.195Z,1736383920.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.500106 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:00.248Z,1736383920.248 [DockingStepper](INFO): Stopping
2025-01-09T00:52:00.273Z,1736383920.273 [DAT](INFO): DAT read: Rx Time:00:51:59.2641 

2025-01-09T00:52:00.274Z,1736383920.274 [DAT](INFO): Rx dataTimestamp_ set to:1736383920.273600
2025-01-09T00:52:00.275Z,1736383920.275 [DAT](INFO): DAT read: Range 10 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-01-09T00:52:00.276Z,1736383920.276 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-01-09T00:52:00.277Z,1736383920.277 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.872557
2025-01-09T00:52:00.525Z,1736383920.525 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.120437
2025-01-09T00:52:00.570Z,1736383920.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:00.592Z,1736383920.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.200000 m,
      deltaT: 0.503932 s,
      deltaX: -0.100000 m,
      approachRate: -0.198439 m/s,
      rangeRepo size: 4

2025-01-09T00:52:00.633Z,1736383920.633 [DockingStepper](INFO): Stopping
2025-01-09T00:52:00.785Z,1736383920.785 [DAT](INFO): DAT read: Rx Time:00:51:59.7643 

2025-01-09T00:52:00.787Z,1736383920.787 [DAT](INFO): Rx dataTimestamp_ set to:1736383920.785448
2025-01-09T00:52:00.800Z,1736383920.800 [DAT](INFO): DAT read: Bearing 146.7, -43.7 (Local)

2025-01-09T00:52:00.801Z,1736383920.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.7, -43.7 (Local)

2025-01-09T00:52:00.820Z,1736383920.820 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:00.861Z,1736383920.861 [DAT](INFO): DAT read: 00:51:59.7643 LVL= 10096, 17905, 17810, 11155, AGC= 30, IDX=   1, 0.40,-0.655,-0.056,-1.567, 0.404, PHS=-0.971,-0.413,-1.974, RAW=   9.3,  40.9, CAL=   3.3,  43.7, ROT= 146.7, -43.7

2025-01-09T00:52:00.862Z,1736383920.862 [DAT](INFO): got valid direction response:
 00:51:59.7643 LVL= 10096, 17905, 17810, 11155, AGC= 30, IDX=   1, 0.40,-0.655,-0.056,-1.567, 0.404, PHS=-0.971,-0.413,-1.974, RAW=   9.3,  40.9, CAL=   3.3,  43.7, ROT= 146.7, -43.7

2025-01-09T00:52:00.862Z,1736383920.862 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-01-09T00:52:00.867Z,1736383920.867 [DAT](INFO): direction in FSK: [-0.604261,0.396926,0.690882]
2025-01-09T00:52:00.868Z,1736383920.868 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:00.878Z,1736383920.878 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.473431
2025-01-09T00:52:00.989Z,1736383920.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:01.004Z,1736383921.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.511848 s,
      deltaX: 0.300000 m,
      approachRate: 0.586112 m/s,
      rangeRepo size: 4

2025-01-09T00:52:01.006Z,1736383921.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 193.437542 deg,
      lat: 36.904003 deg,
      lon: -122.118952 deg,
      deltaT: 1.515886 s,
      deltaX: 0.200000 m,
      approachRate: 0.131936 m/s,
      posRepo size: 4

2025-01-09T00:52:01.028Z,1736383921.028 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.623974
2025-01-09T00:52:01.044Z,1736383921.044 [DockingStepper](INFO): Stopping
2025-01-09T00:52:01.294Z,1736383921.294 [DAT](INFO): DAT read: Rx Time:00:52:00.2642 

2025-01-09T00:52:01.295Z,1736383921.295 [DAT](INFO): Rx dataTimestamp_ set to:1736383921.294389
2025-01-09T00:52:01.298Z,1736383921.298 [DAT](INFO): DAT read: Bearing 150.5, -42.7 (Local)

2025-01-09T00:52:01.298Z,1736383921.298 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.5, -42.7 (Local)

2025-01-09T00:52:01.301Z,1736383921.301 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:01.326Z,1736383921.326 [DAT](INFO): DAT read: 00:52:00.2642 LVL= 10640, 19313, 15762, 13603, AGC= 28, IDX= 496, 0.40,-1.172,-0.486,-1.985,-0.092, PHS=-0.992,-0.347,-1.896, RAW=   5.5,  40.3, CAL= 359.5,  42.7, ROT= 150.5, -42.7

2025-01-09T00:52:01.350Z,1736383921.350 [DAT](INFO): got valid direction response:
 00:52:00.2642 LVL= 10640, 19313, 15762, 13603, AGC= 28, IDX= 496, 0.40,-1.172,-0.486,-1.985,-0.092, PHS=-0.992,-0.347,-1.896, RAW=   5.5,  40.3, CAL= 359.5,  42.7, ROT= 150.5, -42.7

2025-01-09T00:52:01.351Z,1736383921.351 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-01-09T00:52:01.365Z,1736383921.365 [DAT](INFO): direction in FSK: [-0.639637,0.361889,0.678160]
2025-01-09T00:52:01.365Z,1736383921.365 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:01.377Z,1736383921.377 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.972926
2025-01-09T00:52:01.415Z,1736383921.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:01.454Z,1736383921.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.508941 s,
      deltaX: -0.200000 m,
      approachRate: -0.392973 m/s,
      rangeRepo size: 4

2025-01-09T00:52:01.461Z,1736383921.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 198.410849 deg,
      lat: 36.904003 deg,
      lon: -122.118952 deg,
      deltaT: 0.508941 s,
      deltaX: -0.200000 m,
      approachRate: -0.392973 m/s,
      posRepo size: 4

2025-01-09T00:52:01.496Z,1736383921.496 [DockingStepper](INFO): Stopping
2025-01-09T00:52:01.532Z,1736383921.532 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.128263
2025-01-09T00:52:01.789Z,1736383921.789 [DAT](INFO): DAT read: Rx Time:00:52:00.7643 

2025-01-09T00:52:01.790Z,1736383921.790 [DAT](INFO): Rx dataTimestamp_ set to:1736383921.789280
2025-01-09T00:52:01.799Z,1736383921.799 [DAT](INFO): DAT read: Bearing 151.8, -42.1 (Local)

2025-01-09T00:52:01.799Z,1736383921.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.8, -42.1 (Local)

2025-01-09T00:52:01.802Z,1736383921.802 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:01.844Z,1736383921.844 [DAT](INFO): DAT read: 00:52:00.7643 LVL=  9104, 16529, 15218, 12451, AGC= 32, IDX=   1, 0.39, 0.774, 1.487,-0.006, 1.850, PHS=-0.988,-0.316,-1.859, RAW=   4.2,  39.9, CAL= 358.2,  42.1, ROT= 151.8, -42.1

2025-01-09T00:52:01.845Z,1736383921.845 [DAT](INFO): got valid direction response:
 00:52:00.7643 LVL=  9104, 16529, 15218, 12451, AGC= 32, IDX=   1, 0.39, 0.774, 1.487,-0.006, 1.850, PHS=-0.988,-0.316,-1.859, RAW=   4.2,  39.9, CAL= 358.2,  42.1, ROT= 151.8, -42.1

2025-01-09T00:52:01.845Z,1736383921.845 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-01-09T00:52:01.846Z,1736383921.846 [DAT](INFO): direction in FSK: [-0.653906,0.350621,0.670427]
2025-01-09T00:52:01.846Z,1736383921.846 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:01.854Z,1736383921.854 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.450274
2025-01-09T00:52:01.949Z,1736383921.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:01.980Z,1736383921.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.494891 s,
      deltaX: 0.200000 m,
      approachRate: 0.404129 m/s,
      rangeRepo size: 4

2025-01-09T00:52:01.982Z,1736383921.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 199.745554 deg,
      lat: 36.904003 deg,
      lon: -122.118950 deg,
      deltaT: 0.494891 s,
      deltaX: 0.200000 m,
      approachRate: 0.404129 m/s,
      posRepo size: 4

2025-01-09T00:52:02.037Z,1736383922.037 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.632381
2025-01-09T00:52:02.136Z,1736383922.136 [DockingStepper](INFO): Stopping
2025-01-09T00:52:02.298Z,1736383922.298 [DAT](INFO): DAT read: Rx Time:00:52:01.2642 

2025-01-09T00:52:02.299Z,1736383922.299 [DAT](INFO): Rx dataTimestamp_ set to:1736383922.298409
2025-01-09T00:52:02.301Z,1736383922.301 [DAT](INFO): DAT read: Bearing 152.1, -40.9 (Local)

2025-01-09T00:52:02.301Z,1736383922.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.1, -40.9 (Local)

2025-01-09T00:52:02.303Z,1736383922.303 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:02.312Z,1736383922.312 [DAT](INFO): DAT read: 00:52:01.2642 LVL= 11696, 19537, 13890, 14531, AGC= 29, IDX= 496, 0.40, 0.329, 1.047,-0.444, 1.363, PHS=-0.946,-0.268,-1.810, RAW=   4.0,  38.6, CAL= 357.9,  40.9, ROT= 152.1, -40.9

2025-01-09T00:52:02.313Z,1736383922.313 [DAT](INFO): got valid direction response:
 00:52:01.2642 LVL= 11696, 19537, 13890, 14531, AGC= 29, IDX= 496, 0.40, 0.329, 1.047,-0.444, 1.363, PHS=-0.946,-0.268,-1.810, RAW=   4.0,  38.6, CAL= 357.9,  40.9, ROT= 152.1, -40.9

2025-01-09T00:52:02.314Z,1736383922.314 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-01-09T00:52:02.315Z,1736383922.315 [DAT](INFO): direction in FSK: [-0.667997,0.353686,0.654741]
2025-01-09T00:52:02.315Z,1736383922.315 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:02.328Z,1736383922.328 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.924164
2025-01-09T00:52:02.442Z,1736383922.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:02.481Z,1736383922.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.509129 s,
      deltaX: -0.200000 m,
      approachRate: -0.392828 m/s,
      rangeRepo size: 4

2025-01-09T00:52:02.488Z,1736383922.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 202.016349 deg,
      lat: 36.904004 deg,
      lon: -122.118950 deg,
      deltaT: 0.509129 s,
      deltaX: -0.200000 m,
      approachRate: -0.392828 m/s,
      posRepo size: 4

2025-01-09T00:52:02.544Z,1736383922.544 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.138994
2025-01-09T00:52:02.548Z,1736383922.548 [DockingStepper](INFO): Stopping
2025-01-09T00:52:02.799Z,1736383922.799 [DAT](INFO): DAT read: Rx Time:00:52:01.7643 

2025-01-09T00:52:02.800Z,1736383922.800 [DAT](INFO): Rx dataTimestamp_ set to:1736383922.799450
2025-01-09T00:52:02.802Z,1736383922.802 [DAT](INFO): DAT read: Bearing 151.7, -38.9 (Local)

2025-01-09T00:52:02.802Z,1736383922.802 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.7, -38.9 (Local)

2025-01-09T00:52:02.805Z,1736383922.805 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:02.809Z,1736383922.809 [DAT](INFO): DAT read: 00:52:01.7643 LVL=  7712, 15025, 11138, 13891, AGC= 32, IDX=   1, 0.41, 2.393, 3.102, 1.618,-2.946, PHS=-0.856,-0.188,-1.722, RAW=   4.3,  36.3, CAL= 358.3,  38.9, ROT= 151.7, -38.9

2025-01-09T00:52:02.810Z,1736383922.810 [DAT](INFO): got valid direction response:
 00:52:01.7643 LVL=  7712, 15025, 11138, 13891, AGC= 32, IDX=   1, 0.41, 2.393, 3.102, 1.618,-2.946, PHS=-0.856,-0.188,-1.722, RAW=   4.3,  36.3, CAL= 358.3,  38.9, ROT= 151.7, -38.9

2025-01-09T00:52:02.811Z,1736383922.811 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-01-09T00:52:02.820Z,1736383922.820 [DAT](INFO): direction in FSK: [-0.685225,0.368956,0.627963]
2025-01-09T00:52:02.820Z,1736383922.820 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:02.832Z,1736383922.832 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.427851
2025-01-09T00:52:02.941Z,1736383922.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:02.977Z,1736383922.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.501041 s,
      deltaX: 0.200000 m,
      approachRate: 0.399169 m/s,
      rangeRepo size: 4

2025-01-09T00:52:02.984Z,1736383922.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 202.364163 deg,
      lat: 36.904003 deg,
      lon: -122.118949 deg,
      deltaT: 0.501041 s,
      deltaX: 0.200000 m,
      approachRate: 0.399169 m/s,
      posRepo size: 4

2025-01-09T00:52:03.044Z,1736383923.044 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.640312
2025-01-09T00:52:03.132Z,1736383923.132 [DockingStepper](INFO): Stopping
2025-01-09T00:52:03.299Z,1736383923.299 [DAT](INFO): DAT read: Rx Time:00:52:02.2643 

2025-01-09T00:52:03.300Z,1736383923.300 [DAT](INFO): Rx dataTimestamp_ set to:1736383923.299749
2025-01-09T00:52:03.302Z,1736383923.302 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:03.303Z,1736383923.303 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-01-09T00:52:03.304Z,1736383923.304 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.899445
2025-01-09T00:52:03.398Z,1736383923.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:03.413Z,1736383923.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:03.420Z,1736383923.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.500299 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:03.460Z,1736383923.460 [DockingStepper](INFO): Stopping
2025-01-09T00:52:03.555Z,1736383923.555 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.150053
2025-01-09T00:52:03.805Z,1736383923.805 [DAT](INFO): DAT read: Rx Time:00:52:02.7643 

2025-01-09T00:52:03.805Z,1736383923.805 [DAT](INFO): Rx dataTimestamp_ set to:1736383923.804766
2025-01-09T00:52:03.806Z,1736383923.806 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:03.807Z,1736383923.807 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-01-09T00:52:03.808Z,1736383923.808 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.403719
2025-01-09T00:52:03.860Z,1736383923.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:03.878Z,1736383923.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505017 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:03.913Z,1736383923.913 [DockingStepper](INFO): Stopping
2025-01-09T00:52:04.056Z,1736383924.056 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.652079
2025-01-09T00:52:04.164Z,1736383924.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:04.189Z,1736383924.189 [DockingStepper](INFO): Stopping
2025-01-09T00:52:04.308Z,1736383924.308 [DAT](INFO): DAT read: Rx Time:00:52:03.2642 

2025-01-09T00:52:04.309Z,1736383924.309 [DAT](INFO): Rx dataTimestamp_ set to:1736383924.308585
2025-01-09T00:52:04.310Z,1736383924.310 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:04.311Z,1736383924.311 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-01-09T00:52:04.312Z,1736383924.312 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.907545
2025-01-09T00:52:04.562Z,1736383924.562 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.157192
2025-01-09T00:52:04.593Z,1736383924.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:04.612Z,1736383924.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503819 s,
      deltaX: -0.200000 m,
      approachRate: -0.396968 m/s,
      rangeRepo size: 4

2025-01-09T00:52:04.650Z,1736383924.650 [DockingStepper](INFO): Stopping
2025-01-09T00:52:04.814Z,1736383924.814 [DAT](INFO): DAT read: Rx Time:00:52:03.7643 

2025-01-09T00:52:04.814Z,1736383924.814 [DAT](INFO): Rx dataTimestamp_ set to:1736383924.813996
2025-01-09T00:52:04.816Z,1736383924.816 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:04.816Z,1736383924.816 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-01-09T00:52:04.821Z,1736383924.821 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.415806
2025-01-09T00:52:05.020Z,1736383925.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:05.038Z,1736383925.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505411 s,
      deltaX: 0.200000 m,
      approachRate: 0.395718 m/s,
      rangeRepo size: 4

2025-01-09T00:52:05.065Z,1736383925.065 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.660345
2025-01-09T00:52:05.080Z,1736383925.080 [DockingStepper](INFO): Stopping
2025-01-09T00:52:05.317Z,1736383925.317 [DAT](INFO): DAT read: Rx Time:00:52:04.2642 

2025-01-09T00:52:05.318Z,1736383925.318 [DAT](INFO): Rx dataTimestamp_ set to:1736383925.317273
2025-01-09T00:52:05.319Z,1736383925.319 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:05.320Z,1736383925.320 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-01-09T00:52:05.320Z,1736383925.320 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.916254
2025-01-09T00:52:05.420Z,1736383925.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:05.430Z,1736383925.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:05.438Z,1736383925.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503277 s,
      deltaX: -0.200000 m,
      approachRate: -0.397395 m/s,
      rangeRepo size: 4

2025-01-09T00:52:05.473Z,1736383925.473 [DockingStepper](INFO): Stopping
2025-01-09T00:52:05.568Z,1736383925.568 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.164083
2025-01-09T00:52:05.827Z,1736383925.827 [DAT](INFO): DAT read: Rx Time:00:52:04.7643 

2025-01-09T00:52:05.828Z,1736383925.828 [DAT](INFO): Rx dataTimestamp_ set to:1736383925.827271
2025-01-09T00:52:05.829Z,1736383925.829 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:05.829Z,1736383925.829 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-01-09T00:52:05.830Z,1736383925.830 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.426105
2025-01-09T00:52:05.856Z,1736383925.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:05.865Z,1736383925.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.509998 s,
      deltaX: 0.200000 m,
      approachRate: 0.392158 m/s,
      rangeRepo size: 4

2025-01-09T00:52:05.919Z,1736383925.919 [DockingStepper](INFO): Stopping
2025-01-09T00:52:06.085Z,1736383926.085 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.681042
2025-01-09T00:52:06.193Z,1736383926.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:06.217Z,1736383926.217 [DockingStepper](INFO): Stopping
2025-01-09T00:52:06.341Z,1736383926.341 [DAT](INFO): DAT read: Rx Time:00:52:05.2645 

2025-01-09T00:52:06.342Z,1736383926.342 [DAT](INFO): Rx dataTimestamp_ set to:1736383926.341619
2025-01-09T00:52:06.344Z,1736383926.344 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:52:06.344Z,1736383926.344 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-01-09T00:52:06.345Z,1736383926.345 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.940928
2025-01-09T00:52:06.592Z,1736383926.592 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.187937
2025-01-09T00:52:06.621Z,1736383926.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:06.638Z,1736383926.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.514348 s,
      deltaX: 0.300000 m,
      approachRate: 0.583263 m/s,
      rangeRepo size: 4

2025-01-09T00:52:06.641Z,1736383926.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 0.80 m.
2025-01-09T00:52:06.688Z,1736383926.688 [DockingStepper](INFO): Stopping
2025-01-09T00:52:06.845Z,1736383926.845 [DAT](INFO): DAT read: Rx Time:00:52:05.7645 

2025-01-09T00:52:06.845Z,1736383926.845 [DAT](INFO): Rx dataTimestamp_ set to:1736383926.845141
2025-01-09T00:52:06.847Z,1736383926.847 [DAT](INFO): DAT read: Bearing 149.1, -49.2 (Local)

2025-01-09T00:52:06.847Z,1736383926.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.1, -49.2 (Local)

2025-01-09T00:52:06.850Z,1736383926.850 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:52:06.892Z,1736383926.892 [DAT](INFO): DAT read: 00:52:05.7645 LVL=  9152, 14065, 14946, 13875, AGC= 27, IDX= 496,-0.20,-1.530,-0.945,-2.234,-0.346, PHS=-1.095,-0.551,-1.890, RAW=   6.2,  47.0, CAL=   0.9,  49.2, ROT= 149.1, -49.2

2025-01-09T00:52:06.893Z,1736383926.893 [DAT](INFO): got valid direction response:
 00:52:05.7645 LVL=  9152, 14065, 14946, 13875, AGC= 27, IDX= 496,-0.20,-1.530,-0.945,-2.234,-0.346, PHS=-1.095,-0.551,-1.890, RAW=   6.2,  47.0, CAL=   0.9,  49.2, ROT= 149.1, -49.2

2025-01-09T00:52:06.893Z,1736383926.893 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-01-09T00:52:06.894Z,1736383926.894 [DAT](INFO): direction in FSK: [-0.560677,0.335558,0.756995]
2025-01-09T00:52:06.895Z,1736383926.895 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:06.927Z,1736383926.927 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.510889
2025-01-09T00:52:07.009Z,1736383927.009 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  -91,    -5,A
2025-01-09T00:52:07.038Z,1736383927.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:52:07.038Z,1736383927.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:07.069Z,1736383927.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.503522 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:07.071Z,1736383927.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 189.942760 deg,
      lat: 36.904004 deg,
      lon: -122.118948 deg,
      deltaT: 4.045691 s,
      deltaX: 0.300000 m,
      approachRate: 0.074153 m/s,
      posRepo size: 4

2025-01-09T00:52:07.075Z,1736383927.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 0.80 m.
2025-01-09T00:52:07.096Z,1736383927.096 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.692221
2025-01-09T00:52:07.121Z,1736383927.121 [DockingStepper](INFO): Stopping
2025-01-09T00:52:07.349Z,1736383927.349 [DAT](INFO): DAT read: Rx Time:00:52:06.2644 

2025-01-09T00:52:07.349Z,1736383927.349 [DAT](INFO): Rx dataTimestamp_ set to:1736383927.349196
2025-01-09T00:52:07.352Z,1736383927.352 [DAT](INFO): DAT read: Bearing 147.3, -50.3 (Local)

2025-01-09T00:52:07.353Z,1736383927.353 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.3, -50.3 (Local)

2025-01-09T00:52:07.355Z,1736383927.355 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:52:07.360Z,1736383927.360 [DAT](INFO): DAT read: 00:52:06.2644 LVL=  9104, 14385, 14962, 13667, AGC= 26, IDX= 495,-0.15,-2.834,-2.298, 2.729,-1.660, PHS=-1.086,-0.591,-1.897, RAW=   7.9,  47.9, CAL=   2.7,  50.3, ROT= 147.3, -50.3

2025-01-09T00:52:07.361Z,1736383927.361 [DAT](INFO): got valid direction response:
 00:52:06.2644 LVL=  9104, 14385, 14962, 13667, AGC= 26, IDX= 495,-0.15,-2.834,-2.298, 2.729,-1.660, PHS=-1.086,-0.591,-1.897, RAW=   7.9,  47.9, CAL=   2.7,  50.3, ROT= 147.3, -50.3

2025-01-09T00:52:07.361Z,1736383927.361 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-01-09T00:52:07.362Z,1736383927.362 [DAT](INFO): direction in FSK: [-0.537530,0.345088,0.769400]
2025-01-09T00:52:07.362Z,1736383927.362 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:07.366Z,1736383927.366 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.961618
2025-01-09T00:52:07.430Z,1736383927.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:52:07.430Z,1736383927.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:07.468Z,1736383927.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504055 s,
      deltaX: -0.200000 m,
      approachRate: -0.396782 m/s,
      rangeRepo size: 4

2025-01-09T00:52:07.470Z,1736383927.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 184.145384 deg,
      lat: 36.904004 deg,
      lon: -122.118948 deg,
      deltaT: 0.504055 s,
      deltaX: -0.200000 m,
      approachRate: -0.396782 m/s,
      posRepo size: 4

2025-01-09T00:52:07.491Z,1736383927.491 [DockingStepper](INFO): Stopping
2025-01-09T00:52:07.600Z,1736383927.600 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.196327
2025-01-09T00:52:07.853Z,1736383927.853 [DAT](INFO): DAT read: Rx Time:00:52:06.7645 

2025-01-09T00:52:07.853Z,1736383927.853 [DAT](INFO): Rx dataTimestamp_ set to:1736383927.853214
2025-01-09T00:52:07.855Z,1736383927.855 [DAT](INFO): DAT read: Bearing 150.9, -49.6 (Local)

2025-01-09T00:52:07.855Z,1736383927.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.9, -49.6 (Local)

2025-01-09T00:52:07.857Z,1736383927.857 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:52:07.862Z,1736383927.862 [DAT](INFO): DAT read: 00:52:06.7645 LVL=  8352, 12529, 14786, 12339, AGC= 28, IDX= 496,-0.13,-1.123,-0.523,-1.758, 0.060, PHS=-1.095,-0.536,-1.820, RAW=   4.3,  47.6, CAL= 359.1,  49.6, ROT= 150.9, -49.6

2025-01-09T00:52:07.863Z,1736383927.863 [DAT](INFO): got valid direction response:
 00:52:06.7645 LVL=  8352, 12529, 14786, 12339, AGC= 28, IDX= 496,-0.13,-1.123,-0.523,-1.758, 0.060, PHS=-1.095,-0.536,-1.820, RAW=   4.3,  47.6, CAL= 359.1,  49.6, ROT= 150.9, -49.6

2025-01-09T00:52:07.863Z,1736383927.863 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-01-09T00:52:07.864Z,1736383927.864 [DAT](INFO): direction in FSK: [-0.566309,0.315204,0.761538]
2025-01-09T00:52:07.865Z,1736383927.865 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:07.869Z,1736383927.869 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.464907
2025-01-09T00:52:07.956Z,1736383927.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:08.015Z,1736383928.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.504018 s,
      deltaX: 0.200000 m,
      approachRate: 0.396811 m/s,
      rangeRepo size: 4

2025-01-09T00:52:08.018Z,1736383928.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 186.413518 deg,
      lat: 36.904004 deg,
      lon: -122.118946 deg,
      deltaT: 0.504018 s,
      deltaX: 0.200000 m,
      approachRate: 0.396811 m/s,
      posRepo size: 4

2025-01-09T00:52:08.105Z,1736383928.105 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.700396
2025-01-09T00:52:08.185Z,1736383928.185 [DockingStepper](INFO): Stopping
2025-01-09T00:52:08.358Z,1736383928.358 [DAT](INFO): DAT read: Rx Time:00:52:07.2644 

2025-01-09T00:52:08.359Z,1736383928.359 [DAT](INFO): Rx dataTimestamp_ set to:1736383928.358389
2025-01-09T00:52:08.361Z,1736383928.361 [DAT](INFO): DAT read: Bearing 150.3, -50.1 (Local)

2025-01-09T00:52:08.361Z,1736383928.361 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.3, -50.1 (Local)

2025-01-09T00:52:08.363Z,1736383928.363 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:52:08.386Z,1736383928.386 [DAT](INFO): DAT read: 00:52:07.2644 LVL=  9200, 14673, 14834, 13507, AGC= 27, IDX= 495,-0.07,-2.334,-1.758,-2.962,-1.163, PHS=-1.082,-0.548,-1.802, RAW=   4.9,  48.1, CAL= 359.7,  50.1, ROT= 150.3, -50.1

2025-01-09T00:52:08.387Z,1736383928.387 [DAT](INFO): got valid direction response:
 00:52:07.2644 LVL=  9200, 14673, 14834, 13507, AGC= 27, IDX= 495,-0.07,-2.334,-1.758,-2.962,-1.163, PHS=-1.082,-0.548,-1.802, RAW=   4.9,  48.1, CAL= 359.7,  50.1, ROT= 150.3, -50.1

2025-01-09T00:52:08.391Z,1736383928.391 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-01-09T00:52:08.392Z,1736383928.392 [DAT](INFO): direction in FSK: [-0.557183,0.317812,0.767165]
2025-01-09T00:52:08.393Z,1736383928.393 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:08.404Z,1736383928.404 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.000072
2025-01-09T00:52:08.465Z,1736383928.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:08.511Z,1736383928.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.505175 s,
      deltaX: -0.200000 m,
      approachRate: -0.395902 m/s,
      rangeRepo size: 4

2025-01-09T00:52:08.513Z,1736383928.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 182.176815 deg,
      lat: 36.904004 deg,
      lon: -122.118946 deg,
      deltaT: 0.505175 s,
      deltaX: -0.200000 m,
      approachRate: -0.395902 m/s,
      posRepo size: 4

2025-01-09T00:52:08.584Z,1736383928.584 [DockingStepper](INFO): Stopping
2025-01-09T00:52:08.610Z,1736383928.610 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.205900
2025-01-09T00:52:08.861Z,1736383928.861 [DAT](INFO): DAT read: Rx Time:00:52:07.7645 

2025-01-09T00:52:08.861Z,1736383928.861 [DAT](INFO): Rx dataTimestamp_ set to:1736383928.860925
2025-01-09T00:52:08.862Z,1736383928.862 [DAT](INFO): DAT read: Bearing 148.9, -50.8 (Local)

2025-01-09T00:52:08.863Z,1736383928.863 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.9, -50.8 (Local)

2025-01-09T00:52:08.865Z,1736383928.865 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:52:08.870Z,1736383928.870 [DAT](INFO): DAT read: 00:52:07.7645 LVL= 10256, 14481, 16466, 14819, AGC= 27, IDX= 496,-0.04,-1.306,-0.764,-1.945,-0.146, PHS=-1.072,-0.571,-1.802, RAW=   6.1,  48.6, CAL=   1.1,  50.8, ROT= 148.9, -50.8

2025-01-09T00:52:08.871Z,1736383928.871 [DAT](INFO): got valid direction response:
 00:52:07.7645 LVL= 10256, 14481, 16466, 14819, AGC= 27, IDX= 496,-0.04,-1.306,-0.764,-1.945,-0.146, PHS=-1.072,-0.571,-1.802, RAW=   6.1,  48.6, CAL=   1.1,  50.8, ROT= 148.9, -50.8

2025-01-09T00:52:08.872Z,1736383928.872 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-01-09T00:52:08.873Z,1736383928.873 [DAT](INFO): direction in FSK: [-0.541186,0.326464,0.774944]
2025-01-09T00:52:08.873Z,1736383928.873 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:08.876Z,1736383928.876 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.472338
2025-01-09T00:52:08.952Z,1736383928.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:08.979Z,1736383928.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.502536 s,
      deltaX: 0.200000 m,
      approachRate: 0.397981 m/s,
      rangeRepo size: 4

2025-01-09T00:52:08.986Z,1736383928.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 180.474353 deg,
      lat: 36.904004 deg,
      lon: -122.118946 deg,
      deltaT: 0.502536 s,
      deltaX: 0.200000 m,
      approachRate: 0.397981 m/s,
      posRepo size: 4

2025-01-09T00:52:09.114Z,1736383929.114 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.709518
2025-01-09T00:52:09.136Z,1736383929.136 [DockingStepper](INFO): Stopping
2025-01-09T00:52:09.365Z,1736383929.365 [DAT](INFO): DAT read: Rx Time:00:52:08.2644 

2025-01-09T00:52:09.365Z,1736383929.365 [DAT](INFO): Rx dataTimestamp_ set to:1736383929.364845
2025-01-09T00:52:09.367Z,1736383929.367 [DAT](INFO): DAT read: Bearing 149.5, -50.3 (Local)

2025-01-09T00:52:09.368Z,1736383929.368 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.5, -50.3 (Local)

2025-01-09T00:52:09.370Z,1736383929.370 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:52:09.375Z,1736383929.375 [DAT](INFO): DAT read: 00:52:08.2644 LVL= 10432, 15345, 16530, 14563, AGC= 26, IDX= 495, 0.01,-1.804,-1.255,-2.429,-0.663, PHS=-1.053,-0.545,-1.769, RAW=   5.6,  48.2, CAL=   0.5,  50.3, ROT= 149.5, -50.3

2025-01-09T00:52:09.376Z,1736383929.376 [DAT](INFO): got valid direction response:
 00:52:08.2644 LVL= 10432, 15345, 16530, 14563, AGC= 26, IDX= 495, 0.01,-1.804,-1.255,-2.429,-0.663, PHS=-1.053,-0.545,-1.769, RAW=   5.6,  48.2, CAL=   0.5,  50.3, ROT= 149.5, -50.3

2025-01-09T00:52:09.376Z,1736383929.376 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-01-09T00:52:09.377Z,1736383929.377 [DAT](INFO): direction in FSK: [-0.550381,0.324199,0.769400]
2025-01-09T00:52:09.377Z,1736383929.377 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:09.386Z,1736383929.386 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.981651
2025-01-09T00:52:09.417Z,1736383929.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:09.455Z,1736383929.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503920 s,
      deltaX: -0.200000 m,
      approachRate: -0.396888 m/s,
      rangeRepo size: 4

2025-01-09T00:52:09.461Z,1736383929.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 181.246770 deg,
      lat: 36.904003 deg,
      lon: -122.118946 deg,
      deltaT: 0.503920 s,
      deltaX: -0.200000 m,
      approachRate: -0.396888 m/s,
      posRepo size: 4

2025-01-09T00:52:09.504Z,1736383929.504 [DockingStepper](INFO): Stopping
2025-01-09T00:52:09.624Z,1736383929.624 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.219421
2025-01-09T00:52:09.798Z,1736383929.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:09.873Z,1736383929.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:09.880Z,1736383929.880 [DAT](INFO): DAT read: Rx Time:00:52:08.7642 

2025-01-09T00:52:09.881Z,1736383929.881 [DAT](INFO): Rx dataTimestamp_ set to:1736383929.881022
2025-01-09T00:52:09.883Z,1736383929.883 [DAT](INFO): DAT read: Bearing 154.2, -46.1 (Local)

2025-01-09T00:52:09.883Z,1736383929.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.2, -46.1 (Local)

2025-01-09T00:52:09.886Z,1736383929.886 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:09.890Z,1736383929.890 [DAT](INFO): DAT read: 00:52:08.7642 LVL=  9632, 15761, 16338, 13427, AGC= 29, IDX= 496, 0.06,-0.751,-0.071,-1.342, 0.379, PHS=-1.042,-0.402,-1.724, RAW=   1.1,  44.4, CAL= 355.8,  46.1, ROT= 154.2, -46.1

2025-01-09T00:52:09.900Z,1736383929.900 [DAT](INFO): got valid direction response:
 00:52:08.7642 LVL=  9632, 15761, 16338, 13427, AGC= 29, IDX= 496, 0.06,-0.751,-0.071,-1.342, 0.379, PHS=-1.042,-0.402,-1.724, RAW=   1.1,  44.4, CAL= 355.8,  46.1, ROT= 154.2, -46.1

2025-01-09T00:52:09.901Z,1736383929.901 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-01-09T00:52:09.902Z,1736383929.902 [DAT](INFO): direction in FSK: [-0.624283,0.301790,0.720551]
2025-01-09T00:52:09.902Z,1736383929.902 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:09.914Z,1736383929.914 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.509392
2025-01-09T00:52:09.920Z,1736383929.920 [DockingStepper](INFO): Stopping
2025-01-09T00:52:10.132Z,1736383930.132 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.728031
2025-01-09T00:52:10.197Z,1736383930.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:10.212Z,1736383930.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.516177 s,
      deltaX: -0.300000 m,
      approachRate: -0.581196 m/s,
      rangeRepo size: 4

2025-01-09T00:52:10.214Z,1736383930.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 182.985432 deg,
      lat: 36.904003 deg,
      lon: -122.118946 deg,
      deltaT: 0.516177 s,
      deltaX: -0.300000 m,
      approachRate: -0.581196 m/s,
      posRepo size: 4

2025-01-09T00:52:10.214Z,1736383930.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 0.30 m.
2025-01-09T00:52:10.281Z,1736383930.281 [DockingStepper](INFO): Stopping
2025-01-09T00:52:10.386Z,1736383930.386 [DAT](INFO): DAT read: Rx Time:00:52:09.2642 

2025-01-09T00:52:10.387Z,1736383930.387 [DAT](INFO): Rx dataTimestamp_ set to:1736383930.386256
2025-01-09T00:52:10.388Z,1736383930.388 [DAT](INFO): DAT read: Bearing 151.8, -46.4 (Local)

2025-01-09T00:52:10.388Z,1736383930.388 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.8, -46.4 (Local)

2025-01-09T00:52:10.390Z,1736383930.390 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:10.397Z,1736383930.397 [DAT](INFO): DAT read: 00:52:09.2642 LVL= 12320, 19601, 18066, 15699, AGC= 27, IDX= 511, 0.14,-1.877,-1.252,-2.516,-0.788, PHS=-1.001,-0.417,-1.731, RAW=   3.7,  44.3, CAL= 358.2,  46.4, ROT= 151.8, -46.4

2025-01-09T00:52:10.402Z,1736383930.402 [DAT](INFO): got valid direction response:
 00:52:09.2642 LVL= 12320, 19601, 18066, 15699, AGC= 27, IDX= 511, 0.14,-1.877,-1.252,-2.516,-0.788, PHS=-1.001,-0.417,-1.731, RAW=   3.7,  44.3, CAL= 358.2,  46.4, ROT= 151.8, -46.4

2025-01-09T00:52:10.411Z,1736383930.411 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-01-09T00:52:10.413Z,1736383930.413 [DAT](INFO): direction in FSK: [-0.607764,0.325880,0.724172]
2025-01-09T00:52:10.413Z,1736383930.413 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:10.429Z,1736383930.429 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.025244
2025-01-09T00:52:10.589Z,1736383930.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:10.603Z,1736383930.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.505234 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:10.608Z,1736383930.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 180.251717 deg,
      lat: 36.904002 deg,
      lon: -122.118946 deg,
      deltaT: 0.505234 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:10.609Z,1736383930.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 0.30 m.
2025-01-09T00:52:10.637Z,1736383930.637 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.232552
2025-01-09T00:52:10.646Z,1736383930.646 [DockingStepper](INFO): Stopping
2025-01-09T00:52:10.889Z,1736383930.889 [DAT](INFO): DAT read: Rx Time:00:52:09.7643 

2025-01-09T00:52:10.889Z,1736383930.889 [DAT](INFO): Rx dataTimestamp_ set to:1736383930.889091
2025-01-09T00:52:10.891Z,1736383930.891 [DAT](INFO): DAT read: Bearing 153.4, -44.0 (Local)

2025-01-09T00:52:10.891Z,1736383930.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.4, -44.0 (Local)

2025-01-09T00:52:10.896Z,1736383930.896 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:10.901Z,1736383930.901 [DAT](INFO): DAT read: 00:52:09.7643 LVL= 11296, 18849, 18562, 14899, AGC= 27, IDX= 511, 0.24,-1.873,-1.192,-2.512,-0.804, PHS=-0.981,-0.341,-1.711, RAW=   2.2,  42.1, CAL= 356.6,  44.0, ROT= 153.4, -44.0

2025-01-09T00:52:10.902Z,1736383930.902 [DAT](INFO): got valid direction response:
 00:52:09.7643 LVL= 11296, 18849, 18562, 14899, AGC= 27, IDX= 511, 0.24,-1.873,-1.192,-2.512,-0.804, PHS=-0.981,-0.341,-1.711, RAW=   2.2,  42.1, CAL= 356.6,  44.0, ROT= 153.4, -44.0

2025-01-09T00:52:10.903Z,1736383930.903 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-01-09T00:52:10.904Z,1736383930.904 [DAT](INFO): direction in FSK: [-0.643201,0.322091,0.694658]
2025-01-09T00:52:10.904Z,1736383930.904 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:10.908Z,1736383930.908 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.503735
2025-01-09T00:52:11.057Z,1736383931.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:11.084Z,1736383931.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.502835 s,
      deltaX: 0.200000 m,
      approachRate: 0.397745 m/s,
      rangeRepo size: 4

2025-01-09T00:52:11.086Z,1736383931.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 182.205367 deg,
      lat: 36.904002 deg,
      lon: -122.118947 deg,
      deltaT: 0.502835 s,
      deltaX: 0.200000 m,
      approachRate: 0.397745 m/s,
      posRepo size: 4

2025-01-09T00:52:11.140Z,1736383931.140 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.736271
2025-01-09T00:52:11.282Z,1736383931.282 [DockingStepper](INFO): Stopping
2025-01-09T00:52:11.394Z,1736383931.394 [DAT](INFO): DAT read: Rx Time:00:52:10.2642 

2025-01-09T00:52:11.396Z,1736383931.396 [DAT](INFO): Rx dataTimestamp_ set to:1736383931.394815
2025-01-09T00:52:11.398Z,1736383931.398 [DAT](INFO): DAT read: Bearing 154.3, -40.6 (Local)

2025-01-09T00:52:11.398Z,1736383931.398 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.3, -40.6 (Local)

2025-01-09T00:52:11.401Z,1736383931.401 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:11.406Z,1736383931.406 [DAT](INFO): DAT read: 00:52:10.2642 LVL= 10784, 17825, 17058, 13731, AGC= 29, IDX= 510, 0.38, 1.625, 2.374, 0.934, 2.663, PHS=-0.950,-0.242,-1.731, RAW=   1.6,  38.7, CAL= 355.7,  40.6, ROT= 154.3, -40.6

2025-01-09T00:52:11.407Z,1736383931.407 [DAT](INFO): got valid direction response:
 00:52:10.2642 LVL= 10784, 17825, 17058, 13731, AGC= 29, IDX= 510, 0.38, 1.625, 2.374, 0.934, 2.663, PHS=-0.950,-0.242,-1.731, RAW=   1.6,  38.7, CAL= 355.7,  40.6, ROT= 154.3, -40.6

2025-01-09T00:52:11.407Z,1736383931.407 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-01-09T00:52:11.408Z,1736383931.408 [DAT](INFO): direction in FSK: [-0.684162,0.329265,0.650774]
2025-01-09T00:52:11.408Z,1736383931.408 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:11.413Z,1736383931.413 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.008547
2025-01-09T00:52:11.557Z,1736383931.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:11.590Z,1736383931.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.505724 s,
      deltaX: -0.200000 m,
      approachRate: -0.395473 m/s,
      rangeRepo size: 4

2025-01-09T00:52:11.597Z,1736383931.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 183.955274 deg,
      lat: 36.904002 deg,
      lon: -122.118948 deg,
      deltaT: 0.505724 s,
      deltaX: -0.200000 m,
      approachRate: -0.395473 m/s,
      posRepo size: 4

2025-01-09T00:52:11.647Z,1736383931.647 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.242226
2025-01-09T00:52:11.661Z,1736383931.661 [DockingStepper](INFO): Stopping
2025-01-09T00:52:11.900Z,1736383931.900 [DAT](INFO): DAT read: Rx Time:00:52:10.7643 

2025-01-09T00:52:11.901Z,1736383931.901 [DAT](INFO): Rx dataTimestamp_ set to:1736383931.900269
2025-01-09T00:52:11.902Z,1736383931.902 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:11.903Z,1736383931.903 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-01-09T00:52:11.904Z,1736383931.904 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.499683
2025-01-09T00:52:12.002Z,1736383932.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:12.009Z,1736383932.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:12.016Z,1736383932.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505454 s,
      deltaX: 0.200000 m,
      approachRate: 0.395684 m/s,
      rangeRepo size: 4

2025-01-09T00:52:12.148Z,1736383932.148 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.744087
2025-01-09T00:52:12.192Z,1736383932.192 [DockingStepper](INFO): Stopping
2025-01-09T00:52:12.402Z,1736383932.402 [DAT](INFO): DAT read: Rx Time:00:52:11.2642 

2025-01-09T00:52:12.402Z,1736383932.402 [DAT](INFO): Rx dataTimestamp_ set to:1736383932.401712
2025-01-09T00:52:12.403Z,1736383932.403 [DAT](INFO): DAT read: Bearing 142.8, -42.2 (Local)

2025-01-09T00:52:12.404Z,1736383932.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.8, -42.2 (Local)

2025-01-09T00:52:12.406Z,1736383932.406 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:12.410Z,1736383932.410 [DAT](INFO): DAT read: 00:52:11.2642 LVL= 16112, 20625, 17138, 18035, AGC= 29, IDX= 511,-0.42, 0.096, 0.589,-0.911, 1.014, PHS=-0.830,-0.378,-1.928, RAW=  13.5,  38.8, CAL=   7.2,  42.2, ROT= 142.8, -42.2

2025-01-09T00:52:12.412Z,1736383932.412 [DAT](INFO): got valid direction response:
 00:52:11.2642 LVL= 16112, 20625, 17138, 18035, AGC= 29, IDX= 511,-0.42, 0.096, 0.589,-0.911, 1.014, PHS=-0.830,-0.378,-1.928, RAW=  13.5,  38.8, CAL=   7.2,  42.2, ROT= 142.8, -42.2

2025-01-09T00:52:12.412Z,1736383932.412 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-01-09T00:52:12.413Z,1736383932.413 [DAT](INFO): direction in FSK: [-0.590073,0.447890,0.671721]
2025-01-09T00:52:12.413Z,1736383932.413 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:12.417Z,1736383932.417 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.012403
2025-01-09T00:52:12.454Z,1736383932.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:12.530Z,1736383932.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.501443 s,
      deltaX: -0.200000 m,
      approachRate: -0.398849 m/s,
      rangeRepo size: 4

2025-01-09T00:52:12.544Z,1736383932.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 175.535020 deg,
      lat: 36.904001 deg,
      lon: -122.118948 deg,
      deltaT: 1.006897 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:12.596Z,1736383932.596 [DockingStepper](INFO): Stopping
2025-01-09T00:52:12.653Z,1736383932.653 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.248756
2025-01-09T00:52:12.829Z,1736383932.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:12.905Z,1736383932.905 [DAT](INFO): DAT read: Rx Time:00:52:11.7643 

2025-01-09T00:52:12.905Z,1736383932.905 [DAT](INFO): Rx dataTimestamp_ set to:1736383932.904845
2025-01-09T00:52:12.906Z,1736383932.906 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:12.907Z,1736383932.907 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-01-09T00:52:12.908Z,1736383932.908 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.503775
2025-01-09T00:52:13.056Z,1736383933.056 [DockingStepper](INFO): Stopping
2025-01-09T00:52:13.156Z,1736383933.156 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.752037
2025-01-09T00:52:13.310Z,1736383933.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:13.320Z,1736383933.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503133 s,
      deltaX: 0.200000 m,
      approachRate: 0.397509 m/s,
      rangeRepo size: 4

2025-01-09T00:52:13.396Z,1736383933.396 [DockingStepper](INFO): Stopping
2025-01-09T00:52:13.408Z,1736383933.408 [DAT](INFO): DAT read: Rx Time:00:52:12.2642 

2025-01-09T00:52:13.409Z,1736383933.409 [DAT](INFO): Rx dataTimestamp_ set to:1736383933.408673
2025-01-09T00:52:13.411Z,1736383933.411 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:13.412Z,1736383933.412 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-01-09T00:52:13.413Z,1736383933.413 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.009041
2025-01-09T00:52:13.661Z,1736383933.661 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.256573
2025-01-09T00:52:13.693Z,1736383933.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:13.746Z,1736383933.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503828 s,
      deltaX: -0.200000 m,
      approachRate: -0.396961 m/s,
      rangeRepo size: 4

2025-01-09T00:52:13.906Z,1736383933.906 [DockingStepper](INFO): Stopping
2025-01-09T00:52:13.912Z,1736383933.912 [DAT](INFO): DAT read: Rx Time:00:52:12.7643 

2025-01-09T00:52:13.913Z,1736383933.913 [DAT](INFO): Rx dataTimestamp_ set to:1736383933.912657
2025-01-09T00:52:13.914Z,1736383933.914 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:13.915Z,1736383933.915 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-01-09T00:52:13.916Z,1736383933.916 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.511604
2025-01-09T00:52:14.165Z,1736383934.165 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.760464
2025-01-09T00:52:14.172Z,1736383934.172 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS,  +10  +70,    +0,A
2025-01-09T00:52:14.180Z,1736383934.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T00:52:14.180Z,1736383934.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:14.188Z,1736383934.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:14.190Z,1736383934.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503984 s,
      deltaX: 0.200000 m,
      approachRate: 0.396838 m/s,
      rangeRepo size: 4

2025-01-09T00:52:14.204Z,1736383934.204 [DockingStepper](INFO): Stopped
2025-01-09T00:52:14.369Z,1736383934.369 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-01-09T00:52:14.369Z,1736383934.369 [DockingStepper] No Fault, FailCount= 3
2025-01-09T00:52:14.417Z,1736383934.417 [DAT](INFO): DAT read: Rx Time:00:52:13.2642 

2025-01-09T00:52:14.418Z,1736383934.418 [DAT](INFO): Rx dataTimestamp_ set to:1736383934.417502
2025-01-09T00:52:14.419Z,1736383934.419 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:14.420Z,1736383934.420 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-01-09T00:52:14.421Z,1736383934.421 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.016445
2025-01-09T00:52:14.541Z,1736383934.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:52:14.541Z,1736383934.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:14.552Z,1736383934.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504845 s,
      deltaX: -0.200000 m,
      approachRate: -0.396161 m/s,
      rangeRepo size: 4

2025-01-09T00:52:14.568Z,1736383934.568 [DockingStepper](INFO): Start
2025-01-09T00:52:14.568Z,1736383934.568 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-09T00:52:14.568Z,1736383934.568 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-09T00:52:14.670Z,1736383934.670 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.265087
2025-01-09T00:52:14.925Z,1736383934.925 [DAT](INFO): DAT read: Rx Time:00:52:13.7643 

2025-01-09T00:52:14.926Z,1736383934.926 [DAT](INFO): Rx dataTimestamp_ set to:1736383934.925114
2025-01-09T00:52:14.930Z,1736383934.930 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:14.931Z,1736383934.931 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-01-09T00:52:14.932Z,1736383934.932 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.527557
2025-01-09T00:52:15.008Z,1736383935.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:15.018Z,1736383935.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.507612 s,
      deltaX: 0.200000 m,
      approachRate: 0.394002 m/s,
      rangeRepo size: 4

2025-01-09T00:52:15.032Z,1736383935.032 [DockingStepper](INFO): Starting
2025-01-09T00:52:15.172Z,1736383935.172 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.768202
2025-01-09T00:52:15.342Z,1736383935.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:15.424Z,1736383935.424 [DAT](INFO): DAT read: Rx Time:00:52:14.2642 

2025-01-09T00:52:15.425Z,1736383935.425 [DAT](INFO): Rx dataTimestamp_ set to:1736383935.424623
2025-01-09T00:52:15.426Z,1736383935.426 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:15.427Z,1736383935.427 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-01-09T00:52:15.428Z,1736383935.428 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.023573
2025-01-09T00:52:15.517Z,1736383935.517 [DockingStepper](INFO): Starting
2025-01-09T00:52:15.678Z,1736383935.678 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.274157
2025-01-09T00:52:15.763Z,1736383935.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:15.773Z,1736383935.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.499509 s,
      deltaX: -0.200000 m,
      approachRate: -0.400393 m/s,
      rangeRepo size: 4

2025-01-09T00:52:15.832Z,1736383935.832 [DockingStepper](INFO): Starting
2025-01-09T00:52:15.898Z,1736383935.898 [DockingStepper](INFO): Init string: /1z14800aE13561N3m50
2025-01-09T00:52:15.932Z,1736383935.932 [DAT](INFO): DAT read: Rx Time:00:52:14.7642 

2025-01-09T00:52:15.934Z,1736383935.934 [DAT](INFO): Rx dataTimestamp_ set to:1736383935.933209
2025-01-09T00:52:15.943Z,1736383935.943 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:15.977Z,1736383935.977 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-01-09T00:52:15.977Z,1736383935.977 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.573332
2025-01-09T00:52:16.180Z,1736383936.180 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.776243
2025-01-09T00:52:16.185Z,1736383936.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:16.192Z,1736383936.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:16.195Z,1736383936.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.508586 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:16.369Z,1736383936.369 [DockingStepper](INFO): Starting
2025-01-09T00:52:16.433Z,1736383936.433 [DAT](INFO): DAT read: Rx Time:00:52:15.2641 

2025-01-09T00:52:16.434Z,1736383936.434 [DAT](INFO): Rx dataTimestamp_ set to:1736383936.432837
2025-01-09T00:52:16.435Z,1736383936.435 [DAT](INFO): DAT read: Range 10 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-01-09T00:52:16.436Z,1736383936.436 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-01-09T00:52:16.437Z,1736383936.437 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.032854
2025-01-09T00:52:16.589Z,1736383936.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:16.618Z,1736383936.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.200000 m,
      deltaT: 0.499628 s,
      deltaX: -0.100000 m,
      approachRate: -0.200149 m/s,
      rangeRepo size: 4

2025-01-09T00:52:16.685Z,1736383936.685 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.280815
2025-01-09T00:52:16.770Z,1736383936.770 [DockingStepper](INFO): Starting
2025-01-09T00:52:16.940Z,1736383936.940 [DAT](INFO): DAT read: Rx Time:00:52:15.7642 

2025-01-09T00:52:16.942Z,1736383936.942 [DAT](INFO): Rx dataTimestamp_ set to:1736383936.941054
2025-01-09T00:52:16.946Z,1736383936.946 [DAT](INFO): DAT read: Bearing 137.8, -45.9 (Local)

2025-01-09T00:52:16.947Z,1736383936.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.8, -45.9 (Local)

2025-01-09T00:52:16.954Z,1736383936.954 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:16.966Z,1736383936.966 [DAT](INFO): DAT read: 00:52:15.7642 LVL= 18656, 24817, 14962, 20451, AGC= 28, IDX= 511, 0.34,-1.365,-0.988,-2.467,-0.374, PHS=-0.903,-0.567,-2.096, RAW=  17.9,  42.2, CAL=  12.2,  45.9, ROT= 137.8, -45.9

2025-01-09T00:52:16.968Z,1736383936.968 [DAT](INFO): got valid direction response:
 00:52:15.7642 LVL= 18656, 24817, 14962, 20451, AGC= 28, IDX= 511, 0.34,-1.365,-0.988,-2.467,-0.374, PHS=-0.903,-0.567,-2.096, RAW=  17.9,  42.2, CAL=  12.2,  45.9, ROT= 137.8, -45.9

2025-01-09T00:52:16.968Z,1736383936.968 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-01-09T00:52:16.969Z,1736383936.969 [DAT](INFO): direction in FSK: [-0.515535,0.467459,0.718126]
2025-01-09T00:52:16.970Z,1736383936.970 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:16.974Z,1736383936.974 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.569834
2025-01-09T00:52:17.137Z,1736383937.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:17.159Z,1736383937.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.508217 s,
      deltaX: 0.100000 m,
      approachRate: 0.196766 m/s,
      rangeRepo size: 4

2025-01-09T00:52:17.173Z,1736383937.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 184.781887 deg,
      lat: 36.904001 deg,
      lon: -122.118948 deg,
      deltaT: 4.539342 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:17.188Z,1736383937.188 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.784210
2025-01-09T00:52:17.204Z,1736383937.204 [DockingStepper](INFO): Starting
2025-01-09T00:52:17.428Z,1736383937.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:17.441Z,1736383937.441 [DAT](INFO): DAT read: Rx Time:00:52:16.2643 

2025-01-09T00:52:17.441Z,1736383937.441 [DAT](INFO): Rx dataTimestamp_ set to:1736383937.441209
2025-01-09T00:52:17.443Z,1736383937.443 [DAT](INFO): DAT read: Bearing 146.9, -41.4 (Local)

2025-01-09T00:52:17.443Z,1736383937.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.9, -41.4 (Local)

2025-01-09T00:52:17.445Z,1736383937.445 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:17.472Z,1736383937.472 [DAT](INFO): DAT read: 00:52:16.2643 LVL= 13552, 23697, 15314, 16339, AGC= 29, IDX= 510, 0.24,-0.328, 0.276,-1.258, 0.651, PHS=-0.891,-0.328,-1.912, RAW=   9.5,  38.5, CAL=   3.1,  41.4, ROT= 146.9, -41.4

2025-01-09T00:52:17.473Z,1736383937.473 [DAT](INFO): got valid direction response:
 00:52:16.2643 LVL= 13552, 23697, 15314, 16339, AGC= 29, IDX= 510, 0.24,-0.328, 0.276,-1.258, 0.651, PHS=-0.891,-0.328,-1.912, RAW=   9.5,  38.5, CAL=   3.1,  41.4, ROT= 146.9, -41.4

2025-01-09T00:52:17.473Z,1736383937.473 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-01-09T00:52:17.474Z,1736383937.474 [DAT](INFO): direction in FSK: [-0.628382,0.409637,0.661312]
2025-01-09T00:52:17.474Z,1736383937.474 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:17.482Z,1736383937.482 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.077663
2025-01-09T00:52:17.494Z,1736383937.494 [DockingStepper](INFO): Starting
2025-01-09T00:52:17.524Z,1736383937.524 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-09T00:52:17.693Z,1736383937.693 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.288750
2025-01-09T00:52:17.840Z,1736383937.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:17.859Z,1736383937.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.500155 s,
      deltaX: 0.200000 m,
      approachRate: 0.399876 m/s,
      rangeRepo size: 4

2025-01-09T00:52:17.861Z,1736383937.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 193.929063 deg,
      lat: 36.904000 deg,
      lon: -122.118948 deg,
      deltaT: 0.500155 s,
      deltaX: 0.200000 m,
      approachRate: 0.399876 m/s,
      posRepo size: 4

2025-01-09T00:52:17.875Z,1736383937.875 [DockingStepper](INFO): Starting
2025-01-09T00:52:17.950Z,1736383937.950 [DAT](INFO): DAT read: Rx Time:00:52:16.7644 

2025-01-09T00:52:17.951Z,1736383937.951 [DAT](INFO): Rx dataTimestamp_ set to:1736383937.950103
2025-01-09T00:52:17.955Z,1736383937.955 [DAT](INFO): DAT read: Bearing 149.4, -40.0 (Local)

2025-01-09T00:52:17.956Z,1736383937.956 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.4, -40.0 (Local)

2025-01-09T00:52:17.964Z,1736383937.964 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:52:18.004Z,1736383938.004 [DAT](INFO): DAT read: 00:52:16.7644 LVL= 12896, 23025, 13954, 14803, AGC= 29, IDX= 511, 0.22, 1.709, 2.372, 0.837, 2.678, PHS=-0.882,-0.259,-1.845, RAW=   7.1,  37.3, CAL=   0.6,  40.0, ROT= 149.4, -40.0

2025-01-09T00:52:18.005Z,1736383938.005 [DAT](INFO): got valid direction response:
 00:52:16.7644 LVL= 12896, 23025, 13954, 14803, AGC= 29, IDX= 511, 0.22, 1.709, 2.372, 0.837, 2.678, PHS=-0.882,-0.259,-1.845, RAW=   7.1,  37.3, CAL=   0.6,  40.0, ROT= 149.4, -40.0

2025-01-09T00:52:18.005Z,1736383938.005 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-01-09T00:52:18.006Z,1736383938.006 [DAT](INFO): direction in FSK: [-0.659367,0.389948,0.642788]
2025-01-09T00:52:18.007Z,1736383938.007 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:18.037Z,1736383938.037 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.632828
2025-01-09T00:52:18.196Z,1736383938.196 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.792095
2025-01-09T00:52:18.305Z,1736383938.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:18.348Z,1736383938.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.508894 s,
      deltaX: 0.100000 m,
      approachRate: 0.196505 m/s,
      rangeRepo size: 4

2025-01-09T00:52:18.356Z,1736383938.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 196.218280 deg,
      lat: 36.904000 deg,
      lon: -122.118945 deg,
      deltaT: 0.508894 s,
      deltaX: 0.100000 m,
      approachRate: 0.196505 m/s,
      posRepo size: 4

2025-01-09T00:52:18.406Z,1736383938.406 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T00:52:18.406Z,1736383938.406 [DockingStepper](INFO): Standby mode.
2025-01-09T00:52:18.450Z,1736383938.450 [DAT](INFO): DAT read: Rx Time:00:52:17.2643 

2025-01-09T00:52:18.451Z,1736383938.451 [DAT](INFO): Rx dataTimestamp_ set to:1736383938.450521
2025-01-09T00:52:18.453Z,1736383938.453 [DAT](INFO): DAT read: Bearing 149.6, -39.1 (Local)

2025-01-09T00:52:18.453Z,1736383938.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.6, -39.1 (Local)

2025-01-09T00:52:18.455Z,1736383938.455 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:18.460Z,1736383938.460 [DAT](INFO): DAT read: 00:52:17.2643 LVL= 12272, 18993, 11170, 13699, AGC= 28, IDX= 510, 0.24, 1.301, 1.959, 0.465, 2.218, PHS=-0.829,-0.212,-1.756, RAW=   6.6,  36.3, CAL=   0.4,  39.1, ROT= 149.6, -39.1

2025-01-09T00:52:18.461Z,1736383938.461 [DAT](INFO): got valid direction response:
 00:52:17.2643 LVL= 12272, 18993, 11170, 13699, AGC= 28, IDX= 510, 0.24, 1.301, 1.959, 0.465, 2.218, PHS=-0.829,-0.212,-1.756, RAW=   6.6,  36.3, CAL=   0.4,  39.1, ROT= 149.6, -39.1

2025-01-09T00:52:18.462Z,1736383938.462 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-01-09T00:52:18.463Z,1736383938.463 [DAT](INFO): direction in FSK: [-0.669351,0.392706,0.630676]
2025-01-09T00:52:18.463Z,1736383938.463 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:18.474Z,1736383938.474 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.070259
2025-01-09T00:52:18.479Z,1736383938.479 [DockingStepper](INFO): Commanding positive:10158
2025-01-09T00:52:18.701Z,1736383938.701 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.296429
2025-01-09T00:52:18.815Z,1736383938.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:18.862Z,1736383938.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.500418 s,
      deltaX: -0.100000 m,
      approachRate: -0.199833 m/s,
      rangeRepo size: 4

2025-01-09T00:52:18.869Z,1736383938.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 196.445870 deg,
      lat: 36.903999 deg,
      lon: -122.118944 deg,
      deltaT: 0.500418 s,
      deltaX: -0.100000 m,
      approachRate: -0.199833 m/s,
      posRepo size: 4

2025-01-09T00:52:18.961Z,1736383938.961 [DAT](INFO): DAT read: Rx Time:00:52:17.7644 

2025-01-09T00:52:18.963Z,1736383938.963 [DAT](INFO): Rx dataTimestamp_ set to:1736383938.961750
2025-01-09T00:52:18.968Z,1736383938.968 [DAT](INFO): DAT read: Bearing 148.1, -39.3 (Local)

2025-01-09T00:52:18.969Z,1736383938.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.1, -39.3 (Local)

2025-01-09T00:52:18.974Z,1736383938.974 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:52:19.022Z,1736383939.022 [DAT](INFO): DAT read: 00:52:17.7644 LVL= 12272, 14449,  9858, 14531, AGC= 27, IDX= 511, 0.26, 2.554, 3.139, 1.735,-2.881, PHS=-0.760,-0.216,-1.670, RAW=   8.3,  36.3, CAL=   1.9,  39.3, ROT= 148.1, -39.3

2025-01-09T00:52:19.023Z,1736383939.023 [DAT](INFO): got valid direction response:
 00:52:17.7644 LVL= 12272, 14449,  9858, 14531, AGC= 27, IDX= 511, 0.26, 2.554, 3.139, 1.735,-2.881, PHS=-0.760,-0.216,-1.670, RAW=   8.3,  36.3, CAL=   1.9,  39.3, ROT= 148.1, -39.3

2025-01-09T00:52:19.037Z,1736383939.037 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-01-09T00:52:19.037Z,1736383939.037 [DAT](INFO): direction in FSK: [-0.656968,0.408927,0.633381]
2025-01-09T00:52:19.038Z,1736383939.038 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:19.042Z,1736383939.042 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.638161
2025-01-09T00:52:19.208Z,1736383939.208 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.804199
2025-01-09T00:52:19.302Z,1736383939.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:19.340Z,1736383939.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.511229 s,
      deltaX: 0.100000 m,
      approachRate: 0.195607 m/s,
      rangeRepo size: 4

2025-01-09T00:52:19.342Z,1736383939.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 193.498609 deg,
      lat: 36.903999 deg,
      lon: -122.118944 deg,
      deltaT: 0.511229 s,
      deltaX: 0.100000 m,
      approachRate: 0.195607 m/s,
      posRepo size: 4

2025-01-09T00:52:19.461Z,1736383939.461 [DAT](INFO): DAT read: Rx Time:00:52:18.2643 

2025-01-09T00:52:19.461Z,1736383939.461 [DAT](INFO): Rx dataTimestamp_ set to:1736383939.461105
2025-01-09T00:52:19.463Z,1736383939.463 [DAT](INFO): DAT read: Bearing 147.8, -37.5 (Local)

2025-01-09T00:52:19.463Z,1736383939.463 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.8, -37.5 (Local)

2025-01-09T00:52:19.465Z,1736383939.465 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:19.471Z,1736383939.471 [DAT](INFO): DAT read: 00:52:18.2643 LVL= 14496, 15265, 10354, 16707, AGC= 28, IDX= 510, 0.29, 2.207, 2.818, 1.365, 3.012, PHS=-0.718,-0.147,-1.651, RAW=   7.9,  34.1, CAL=   2.2,  37.5, ROT= 147.8, -37.5

2025-01-09T00:52:19.472Z,1736383939.472 [DAT](INFO): got valid direction response:
 00:52:18.2643 LVL= 14496, 15265, 10354, 16707, AGC= 28, IDX= 510, 0.29, 2.207, 2.818, 1.365, 3.012, PHS=-0.718,-0.147,-1.651, RAW=   7.9,  34.1, CAL=   2.2,  37.5, ROT= 147.8, -37.5

2025-01-09T00:52:19.472Z,1736383939.472 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-01-09T00:52:19.473Z,1736383939.473 [DAT](INFO): direction in FSK: [-0.671330,0.422759,0.608761]
2025-01-09T00:52:19.473Z,1736383939.473 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:19.486Z,1736383939.486 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.081409
2025-01-09T00:52:19.620Z,1736383939.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:19.639Z,1736383939.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.499355 s,
      deltaX: -0.100000 m,
      approachRate: -0.200258 m/s,
      rangeRepo size: 4

2025-01-09T00:52:19.641Z,1736383939.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 192.287979 deg,
      lat: 36.903999 deg,
      lon: -122.118943 deg,
      deltaT: 0.499355 s,
      deltaX: -0.100000 m,
      approachRate: -0.200258 m/s,
      posRepo size: 4

2025-01-09T00:52:19.714Z,1736383939.714 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.309402
2025-01-09T00:52:19.740Z,1736383939.740 [DockingStepper](INFO): Commanding positive:9764
2025-01-09T00:52:19.969Z,1736383939.969 [DAT](INFO): DAT read: Rx Time:00:52:18.7643 

2025-01-09T00:52:19.970Z,1736383939.970 [DAT](INFO): Rx dataTimestamp_ set to:1736383939.969091
2025-01-09T00:52:19.974Z,1736383939.974 [DAT](INFO): DAT read: Bearing 146.9, -38.0 (Local)

2025-01-09T00:52:19.978Z,1736383939.978 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.9, -38.0 (Local)

2025-01-09T00:52:19.984Z,1736383939.984 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:20.024Z,1736383940.024 [DAT](INFO): DAT read: 00:52:18.7643 LVL= 14784, 15553, 10578, 17603, AGC= 28, IDX= 510, 0.37, 2.189, 2.770, 1.328, 2.992, PHS=-0.714,-0.175,-1.666, RAW=   9.1,  34.6, CAL=   3.1,  38.0, ROT= 146.9, -38.0

2025-01-09T00:52:20.025Z,1736383940.025 [DAT](INFO): got valid direction response:
 00:52:18.7643 LVL= 14784, 15553, 10578, 17603, AGC= 28, IDX= 510, 0.37, 2.189, 2.770, 1.328, 2.992, PHS=-0.714,-0.175,-1.666, RAW=   9.1,  34.6, CAL=   3.1,  38.0, ROT= 146.9, -38.0

2025-01-09T00:52:20.025Z,1736383940.025 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-01-09T00:52:20.026Z,1736383940.026 [DAT](INFO): direction in FSK: [-0.660131,0.430334,0.615661]
2025-01-09T00:52:20.027Z,1736383940.027 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:20.042Z,1736383940.042 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.638065
2025-01-09T00:52:20.113Z,1736383940.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:20.156Z,1736383940.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.507986 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:20.158Z,1736383940.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 190.339488 deg,
      lat: 36.903999 deg,
      lon: -122.118943 deg,
      deltaT: 0.507986 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:20.219Z,1736383940.219 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.814350
2025-01-09T00:52:20.460Z,1736383940.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:20.466Z,1736383940.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:20.469Z,1736383940.469 [DAT](INFO): DAT read: Rx Time:00:52:19.2642 

2025-01-09T00:52:20.470Z,1736383940.470 [DAT](INFO): Rx dataTimestamp_ set to:1736383940.469567
2025-01-09T00:52:20.471Z,1736383940.471 [DAT](INFO): DAT read: Bearing 142.9, -41.4 (Local)

2025-01-09T00:52:20.472Z,1736383940.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.9, -41.4 (Local)

2025-01-09T00:52:20.474Z,1736383940.474 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:20.479Z,1736383940.479 [DAT](INFO): DAT read: 00:52:19.2642 LVL= 16112, 16977, 10354, 15731, AGC= 27, IDX= 509, 0.44, 0.144, 0.601,-0.775, 0.970, PHS=-0.737,-0.322,-1.748, RAW=  13.6,  38.0, CAL=   7.1,  41.4, ROT= 142.9, -41.4

2025-01-09T00:52:20.480Z,1736383940.480 [DAT](INFO): got valid direction response:
 00:52:19.2642 LVL= 16112, 16977, 10354, 15731, AGC= 27, IDX= 509, 0.44, 0.144, 0.601,-0.775, 0.970, PHS=-0.737,-0.322,-1.748, RAW=  13.6,  38.0, CAL=   7.1,  41.4, ROT= 142.9, -41.4

2025-01-09T00:52:20.480Z,1736383940.480 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-01-09T00:52:20.481Z,1736383940.481 [DAT](INFO): direction in FSK: [-0.598276,0.452473,0.661312]
2025-01-09T00:52:20.482Z,1736383940.482 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:20.486Z,1736383940.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.500476 s,
      deltaX: -0.200000 m,
      approachRate: -0.399620 m/s,
      rangeRepo size: 4

2025-01-09T00:52:20.493Z,1736383940.493 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.089172
2025-01-09T00:52:20.722Z,1736383940.722 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.317085
2025-01-09T00:52:20.862Z,1736383940.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:20.976Z,1736383940.976 [DAT](INFO): DAT read: Rx Time:00:52:19.7643 

2025-01-09T00:52:20.978Z,1736383940.978 [DAT](INFO): Rx dataTimestamp_ set to:1736383940.977155
2025-01-09T00:52:20.982Z,1736383940.982 [DAT](INFO): DAT read: Bearing 151.0, -37.9 (Local)

2025-01-09T00:52:20.994Z,1736383940.994 [DockingStepper](INFO): Commanding positive:9758
2025-01-09T00:52:21.000Z,1736383941.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.0, -37.9 (Local)

2025-01-09T00:52:21.026Z,1736383941.026 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:21.060Z,1736383941.060 [DAT](INFO): DAT read: 00:52:19.7643 LVL= 15088, 18065, 10850, 15667, AGC= 29, IDX= 510, 0.37,-3.140,-2.440, 2.357,-2.245, PHS=-0.807,-0.148,-1.684, RAW=   4.7,  35.0, CAL= 359.0,  37.9, ROT= 151.0, -37.9

2025-01-09T00:52:21.062Z,1736383941.062 [DAT](INFO): got valid direction response:
 00:52:19.7643 LVL= 15088, 18065, 10850, 15667, AGC= 29, IDX= 510, 0.37,-3.140,-2.440, 2.357,-2.245, PHS=-0.807,-0.148,-1.684, RAW=   4.7,  35.0, CAL= 359.0,  37.9, ROT= 151.0, -37.9

2025-01-09T00:52:21.062Z,1736383941.062 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-01-09T00:52:21.063Z,1736383941.063 [DAT](INFO): direction in FSK: [-0.690149,0.382555,0.614285]
2025-01-09T00:52:21.068Z,1736383941.068 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:21.075Z,1736383941.075 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.666916
2025-01-09T00:52:21.224Z,1736383941.224 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.820328
2025-01-09T00:52:21.337Z,1736383941.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:21.351Z,1736383941.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.507588 s,
      deltaX: 0.200000 m,
      approachRate: 0.394020 m/s,
      rangeRepo size: 4

2025-01-09T00:52:21.353Z,1736383941.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 190.790577 deg,
      lat: 36.903999 deg,
      lon: -122.118942 deg,
      deltaT: 1.008064 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:21.477Z,1736383941.477 [DAT](INFO): DAT read: Rx Time:00:52:20.2642 

2025-01-09T00:52:21.477Z,1736383941.477 [DAT](INFO): Rx dataTimestamp_ set to:1736383941.477164
2025-01-09T00:52:21.479Z,1736383941.479 [DAT](INFO): DAT read: Bearing 152.1, -38.9 (Local)

2025-01-09T00:52:21.479Z,1736383941.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.1, -38.9 (Local)

2025-01-09T00:52:21.481Z,1736383941.481 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:21.487Z,1736383941.487 [DAT](INFO): DAT read: 00:52:20.2642 LVL= 14096, 18417, 11938, 15555, AGC= 29, IDX= 509, 0.42, 1.643, 2.361, 0.879, 2.593, PHS=-0.862,-0.185,-1.718, RAW=   3.8,  36.3, CAL= 357.9,  38.9, ROT= 152.1, -38.9

2025-01-09T00:52:21.488Z,1736383941.488 [DAT](INFO): got valid direction response:
 00:52:20.2642 LVL= 14096, 18417, 11938, 15555, AGC= 29, IDX= 509, 0.42, 1.643, 2.361, 0.879, 2.593, PHS=-0.862,-0.185,-1.718, RAW=   3.8,  36.3, CAL= 357.9,  38.9, ROT= 152.1, -38.9

2025-01-09T00:52:21.488Z,1736383941.488 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-01-09T00:52:21.489Z,1736383941.489 [DAT](INFO): direction in FSK: [-0.687785,0.364163,0.627963]
2025-01-09T00:52:21.490Z,1736383941.490 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:21.493Z,1736383941.493 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.088928
2025-01-09T00:52:21.508Z,1736383941.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:52:21.702Z,1736383941.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:21.726Z,1736383941.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.500009 s,
      deltaX: -0.200000 m,
      approachRate: -0.399993 m/s,
      rangeRepo size: 4

2025-01-09T00:52:21.728Z,1736383941.728 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.324226
2025-01-09T00:52:21.735Z,1736383941.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 190.579861 deg,
      lat: 36.904000 deg,
      lon: -122.118942 deg,
      deltaT: 0.500009 s,
      deltaX: -0.200000 m,
      approachRate: -0.399993 m/s,
      posRepo size: 4

2025-01-09T00:52:21.984Z,1736383941.984 [DAT](INFO): DAT read: Rx Time:00:52:20.7643 

2025-01-09T00:52:21.986Z,1736383941.986 [DAT](INFO): Rx dataTimestamp_ set to:1736383941.985042
2025-01-09T00:52:21.990Z,1736383941.990 [DAT](INFO): DAT read: Bearing 150.5, -40.4 (Local)

2025-01-09T00:52:21.991Z,1736383941.991 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.5, -40.4 (Local)

2025-01-09T00:52:21.997Z,1736383941.997 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:22.013Z,1736383942.013 [DAT](INFO): DAT read: 00:52:20.7643 LVL= 12896, 18449, 12994, 14947, AGC= 29, IDX= 511,-0.48, 1.201, 1.872, 0.391, 2.175, PHS=-0.886,-0.256,-1.787, RAW=   5.8,  37.9, CAL= 359.5,  40.4, ROT= 150.5, -40.4

2025-01-09T00:52:22.024Z,1736383942.024 [DAT](INFO): got valid direction response:
 00:52:20.7643 LVL= 12896, 18449, 12994, 14947, AGC= 29, IDX= 511,-0.48, 1.201, 1.872, 0.391, 2.175, PHS=-0.886,-0.256,-1.787, RAW=   5.8,  37.9, CAL= 359.5,  40.4, ROT= 150.5, -40.4

2025-01-09T00:52:22.026Z,1736383942.026 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-01-09T00:52:22.064Z,1736383942.064 [DAT](INFO): direction in FSK: [-0.662809,0.374999,0.648120]
2025-01-09T00:52:22.064Z,1736383942.064 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:22.079Z,1736383942.079 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.674603
2025-01-09T00:52:22.161Z,1736383942.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:22.194Z,1736383942.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.507878 s,
      deltaX: 0.200000 m,
      approachRate: 0.393795 m/s,
      rangeRepo size: 4

2025-01-09T00:52:22.201Z,1736383942.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 188.884486 deg,
      lat: 36.904000 deg,
      lon: -122.118942 deg,
      deltaT: 0.507878 s,
      deltaX: 0.200000 m,
      approachRate: 0.393795 m/s,
      posRepo size: 4

2025-01-09T00:52:22.237Z,1736383942.237 [DAT](INFO): DAT read: Rx Time:00:52:21.2642 

2025-01-09T00:52:22.239Z,1736383942.239 [DAT](INFO): Rx dataTimestamp_ set to:1736383942.237882
2025-01-09T00:52:22.242Z,1736383942.242 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.836800
2025-01-09T00:52:22.291Z,1736383942.291 [DockingStepper](INFO): Commanding positive:9672
2025-01-09T00:52:22.487Z,1736383942.487 [DAT](INFO): DAT read: Bearing 150.3, -41.2 (Local)

2025-01-09T00:52:22.487Z,1736383942.487 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.3, -41.2 (Local)

2025-01-09T00:52:22.490Z,1736383942.490 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:22.494Z,1736383942.494 [DAT](INFO): DAT read: 00:52:21.2642 LVL= 12128, 18369, 13778, 14819, AGC= 29, IDX= 510,-0.41,-0.414, 0.250,-1.223, 0.583, PHS=-0.908,-0.286,-1.808, RAW=   6.0,  38.7, CAL= 359.7,  41.2, ROT= 150.3, -41.2

2025-01-09T00:52:22.512Z,1736383942.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:52:22.516Z,1736383942.516 [DAT](INFO): got valid direction response:
 00:52:21.2642 LVL= 12128, 18369, 13778, 14819, AGC= 29, IDX= 510,-0.41,-0.414, 0.250,-1.223, 0.583, PHS=-0.908,-0.286,-1.808, RAW=   6.0,  38.7, CAL= 359.7,  41.2, ROT= 150.3, -41.2

2025-01-09T00:52:22.517Z,1736383942.517 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-01-09T00:52:22.518Z,1736383942.518 [DAT](INFO): direction in FSK: [-0.653571,0.372790,0.658689]
2025-01-09T00:52:22.519Z,1736383942.519 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:22.539Z,1736383942.539 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.134399
2025-01-09T00:52:22.576Z,1736383942.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:22.625Z,1736383942.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.499763 s,
      deltaX: -0.200000 m,
      approachRate: -0.400190 m/s,
      rangeRepo size: 4

2025-01-09T00:52:22.627Z,1736383942.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 188.630699 deg,
      lat: 36.904001 deg,
      lon: -122.118942 deg,
      deltaT: 0.499763 s,
      deltaX: -0.200000 m,
      approachRate: -0.400190 m/s,
      posRepo size: 4

2025-01-09T00:52:22.746Z,1736383942.746 [DAT](INFO): DAT read: Rx Time:00:52:21.7643 

2025-01-09T00:52:22.749Z,1736383942.749 [DAT](INFO): Rx dataTimestamp_ set to:1736383942.746589
2025-01-09T00:52:22.757Z,1736383942.757 [DAT](INFO): DAT read: Bearing 150.1, -41.1 (Local)

2025-01-09T00:52:22.759Z,1736383942.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.1, -41.1 (Local)

2025-01-09T00:52:22.789Z,1736383942.789 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:22.795Z,1736383942.795 [DAT](INFO): DAT read: 00:52:21.7643 LVL= 11808, 17825, 13778, 14659, AGC= 29, IDX= 511,-0.28, 0.186, 0.852,-0.639, 1.187, PHS=-0.912,-0.288,-1.829, RAW=   6.2,  38.6, CAL= 359.9,  41.1, ROT= 150.1, -41.1

2025-01-09T00:52:22.801Z,1736383942.801 [DAT](INFO): got valid direction response:
 00:52:21.7643 LVL= 11808, 17825, 13778, 14659, AGC= 29, IDX= 511,-0.28, 0.186, 0.852,-0.639, 1.187, PHS=-0.912,-0.288,-1.829, RAW=   6.2,  38.6, CAL= 359.9,  41.1, ROT= 150.1, -41.1

2025-01-09T00:52:22.801Z,1736383942.801 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-01-09T00:52:22.802Z,1736383942.802 [DAT](INFO): direction in FSK: [-0.653262,0.375642,0.657375]
2025-01-09T00:52:22.802Z,1736383942.802 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:22.820Z,1736383942.820 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.411003
2025-01-09T00:52:22.995Z,1736383942.995 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.590244
2025-01-09T00:52:23.028Z,1736383943.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:23.074Z,1736383943.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.261784 s,
      deltaX: 0.200000 m,
      approachRate: 0.763989 m/s,
      rangeRepo size: 4

2025-01-09T00:52:23.080Z,1736383943.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 184.994415 deg,
      lat: 36.904000 deg,
      lon: -122.118942 deg,
      deltaT: 0.261784 s,
      deltaX: 0.200000 m,
      approachRate: 0.763989 m/s,
      posRepo size: 4

2025-01-09T00:52:23.248Z,1736383943.248 [DAT](INFO): DAT read: Rx Time:00:52:22.2642 

2025-01-09T00:52:23.250Z,1736383943.250 [DAT](INFO): Rx dataTimestamp_ set to:1736383943.249101
2025-01-09T00:52:23.254Z,1736383943.254 [DAT](INFO): DAT read: Bearing 149.0, -42.4 (Local)

2025-01-09T00:52:23.255Z,1736383943.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.0, -42.4 (Local)

2025-01-09T00:52:23.261Z,1736383943.261 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:23.300Z,1736383943.300 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-01-09T00:52:23.301Z,1736383943.301 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.896984
2025-01-09T00:52:23.429Z,1736383943.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:23.446Z,1736383943.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:23.453Z,1736383943.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.502512 s,
      deltaX: -0.200000 m,
      approachRate: -0.398000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:23.502Z,1736383943.502 [DAT](INFO): DAT read: 00:52:22.2642 LVL= 11440, 17649, 12530, 12963, AGC= 28, IDX= 510,-0.18,-1.633,-1.015,-2.440,-0.641, PHS=-0.903,-0.327,-1.802, RAW=   7.2,  39.8, CAL=   1.0,  42.4, ROT= 149.0, -42.4

2025-01-09T00:52:23.504Z,1736383943.504 [DAT](INFO): got valid direction response:
 00:52:22.2642 LVL= 11440, 17649, 12530, 12963, AGC= 28, IDX= 510,-0.18,-1.633,-1.015,-2.440,-0.641, PHS=-0.903,-0.327,-1.802, RAW=   7.2,  39.8, CAL=   1.0,  42.4, ROT= 149.0, -42.4

2025-01-09T00:52:23.505Z,1736383943.505 [DAT](INFO): #Rx 74: Read direction message, but no range.
2025-01-09T00:52:23.506Z,1736383943.506 [DAT](INFO): direction in FSK: [-0.632980,0.380333,0.674302]
2025-01-09T00:52:23.512Z,1736383943.512 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.107353
2025-01-09T00:52:23.539Z,1736383943.539 [DockingStepper](INFO): Commanding positive:9770
2025-01-09T00:52:23.752Z,1736383943.752 [DAT](INFO): DAT read: Rx Time:00:52:22.7642 

2025-01-09T00:52:23.754Z,1736383943.754 [DAT](INFO): Rx dataTimestamp_ set to:1736383943.753222
2025-01-09T00:52:23.758Z,1736383943.758 [DAT](INFO): DAT read: Bearing 150.7, -40.2 (Local)

2025-01-09T00:52:23.760Z,1736383943.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.7, -40.2 (Local)

2025-01-09T00:52:23.774Z,1736383943.774 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:23.777Z,1736383943.777 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-01-09T00:52:23.796Z,1736383943.796 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.392139
2025-01-09T00:52:23.883Z,1736383943.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:23.924Z,1736383943.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504121 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:23.926Z,1736383943.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 180.870494 deg,
      lat: 36.904000 deg,
      lon: -122.118942 deg,
      deltaT: 1.006633 s,
      deltaX: -0.200000 m,
      approachRate: -0.198682 m/s,
      posRepo size: 4

2025-01-09T00:52:24.006Z,1736383944.006 [DAT](INFO): DAT read: 00:52:22.7642 LVL= 13424, 21121, 15538, 15603, AGC= 30, IDX= 510,-0.15,-1.053,-0.373,-1.868,-0.076, PHS=-0.890,-0.251,-1.795, RAW=   5.7,  37.7, CAL= 359.3,  40.2, ROT= 150.7, -40.2

2025-01-09T00:52:24.008Z,1736383944.008 [DAT](INFO): got valid direction response:
 00:52:22.7642 LVL= 13424, 21121, 15538, 15603, AGC= 30, IDX= 510,-0.15,-1.053,-0.373,-1.868,-0.076, PHS=-0.890,-0.251,-1.795, RAW=   5.7,  37.7, CAL= 359.3,  40.2, ROT= 150.7, -40.2

2025-01-09T00:52:24.008Z,1736383944.008 [DAT](INFO): #Rx 76: Read direction message, but no range.
2025-01-09T00:52:24.009Z,1736383944.009 [DAT](INFO): direction in FSK: [-0.666083,0.373788,0.645458]
2025-01-09T00:52:24.020Z,1736383944.020 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.614700
2025-01-09T00:52:24.257Z,1736383944.257 [DAT](INFO): DAT read: Rx Time:00:52:23.2642 

2025-01-09T00:52:24.259Z,1736383944.259 [DAT](INFO): Rx dataTimestamp_ set to:1736383944.257690
2025-01-09T00:52:24.265Z,1736383944.265 [DAT](INFO): DAT read: Bearing 150.7, -39.4 (Local)

2025-01-09T00:52:24.267Z,1736383944.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.7, -39.4 (Local)

2025-01-09T00:52:24.292Z,1736383944.292 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:24.309Z,1736383944.309 [DAT](INFO): DAT read: 00:52:23.2642 LVL= 13424, 21281, 15826, 15315, AGC= 30, IDX= 509,-0.11,-2.319,-1.625,-3.140,-1.361, PHS=-0.870,-0.217,-1.782, RAW=   5.5,  36.7, CAL= 359.3,  39.4, ROT= 150.7, -39.4

2025-01-09T00:52:24.310Z,1736383944.310 [DAT](INFO): got valid direction response:
 00:52:23.2642 LVL= 13424, 21281, 15826, 15315, AGC= 30, IDX= 509,-0.11,-2.319,-1.625,-3.140,-1.361, PHS=-0.870,-0.217,-1.782, RAW=   5.5,  36.7, CAL= 359.3,  39.4, ROT= 150.7, -39.4

2025-01-09T00:52:24.310Z,1736383944.310 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-01-09T00:52:24.311Z,1736383944.311 [DAT](INFO): direction in FSK: [-0.673877,0.378162,0.634731]
2025-01-09T00:52:24.319Z,1736383944.319 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:24.323Z,1736383944.323 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.918667
2025-01-09T00:52:24.343Z,1736383944.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:24.378Z,1736383944.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504468 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:24.386Z,1736383944.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 182.027220 deg,
      lat: 36.904000 deg,
      lon: -122.118942 deg,
      deltaT: 0.504468 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:24.505Z,1736383944.505 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.100567
2025-01-09T00:52:24.701Z,1736383944.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:24.760Z,1736383944.760 [DAT](INFO): DAT read: Rx Time:00:52:23.7643 

2025-01-09T00:52:24.762Z,1736383944.762 [DAT](INFO): Rx dataTimestamp_ set to:1736383944.760616
2025-01-09T00:52:24.766Z,1736383944.766 [DAT](INFO): DAT read: Bearing 150.9, -39.8 (Local)

2025-01-09T00:52:24.766Z,1736383944.766 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.9, -39.8 (Local)

2025-01-09T00:52:24.772Z,1736383944.772 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:24.774Z,1736383944.774 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-01-09T00:52:24.777Z,1736383944.777 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.372635
2025-01-09T00:52:24.796Z,1736383944.796 [DockingStepper](INFO): Commanding positive:9770
2025-01-09T00:52:25.019Z,1736383945.019 [DAT](INFO): DAT read: 00:52:23.7643 LVL= 11504, 18241, 12786, 12435, AGC= 28, IDX= 510,-0.04,-1.255,-0.578,-2.050,-0.300, PHS=-0.867,-0.231,-1.753, RAW=   5.4,  37.3, CAL= 359.1,  39.8, ROT= 150.9, -39.8

2025-01-09T00:52:25.031Z,1736383945.031 [DAT](INFO): got valid direction response:
 00:52:23.7643 LVL= 11504, 18241, 12786, 12435, AGC= 28, IDX= 510,-0.04,-1.255,-0.578,-2.050,-0.300, PHS=-0.867,-0.231,-1.753, RAW=   5.4,  37.3, CAL= 359.1,  39.8, ROT= 150.9, -39.8

2025-01-09T00:52:25.033Z,1736383945.033 [DAT](INFO): #Rx 79: Read direction message, but no range.
2025-01-09T00:52:25.036Z,1736383945.036 [DAT](INFO): direction in FSK: [-0.671305,0.373643,0.640110]
2025-01-09T00:52:25.078Z,1736383945.078 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.650921
2025-01-09T00:52:25.184Z,1736383945.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:25.216Z,1736383945.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.502926 s,
      deltaX: 0.200000 m,
      approachRate: 0.397673 m/s,
      rangeRepo size: 4

2025-01-09T00:52:25.223Z,1736383945.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 180.899811 deg,
      lat: 36.904000 deg,
      lon: -122.118942 deg,
      deltaT: 0.502926 s,
      deltaX: 0.200000 m,
      approachRate: 0.397673 m/s,
      posRepo size: 4

2025-01-09T00:52:25.265Z,1736383945.265 [DAT](INFO): DAT read: Rx Time:00:52:24.2643 

2025-01-09T00:52:25.266Z,1736383945.266 [DAT](INFO): Rx dataTimestamp_ set to:1736383945.265374
2025-01-09T00:52:25.271Z,1736383945.271 [DAT](INFO): DAT read: Bearing 151.9, -38.5 (Local)

2025-01-09T00:52:25.272Z,1736383945.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.9, -38.5 (Local)

2025-01-09T00:52:25.296Z,1736383945.296 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:25.312Z,1736383945.312 [DAT](INFO): DAT read: 00:52:24.2643 LVL= 11632, 18529, 12626, 12643, AGC= 28, IDX= 509, 0.02,-1.673,-0.950,-2.448,-0.730, PHS=-0.855,-0.173,-1.722, RAW=   3.9,  35.9, CAL= 358.1,  38.5, ROT= 151.9, -38.5

2025-01-09T00:52:25.313Z,1736383945.313 [DAT](INFO): got valid direction response:
 00:52:24.2643 LVL= 11632, 18529, 12626, 12643, AGC= 28, IDX= 509, 0.02,-1.673,-0.950,-2.448,-0.730, PHS=-0.855,-0.173,-1.722, RAW=   3.9,  35.9, CAL= 358.1,  38.5, ROT= 151.9, -38.5

2025-01-09T00:52:25.314Z,1736383945.314 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-01-09T00:52:25.315Z,1736383945.315 [DAT](INFO): direction in FSK: [-0.690360,0.368618,0.622515]
2025-01-09T00:52:25.315Z,1736383945.315 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:25.329Z,1736383945.329 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.924385
2025-01-09T00:52:25.513Z,1736383945.513 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.108662
2025-01-09T00:52:25.556Z,1736383945.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:25.582Z,1736383945.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504758 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:25.588Z,1736383945.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 181.602555 deg,
      lat: 36.903999 deg,
      lon: -122.118942 deg,
      deltaT: 0.504758 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:25.769Z,1736383945.769 [DAT](INFO): DAT read: Rx Time:00:52:24.7644 

2025-01-09T00:52:25.770Z,1736383945.770 [DAT](INFO): Rx dataTimestamp_ set to:1736383945.769535
2025-01-09T00:52:25.774Z,1736383945.774 [DAT](INFO): DAT read: Bearing 151.4, -37.9 (Local)

2025-01-09T00:52:25.776Z,1736383945.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.4, -37.9 (Local)

2025-01-09T00:52:25.784Z,1736383945.784 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:52:25.786Z,1736383945.786 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-01-09T00:52:25.790Z,1736383945.790 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.384998
2025-01-09T00:52:26.021Z,1736383946.021 [DAT](INFO): DAT read: 00:52:24.7644 LVL= 11824, 18609, 12514, 12339, AGC= 28, IDX= 510, 0.08,-0.535, 0.194,-1.333, 0.390, PHS=-0.836,-0.149,-1.725, RAW=   4.2,  35.0, CAL= 358.6,  37.9, ROT= 151.4, -37.9

2025-01-09T00:52:26.024Z,1736383946.024 [DAT](INFO): got valid direction response:
 00:52:24.7644 LVL= 11824, 18609, 12514, 12339, AGC= 28, IDX= 510, 0.08,-0.535, 0.194,-1.333, 0.390, PHS=-0.836,-0.149,-1.725, RAW=   4.2,  35.0, CAL= 358.6,  37.9, ROT= 151.4, -37.9

2025-01-09T00:52:26.025Z,1736383946.025 [DAT](INFO): #Rx 82: Read direction message, but no range.
2025-01-09T00:52:26.029Z,1736383946.029 [DAT](INFO): direction in FSK: [-0.692802,0.377728,0.614285]
2025-01-09T00:52:26.068Z,1736383946.068 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.646465
2025-01-09T00:52:26.186Z,1736383946.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:26.218Z,1736383946.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504161 s,
      deltaX: 0.100000 m,
      approachRate: 0.198349 m/s,
      rangeRepo size: 4

2025-01-09T00:52:26.224Z,1736383946.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 181.144303 deg,
      lat: 36.903997 deg,
      lon: -122.118943 deg,
      deltaT: 0.504161 s,
      deltaX: 0.100000 m,
      approachRate: 0.198349 m/s,
      posRepo size: 4

2025-01-09T00:52:26.273Z,1736383946.273 [DAT](INFO): DAT read: Rx Time:00:52:25.2643 

2025-01-09T00:52:26.274Z,1736383946.274 [DAT](INFO): Rx dataTimestamp_ set to:1736383946.273301
2025-01-09T00:52:26.279Z,1736383946.279 [DAT](INFO): DAT read: Bearing 151.0, -37.7 (Local)

2025-01-09T00:52:26.280Z,1736383946.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.0, -37.7 (Local)

2025-01-09T00:52:26.293Z,1736383946.293 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:26.309Z,1736383946.309 [DAT](INFO): DAT read: 00:52:25.2643 LVL= 12224, 18961, 12466, 12019, AGC= 28, IDX= 509, 0.15,-1.763,-1.048,-2.567,-0.859, PHS=-0.816,-0.143,-1.711, RAW=   4.6,  34.7, CAL= 359.0,  37.7, ROT= 151.0, -37.7

2025-01-09T00:52:26.310Z,1736383946.310 [DAT](INFO): got valid direction response:
 00:52:25.2643 LVL= 12224, 18961, 12466, 12019, AGC= 28, IDX= 509, 0.15,-1.763,-1.048,-2.567,-0.859, PHS=-0.816,-0.143,-1.711, RAW=   4.6,  34.7, CAL= 359.0,  37.7, ROT= 151.0, -37.7

2025-01-09T00:52:26.311Z,1736383946.311 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-01-09T00:52:26.316Z,1736383946.316 [DAT](INFO): direction in FSK: [-0.692020,0.383593,0.611527]
2025-01-09T00:52:26.316Z,1736383946.316 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:26.329Z,1736383946.329 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.924862
2025-01-09T00:52:26.391Z,1736383946.391 [DockingStepper](INFO): Commanding positive:9764
2025-01-09T00:52:26.524Z,1736383946.524 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.120186
2025-01-09T00:52:26.602Z,1736383946.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:26.616Z,1736383946.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503766 s,
      deltaX: -0.100000 m,
      approachRate: -0.198505 m/s,
      rangeRepo size: 4

2025-01-09T00:52:26.640Z,1736383946.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 180.331211 deg,
      lat: 36.903997 deg,
      lon: -122.118943 deg,
      deltaT: 0.503766 s,
      deltaX: -0.100000 m,
      approachRate: -0.198505 m/s,
      posRepo size: 4

2025-01-09T00:52:26.777Z,1736383946.777 [DAT](INFO): DAT read: Rx Time:00:52:25.7644 

2025-01-09T00:52:26.780Z,1736383946.780 [DAT](INFO): Rx dataTimestamp_ set to:1736383946.778220
2025-01-09T00:52:26.784Z,1736383946.784 [DAT](INFO): DAT read: Bearing 151.4, -37.3 (Local)

2025-01-09T00:52:26.786Z,1736383946.786 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.4, -37.3 (Local)

2025-01-09T00:52:26.793Z,1736383946.793 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:52:26.808Z,1736383946.808 [DAT](INFO): DAT read: 00:52:25.7644 LVL= 12320, 19537, 12626, 12307, AGC= 28, IDX= 510, 0.23,-0.682, 0.056,-1.485, 0.229, PHS=-0.823,-0.126,-1.717, RAW=   4.1,  34.3, CAL= 358.6,  37.3, ROT= 151.4, -37.3

2025-01-09T00:52:26.809Z,1736383946.809 [DAT](INFO): got valid direction response:
 00:52:25.7644 LVL= 12320, 19537, 12626, 12307, AGC= 28, IDX= 510, 0.23,-0.682, 0.056,-1.485, 0.229, PHS=-0.823,-0.126,-1.717, RAW=   4.1,  34.3, CAL= 358.6,  37.3, ROT= 151.4, -37.3

2025-01-09T00:52:26.809Z,1736383946.809 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-01-09T00:52:26.810Z,1736383946.810 [DAT](INFO): direction in FSK: [-0.698412,0.380787,0.605988]
2025-01-09T00:52:26.811Z,1736383946.811 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:26.868Z,1736383946.868 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.464031
2025-01-09T00:52:27.027Z,1736383947.027 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.622066
2025-01-09T00:52:27.112Z,1736383947.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:27.127Z,1736383947.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504919 s,
      deltaX: 0.100000 m,
      approachRate: 0.198052 m/s,
      rangeRepo size: 4

2025-01-09T00:52:27.129Z,1736383947.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 181.076160 deg,
      lat: 36.903996 deg,
      lon: -122.118943 deg,
      deltaT: 0.504919 s,
      deltaX: 0.100000 m,
      approachRate: 0.198052 m/s,
      posRepo size: 4

2025-01-09T00:52:27.282Z,1736383947.282 [DAT](INFO): DAT read: Rx Time:00:52:26.2643 

2025-01-09T00:52:27.284Z,1736383947.284 [DAT](INFO): Rx dataTimestamp_ set to:1736383947.282507
2025-01-09T00:52:27.289Z,1736383947.289 [DAT](INFO): DAT read: Bearing 150.3, -38.7 (Local)

2025-01-09T00:52:27.290Z,1736383947.290 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.3, -38.7 (Local)

2025-01-09T00:52:27.293Z,1736383947.293 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:27.298Z,1736383947.298 [DAT](INFO): DAT read: 00:52:26.2643 LVL= 12336, 18161, 11602, 11539, AGC= 27, IDX= 509, 0.33,-2.768,-2.096, 2.709,-1.862, PHS=-0.818,-0.186,-1.715, RAW=   5.7,  35.9, CAL= 359.7,  38.7, ROT= 150.3, -38.7

2025-01-09T00:52:27.299Z,1736383947.299 [DAT](INFO): got valid direction response:
 00:52:26.2643 LVL= 12336, 18161, 11602, 11539, AGC= 27, IDX= 509, 0.33,-2.768,-2.096, 2.709,-1.862, PHS=-0.818,-0.186,-1.715, RAW=   5.7,  35.9, CAL= 359.7,  38.7, ROT= 150.3, -38.7

2025-01-09T00:52:27.299Z,1736383947.299 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-01-09T00:52:27.301Z,1736383947.301 [DAT](INFO): direction in FSK: [-0.677906,0.386671,0.625243]
2025-01-09T00:52:27.301Z,1736383947.301 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:27.305Z,1736383947.305 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.900780
2025-01-09T00:52:27.518Z,1736383947.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:27.528Z,1736383947.528 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.124226
2025-01-09T00:52:27.546Z,1736383947.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504287 s,
      deltaX: -0.100000 m,
      approachRate: -0.198300 m/s,
      rangeRepo size: 4

2025-01-09T00:52:27.560Z,1736383947.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 180.295576 deg,
      lat: 36.903996 deg,
      lon: -122.118943 deg,
      deltaT: 0.504287 s,
      deltaX: -0.100000 m,
      approachRate: -0.198300 m/s,
      posRepo size: 4

2025-01-09T00:52:27.664Z,1736383947.664 [DockingStepper](INFO): Commanding positive:9770
2025-01-09T00:52:27.688Z,1736383947.688 [DockingStepper](FAULT): Timed out moving from: 14863 to: 16450 response: ÿ
2025-01-09T00:52:27.689Z,1736383947.689 [DockingStepper] Hardware Fault, FailCount= 4
2025-01-09T00:52:27.689Z,1736383947.689 [DockingStepper](ERROR): Hardware Fault
2025-01-09T00:52:27.786Z,1736383947.786 [DAT](INFO): DAT read: Rx Time:00:52:26.7643 

2025-01-09T00:52:27.787Z,1736383947.787 [DAT](INFO): Rx dataTimestamp_ set to:1736383947.786348
2025-01-09T00:52:27.791Z,1736383947.791 [DAT](INFO): DAT read: Bearing 149.7, -38.3 (Local)

2025-01-09T00:52:27.791Z,1736383947.791 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.7, -38.3 (Local)

2025-01-09T00:52:27.793Z,1736383947.793 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:27.807Z,1736383947.807 [DAT](INFO): DAT read: 00:52:26.7643 LVL= 14016, 21041, 13170, 13795, AGC= 28, IDX= 509, 0.41,-2.805,-2.130, 2.638,-1.904, PHS=-0.813,-0.179,-1.745, RAW=   6.3,  35.3, CAL=   0.3,  38.3, ROT= 149.7, -38.3

2025-01-09T00:52:27.808Z,1736383947.808 [DAT](INFO): got valid direction response:
 00:52:26.7643 LVL= 14016, 21041, 13170, 13795, AGC= 28, IDX= 509, 0.41,-2.805,-2.130, 2.638,-1.904, PHS=-0.813,-0.179,-1.745, RAW=   6.3,  35.3, CAL=   0.3,  38.3, ROT= 149.7, -38.3

2025-01-09T00:52:27.809Z,1736383947.809 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-01-09T00:52:27.809Z,1736383947.809 [DAT](INFO): direction in FSK: [-0.677572,0.395941,0.619779]
2025-01-09T00:52:27.810Z,1736383947.810 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:27.831Z,1736383947.831 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.426746
2025-01-09T00:52:27.883Z,1736383947.883 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-01-09T00:52:27.980Z,1736383947.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:28.006Z,1736383948.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503841 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:28.009Z,1736383948.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 180.113823 deg,
      lat: 36.903996 deg,
      lon: -122.118944 deg,
      deltaT: 0.503841 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:28.032Z,1736383948.032 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.628159
2025-01-09T00:52:28.046Z,1736383948.046 [DockingStepper](INFO): Stop
2025-01-09T00:52:28.046Z,1736383948.046 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-01-09T00:52:28.046Z,1736383948.046 [DockingStepper](INFO): Powering down
2025-01-09T00:52:28.293Z,1736383948.293 [DAT](INFO): DAT read: Rx Time:00:52:27.2642 

2025-01-09T00:52:28.294Z,1736383948.294 [DAT](INFO): Rx dataTimestamp_ set to:1736383948.293199
2025-01-09T00:52:28.296Z,1736383948.296 [DAT](INFO): DAT read: Bearing 145.4, -40.3 (Local)

2025-01-09T00:52:28.297Z,1736383948.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.4, -40.3 (Local)

2025-01-09T00:52:28.334Z,1736383948.334 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:28.339Z,1736383948.339 [DAT](INFO): DAT read: 00:52:27.2642 LVL= 15344, 24033, 13778, 16163, AGC= 28, IDX= 508, 0.48, 2.033, 2.589, 1.077, 2.928, PHS=-0.807,-0.292,-1.854, RAW=  11.1,  37.1, CAL=   4.6,  40.3, ROT= 145.4, -40.3

2025-01-09T00:52:28.356Z,1736383948.356 [DAT](INFO): got valid direction response:
 00:52:27.2642 LVL= 15344, 24033, 13778, 16163, AGC= 28, IDX= 508, 0.48, 2.033, 2.589, 1.077, 2.928, PHS=-0.807,-0.292,-1.854, RAW=  11.1,  37.1, CAL=   4.6,  40.3, ROT= 145.4, -40.3

2025-01-09T00:52:28.357Z,1736383948.357 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-01-09T00:52:28.358Z,1736383948.358 [DAT](INFO): direction in FSK: [-0.627780,0.433077,0.646790]
2025-01-09T00:52:28.358Z,1736383948.358 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:28.370Z,1736383948.370 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.965874
2025-01-09T00:52:28.443Z,1736383948.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:28.480Z,1736383948.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.506851 s,
      deltaX: -0.200000 m,
      approachRate: -0.394593 m/s,
      rangeRepo size: 4

2025-01-09T00:52:28.482Z,1736383948.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 176.466060 deg,
      lat: 36.903996 deg,
      lon: -122.118944 deg,
      deltaT: 0.506851 s,
      deltaX: -0.200000 m,
      approachRate: -0.394593 m/s,
      posRepo size: 4

2025-01-09T00:52:28.538Z,1736383948.538 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.133362
2025-01-09T00:52:28.648Z,1736383948.648 [DockingStepper](INFO): Stopping
2025-01-09T00:52:28.793Z,1736383948.793 [DAT](INFO): DAT read: Rx Time:00:52:27.7643 

2025-01-09T00:52:28.794Z,1736383948.794 [DAT](INFO): Rx dataTimestamp_ set to:1736383948.793237
2025-01-09T00:52:28.795Z,1736383948.795 [DAT](INFO): DAT read: Bearing 145.1, -38.9 (Local)

2025-01-09T00:52:28.795Z,1736383948.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.1, -38.9 (Local)

2025-01-09T00:52:28.797Z,1736383948.797 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:28.802Z,1736383948.802 [DAT](INFO): DAT read: 00:52:27.7643 LVL= 16208, 23873, 15298, 17139, AGC= 29, IDX= 509, 0.49,-2.606,-2.033, 2.682,-1.744, PHS=-0.774,-0.242,-1.860, RAW=  11.2,  35.4, CAL=   4.9,  38.9, ROT= 145.1, -38.9

2025-01-09T00:52:28.803Z,1736383948.803 [DAT](INFO): got valid direction response:
 00:52:27.7643 LVL= 16208, 23873, 15298, 17139, AGC= 29, IDX= 509, 0.49,-2.606,-2.033, 2.682,-1.744, PHS=-0.774,-0.242,-1.860, RAW=  11.2,  35.4, CAL=   4.9,  38.9, ROT= 145.1, -38.9

2025-01-09T00:52:28.803Z,1736383948.803 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-01-09T00:52:28.804Z,1736383948.804 [DAT](INFO): direction in FSK: [-0.638278,0.445269,0.627963]
2025-01-09T00:52:28.805Z,1736383948.805 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:28.808Z,1736383948.808 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.403851
2025-01-09T00:52:28.932Z,1736383948.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:28.981Z,1736383948.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.500038 s,
      deltaX: 0.200000 m,
      approachRate: 0.399970 m/s,
      rangeRepo size: 4

2025-01-09T00:52:28.988Z,1736383948.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 176.664431 deg,
      lat: 36.903995 deg,
      lon: -122.118944 deg,
      deltaT: 0.500038 s,
      deltaX: 0.200000 m,
      approachRate: 0.399970 m/s,
      posRepo size: 4

2025-01-09T00:52:29.044Z,1736383949.044 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.640213
2025-01-09T00:52:29.134Z,1736383949.134 [DockingStepper](INFO): Stopping
2025-01-09T00:52:29.297Z,1736383949.297 [DAT](INFO): DAT read: Rx Time:00:52:28.2642 

2025-01-09T00:52:29.298Z,1736383949.298 [DAT](INFO): Rx dataTimestamp_ set to:1736383949.297507
2025-01-09T00:52:29.299Z,1736383949.299 [DAT](INFO): DAT read: Bearing 138.1, -43.3 (Local)

2025-01-09T00:52:29.300Z,1736383949.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.1, -43.3 (Local)

2025-01-09T00:52:29.302Z,1736383949.302 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:29.310Z,1736383949.310 [DAT](INFO): DAT read: 00:52:28.2642 LVL= 17200, 21281, 12338, 17587, AGC= 28, IDX= 509,-0.34, 0.212, 0.585,-0.882, 1.085, PHS=-0.785,-0.454,-1.970, RAW=  18.0,  39.4, CAL=  11.9,  43.3, ROT= 138.1, -43.3

2025-01-09T00:52:29.343Z,1736383949.343 [DAT](INFO): got valid direction response:
 00:52:28.2642 LVL= 17200, 21281, 12338, 17587, AGC= 28, IDX= 509,-0.34, 0.212, 0.585,-0.882, 1.085, PHS=-0.785,-0.454,-1.970, RAW=  18.0,  39.4, CAL=  11.9,  43.3, ROT= 138.1, -43.3

2025-01-09T00:52:29.344Z,1736383949.344 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-01-09T00:52:29.345Z,1736383949.345 [DAT](INFO): direction in FSK: [-0.541690,0.486030,0.685818]
2025-01-09T00:52:29.345Z,1736383949.345 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:29.357Z,1736383949.357 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.952347
2025-01-09T00:52:29.518Z,1736383949.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:29.545Z,1736383949.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504270 s,
      deltaX: -0.200000 m,
      approachRate: -0.396613 m/s,
      rangeRepo size: 4

2025-01-09T00:52:29.547Z,1736383949.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 171.205783 deg,
      lat: 36.903996 deg,
      lon: -122.118944 deg,
      deltaT: 0.504270 s,
      deltaX: -0.200000 m,
      approachRate: -0.396613 m/s,
      posRepo size: 4

2025-01-09T00:52:29.548Z,1736383949.548 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.144272
2025-01-09T00:52:29.700Z,1736383949.700 [DockingStepper](INFO): Stopping
2025-01-09T00:52:29.802Z,1736383949.802 [DAT](INFO): DAT read: Rx Time:00:52:28.7643 

2025-01-09T00:52:29.802Z,1736383949.802 [DAT](INFO): Rx dataTimestamp_ set to:1736383949.802101
2025-01-09T00:52:29.804Z,1736383949.804 [DAT](INFO): DAT read: Bearing 133.7, -44.7 (Local)

2025-01-09T00:52:29.804Z,1736383949.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 133.7, -44.7 (Local)

2025-01-09T00:52:29.806Z,1736383949.806 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:29.811Z,1736383949.811 [DAT](INFO): DAT read: 00:52:28.7643 LVL= 17712, 20753, 12274, 18387, AGC= 28, IDX= 510,-0.22, 0.545, 0.819,-0.662, 1.423, PHS=-0.790,-0.557,-2.088, RAW=  21.9,  40.4, CAL=  16.3,  44.7, ROT= 133.7, -44.7

2025-01-09T00:52:29.814Z,1736383949.814 [DAT](INFO): got valid direction response:
 00:52:28.7643 LVL= 17712, 20753, 12274, 18387, AGC= 28, IDX= 510,-0.22, 0.545, 0.819,-0.662, 1.423, PHS=-0.790,-0.557,-2.088, RAW=  21.9,  40.4, CAL=  16.3,  44.7, ROT= 133.7, -44.7

2025-01-09T00:52:29.815Z,1736383949.815 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-01-09T00:52:29.816Z,1736383949.816 [DAT](INFO): direction in FSK: [-0.491079,0.513885,0.703395]
2025-01-09T00:52:29.816Z,1736383949.816 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:29.820Z,1736383949.820 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.414986
2025-01-09T00:52:29.966Z,1736383949.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:30.004Z,1736383950.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504594 s,
      deltaX: 0.200000 m,
      approachRate: 0.396358 m/s,
      rangeRepo size: 4

2025-01-09T00:52:30.007Z,1736383950.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 167.037520 deg,
      lat: 36.903996 deg,
      lon: -122.118944 deg,
      deltaT: 0.504594 s,
      deltaX: 0.200000 m,
      approachRate: 0.396358 m/s,
      posRepo size: 4

2025-01-09T00:52:30.036Z,1736383950.036 [DockingStepper](INFO): Stopping
2025-01-09T00:52:30.053Z,1736383950.053 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.648647
2025-01-09T00:52:30.305Z,1736383950.305 [DAT](INFO): DAT read: Rx Time:00:52:29.2642 

2025-01-09T00:52:30.305Z,1736383950.305 [DAT](INFO): Rx dataTimestamp_ set to:1736383950.305101
2025-01-09T00:52:30.307Z,1736383950.307 [DAT](INFO): DAT read: Bearing 128.5, -46.1 (Local)

2025-01-09T00:52:30.307Z,1736383950.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing 128.5, -46.1 (Local)

2025-01-09T00:52:30.309Z,1736383950.309 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:30.314Z,1736383950.314 [DAT](INFO): DAT read: 00:52:29.2642 LVL= 19568, 23201, 14242, 20579, AGC= 28, IDX= 509, 0.01,-2.084,-1.931, 2.769,-1.157, PHS=-0.839,-0.728,-2.360, RAW=  26.5,  41.3, CAL=  21.5,  46.1, ROT= 128.5, -46.1

2025-01-09T00:52:30.315Z,1736383950.315 [DAT](INFO): got valid direction response:
 00:52:29.2642 LVL= 19568, 23201, 14242, 20579, AGC= 28, IDX= 509, 0.01,-2.084,-1.931, 2.769,-1.157, PHS=-0.839,-0.728,-2.360, RAW=  26.5,  41.3, CAL=  21.5,  46.1, ROT= 128.5, -46.1

2025-01-09T00:52:30.319Z,1736383950.319 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-01-09T00:52:30.320Z,1736383950.320 [DAT](INFO): direction in FSK: [-0.431653,0.542662,0.720551]
2025-01-09T00:52:30.320Z,1736383950.320 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:30.324Z,1736383950.324 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.919746
2025-01-09T00:52:30.404Z,1736383950.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:30.443Z,1736383950.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503000 s,
      deltaX: -0.200000 m,
      approachRate: -0.397614 m/s,
      rangeRepo size: 4

2025-01-09T00:52:30.473Z,1736383950.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 163.882772 deg,
      lat: 36.903997 deg,
      lon: -122.118944 deg,
      deltaT: 0.503000 s,
      deltaX: -0.200000 m,
      approachRate: -0.397614 m/s,
      posRepo size: 4

2025-01-09T00:52:30.510Z,1736383950.510 [DockingStepper](INFO): Stopping
2025-01-09T00:52:30.557Z,1736383950.557 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.153286
2025-01-09T00:52:30.755Z,1736383950.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:30.801Z,1736383950.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:30.809Z,1736383950.809 [DAT](INFO): DAT read: Rx Time:00:52:29.7643 

2025-01-09T00:52:30.809Z,1736383950.809 [DAT](INFO): Rx dataTimestamp_ set to:1736383950.809113
2025-01-09T00:52:30.811Z,1736383950.811 [DAT](INFO): DAT read: Bearing 130.7, -45.3 (Local)

2025-01-09T00:52:30.811Z,1736383950.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing 130.7, -45.3 (Local)

2025-01-09T00:52:30.813Z,1736383950.813 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:30.819Z,1736383950.819 [DAT](INFO): DAT read: 00:52:29.7643 LVL= 18096, 23281, 13714, 19491, AGC= 29, IDX= 510,-0.01,-0.405,-0.197,-1.764, 0.500, PHS=-0.817,-0.650,-2.267, RAW=  24.6,  40.6, CAL=  19.3,  45.3, ROT= 130.7, -45.3

2025-01-09T00:52:30.820Z,1736383950.820 [DAT](INFO): got valid direction response:
 00:52:29.7643 LVL= 18096, 23281, 13714, 19491, AGC= 29, IDX= 510,-0.01,-0.405,-0.197,-1.764, 0.500, PHS=-0.817,-0.650,-2.267, RAW=  24.6,  40.6, CAL=  19.3,  45.3, ROT= 130.7, -45.3

2025-01-09T00:52:30.820Z,1736383950.820 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-01-09T00:52:30.821Z,1736383950.821 [DAT](INFO): direction in FSK: [-0.458683,0.533268,0.710799]
2025-01-09T00:52:30.822Z,1736383950.822 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:30.841Z,1736383950.841 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.436852
2025-01-09T00:52:30.851Z,1736383950.851 [DockingStepper](INFO): Stopping
2025-01-09T00:52:31.060Z,1736383951.060 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.656155
2025-01-09T00:52:31.175Z,1736383951.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:31.201Z,1736383951.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504012 s,
      deltaX: 0.200000 m,
      approachRate: 0.396816 m/s,
      rangeRepo size: 4

2025-01-09T00:52:31.203Z,1736383951.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 167.568000 deg,
      lat: 36.903996 deg,
      lon: -122.118943 deg,
      deltaT: 0.504012 s,
      deltaX: 0.200000 m,
      approachRate: 0.396816 m/s,
      posRepo size: 4

2025-01-09T00:52:31.216Z,1736383951.216 [DockingStepper](INFO): Stopping
2025-01-09T00:52:31.313Z,1736383951.313 [DAT](INFO): DAT read: Rx Time:00:52:30.2643 

2025-01-09T00:52:31.314Z,1736383951.314 [DAT](INFO): Rx dataTimestamp_ set to:1736383951.313290
2025-01-09T00:52:31.315Z,1736383951.315 [DAT](INFO): DAT read: Bearing 132.3, -46.3 (Local)

2025-01-09T00:52:31.315Z,1736383951.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing 132.3, -46.3 (Local)

2025-01-09T00:52:31.318Z,1736383951.318 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:31.323Z,1736383951.323 [DAT](INFO): DAT read: 00:52:30.2643 LVL= 19312, 24049, 14066, 20563, AGC= 28, IDX= 509, 0.05,-0.984,-0.736,-2.238,-0.040, PHS=-0.856,-0.649,-2.201, RAW=  22.9,  41.9, CAL=  17.7,  46.3, ROT= 132.3, -46.3

2025-01-09T00:52:31.324Z,1736383951.324 [DAT](INFO): got valid direction response:
 00:52:30.2643 LVL= 19312, 24049, 14066, 20563, AGC= 28, IDX= 509, 0.05,-0.984,-0.736,-2.238,-0.040, PHS=-0.856,-0.649,-2.201, RAW=  22.9,  41.9, CAL=  17.7,  46.3, ROT= 132.3, -46.3

2025-01-09T00:52:31.325Z,1736383951.325 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-01-09T00:52:31.325Z,1736383951.325 [DAT](INFO): direction in FSK: [-0.464973,0.510998,0.722967]
2025-01-09T00:52:31.326Z,1736383951.326 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:31.331Z,1736383951.331 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.926704
2025-01-09T00:52:31.551Z,1736383951.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:31.565Z,1736383951.565 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.160461
2025-01-09T00:52:31.590Z,1736383951.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504177 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:31.596Z,1736383951.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 169.767142 deg,
      lat: 36.903996 deg,
      lon: -122.118943 deg,
      deltaT: 0.504177 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:31.630Z,1736383951.630 [DockingStepper](INFO): Stopping
2025-01-09T00:52:31.818Z,1736383951.818 [DAT](INFO): DAT read: Rx Time:00:52:30.7643 

2025-01-09T00:52:31.819Z,1736383951.819 [DAT](INFO): Rx dataTimestamp_ set to:1736383951.818265
2025-01-09T00:52:31.820Z,1736383951.820 [DAT](INFO): DAT read: Bearing 136.3, -45.2 (Local)

2025-01-09T00:52:31.820Z,1736383951.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.3, -45.2 (Local)

2025-01-09T00:52:31.822Z,1736383951.822 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:31.834Z,1736383951.834 [DAT](INFO): DAT read: 00:52:30.7643 LVL= 18352, 25041, 14130, 19779, AGC= 28, IDX= 509, 0.00,-0.533,-0.192,-1.682, 0.411, PHS=-0.856,-0.556,-2.096, RAW=  19.4,  41.3, CAL=  13.7,  45.2, 2

2025-01-09T00:52:31.838Z,1736383951.838 [DAT](INFO): unknown deviceResponse_: 00:52:30.7643 LVL= 18352, 25041, 14130, 19779, AGC= 28, IDX= 509, 0.00,-0.533,-0.192,-1.682, 0.411, PHS=-0.856,-0.556,-2.096, RAW=  19.4,  41.3, CAL=  13.7,  45.2, 2

2025-01-09T00:52:31.838Z,1736383951.838 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-01-09T00:52:31.840Z,1736383951.840 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.435364
2025-01-09T00:52:31.956Z,1736383951.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:31.975Z,1736383951.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504975 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:32.016Z,1736383952.016 [DockingStepper](INFO): Stopping
2025-01-09T00:52:32.069Z,1736383952.069 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.664875
2025-01-09T00:52:32.321Z,1736383952.321 [DAT](INFO): DAT read: Rx Time:00:52:31.2642 

2025-01-09T00:52:32.321Z,1736383952.321 [DAT](INFO): Rx dataTimestamp_ set to:1736383952.321142
2025-01-09T00:52:32.323Z,1736383952.323 [DAT](INFO): DAT read: Bearing 142.5, -41.1 (Local)

2025-01-09T00:52:32.323Z,1736383952.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.5, -41.1 (Local)

2025-01-09T00:52:32.325Z,1736383952.325 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:32.331Z,1736383952.331 [DAT](INFO): DAT read: 00:52:31.2642 LVL= 14960, 23313, 14434, 16835, AGC= 29, IDX= 508,-0.04,-0.994,-0.493,-2.062,-0.089, PHS=-0.817,-0.358,-1.977, RAW=  14.0,  37.6, CAL=   7.5,  41.1, ROT= 142.5, -41.1

2025-01-09T00:52:32.333Z,1736383952.333 [DAT](INFO): got valid direction response:
 00:52:31.2642 LVL= 14960, 23313, 14434, 16835, AGC= 29, IDX= 508,-0.04,-0.994,-0.493,-2.062,-0.089, PHS=-0.817,-0.358,-1.977, RAW=  14.0,  37.6, CAL=   7.5,  41.1, ROT= 142.5, -41.1

2025-01-09T00:52:32.333Z,1736383952.333 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-01-09T00:52:32.335Z,1736383952.335 [DAT](INFO): direction in FSK: [-0.597842,0.458740,0.657375]
2025-01-09T00:52:32.335Z,1736383952.335 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:32.343Z,1736383952.343 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.938557
2025-01-09T00:52:32.444Z,1736383952.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:32.492Z,1736383952.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.502877 s,
      deltaX: -0.200000 m,
      approachRate: -0.397712 m/s,
      rangeRepo size: 4

2025-01-09T00:52:32.494Z,1736383952.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 180.698761 deg,
      lat: 36.903996 deg,
      lon: -122.118942 deg,
      deltaT: 1.007852 s,
      deltaX: -0.200000 m,
      approachRate: -0.198442 m/s,
      posRepo size: 4

2025-01-09T00:52:32.527Z,1736383952.527 [DockingStepper](INFO): Stopping
2025-01-09T00:52:32.573Z,1736383952.573 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.168835
2025-01-09T00:52:32.808Z,1736383952.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:32.827Z,1736383952.827 [DAT](INFO): DAT read: Rx Time:00:52:31.7643 

2025-01-09T00:52:32.830Z,1736383952.830 [DAT](INFO): Rx dataTimestamp_ set to:1736383952.826742
2025-01-09T00:52:32.831Z,1736383952.831 [DAT](INFO): DAT read: Bearing 144.9, -41.2 (Local)

2025-01-09T00:52:32.839Z,1736383952.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.9, -41.2 (Local)

2025-01-09T00:52:32.842Z,1736383952.842 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:32.847Z,1736383952.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:32.863Z,1736383952.863 [DAT](INFO): DAT read: 00:52:31.7643 LVL= 13744, 23713, 13810, 15347, AGC= 28, IDX= 509,-0.02, 1.000, 1.549, 0.025, 1.926, PHS=-0.838,-0.330,-1.904, RAW=  11.5,  38.0, CAL=   5.1,  41.2, ROT= 144.9, -41.2

2025-01-09T00:52:32.864Z,1736383952.864 [DAT](INFO): got valid direction response:
 00:52:31.7643 LVL= 13744, 23713, 13810, 15347, AGC= 28, IDX= 509,-0.02, 1.000, 1.549, 0.025, 1.926, PHS=-0.838,-0.330,-1.904, RAW=  11.5,  38.0, CAL=   5.1,  41.2, ROT= 144.9, -41.2

2025-01-09T00:52:32.865Z,1736383952.865 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-01-09T00:52:32.866Z,1736383952.866 [DAT](INFO): direction in FSK: [-0.615588,0.432643,0.658689]
2025-01-09T00:52:32.866Z,1736383952.866 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:32.878Z,1736383952.878 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.473408
2025-01-09T00:52:32.895Z,1736383952.895 [DockingStepper](INFO): Stopping
2025-01-09T00:52:33.076Z,1736383953.076 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.672096
2025-01-09T00:52:33.191Z,1736383953.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:33.228Z,1736383953.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505600 s,
      deltaX: 0.200000 m,
      approachRate: 0.395570 m/s,
      rangeRepo size: 4

2025-01-09T00:52:33.232Z,1736383953.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 183.855963 deg,
      lat: 36.903996 deg,
      lon: -122.118942 deg,
      deltaT: 0.505600 s,
      deltaX: 0.200000 m,
      approachRate: 0.395570 m/s,
      posRepo size: 4

2025-01-09T00:52:33.313Z,1736383953.313 [DockingStepper](INFO): Stopping
2025-01-09T00:52:33.333Z,1736383953.333 [DAT](INFO): DAT read: Rx Time:00:52:32.2642 

2025-01-09T00:52:33.334Z,1736383953.334 [DAT](INFO): Rx dataTimestamp_ set to:1736383953.333100
2025-01-09T00:52:33.336Z,1736383953.336 [DAT](INFO): DAT read: Bearing 147.5, -39.3 (Local)

2025-01-09T00:52:33.336Z,1736383953.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.5, -39.3 (Local)

2025-01-09T00:52:33.339Z,1736383953.339 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:33.349Z,1736383953.349 [DAT](INFO): DAT read: 00:52:32.2642 LVL= 12272, 20465, 12194, 12755, AGC= 28, IDX= 508,-0.01, 0.730, 1.348,-0.182, 1.632, PHS=-0.814,-0.236,-1.817, RAW=   8.8,  36.2, CAL=   2.5,  39.3, ROT= 147.5, -39.3

2025-01-09T00:52:33.350Z,1736383953.350 [DAT](INFO): got valid direction response:
 00:52:32.2642 LVL= 12272, 20465, 12194, 12755, AGC= 28, IDX= 508,-0.01, 0.730, 1.348,-0.182, 1.632, PHS=-0.814,-0.236,-1.817, RAW=   8.8,  36.2, CAL=   2.5,  39.3, ROT= 147.5, -39.3

2025-01-09T00:52:33.355Z,1736383953.355 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-01-09T00:52:33.357Z,1736383953.357 [DAT](INFO): direction in FSK: [-0.652650,0.415784,0.633381]
2025-01-09T00:52:33.357Z,1736383953.357 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:33.389Z,1736383953.389 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.984467
2025-01-09T00:52:33.585Z,1736383953.585 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.181183
2025-01-09T00:52:33.588Z,1736383953.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:33.603Z,1736383953.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.506358 s,
      deltaX: -0.200000 m,
      approachRate: -0.394977 m/s,
      rangeRepo size: 4

2025-01-09T00:52:33.605Z,1736383953.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 186.411702 deg,
      lat: 36.903996 deg,
      lon: -122.118941 deg,
      deltaT: 0.506358 s,
      deltaX: -0.200000 m,
      approachRate: -0.394977 m/s,
      posRepo size: 4

2025-01-09T00:52:33.672Z,1736383953.672 [DockingStepper](INFO): Stopping
2025-01-09T00:52:33.837Z,1736383953.837 [DAT](INFO): DAT read: Rx Time:00:52:32.7644 

2025-01-09T00:52:33.837Z,1736383953.837 [DAT](INFO): Rx dataTimestamp_ set to:1736383953.837208
2025-01-09T00:52:33.839Z,1736383953.839 [DAT](INFO): DAT read: Bearing 146.3, -39.7 (Local)

2025-01-09T00:52:33.839Z,1736383953.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.3, -39.7 (Local)

2025-01-09T00:52:33.841Z,1736383953.841 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:52:33.846Z,1736383953.846 [DAT](INFO): DAT read: 00:52:32.7644 LVL= 11248, 15921, 10082, 12083, AGC= 27, IDX= 509, 0.02, 2.644,-3.082, 1.757,-2.788, PHS=-0.763,-0.247,-1.740, RAW=  10.1,  36.5, CAL=   3.7,  39.7, ROT= 146.3, -39.7

2025-01-09T00:52:33.848Z,1736383953.848 [DAT](INFO): got valid direction response:
 00:52:32.7644 LVL= 11248, 15921, 10082, 12083, AGC= 27, IDX= 509, 0.02, 2.644,-3.082, 1.757,-2.788, PHS=-0.763,-0.247,-1.740, RAW=  10.1,  36.5, CAL=   3.7,  39.7, ROT= 146.3, -39.7

2025-01-09T00:52:33.848Z,1736383953.848 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-01-09T00:52:33.849Z,1736383953.849 [DAT](INFO): direction in FSK: [-0.640105,0.426897,0.638768]
2025-01-09T00:52:33.849Z,1736383953.849 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:33.854Z,1736383953.854 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.449928
2025-01-09T00:52:33.990Z,1736383953.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:34.023Z,1736383954.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504108 s,
      deltaX: 0.300000 m,
      approachRate: 0.595111 m/s,
      rangeRepo size: 4

2025-01-09T00:52:34.036Z,1736383954.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 185.771078 deg,
      lat: 36.903996 deg,
      lon: -122.118940 deg,
      deltaT: 0.504108 s,
      deltaX: 0.300000 m,
      approachRate: 0.595111 m/s,
      posRepo size: 4

2025-01-09T00:52:34.088Z,1736383954.088 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.684299
2025-01-09T00:52:34.095Z,1736383954.095 [DockingStepper](INFO): Stopping
2025-01-09T00:52:34.341Z,1736383954.341 [DAT](INFO): DAT read: Rx Time:00:52:33.2643 

2025-01-09T00:52:34.341Z,1736383954.341 [DAT](INFO): Rx dataTimestamp_ set to:1736383954.341086
2025-01-09T00:52:34.343Z,1736383954.343 [DAT](INFO): DAT read: Bearing 145.6, -38.1 (Local)

2025-01-09T00:52:34.343Z,1736383954.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.6, -38.1 (Local)

2025-01-09T00:52:34.345Z,1736383954.345 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:34.350Z,1736383954.350 [DAT](INFO): DAT read: 00:52:33.2643 LVL= 12240, 13681,  9394, 13139, AGC= 27, IDX= 508, 0.04, 2.411, 2.963, 1.518,-3.086, PHS=-0.698,-0.187,-1.682, RAW=  10.4,  34.6, CAL=   4.4,  38.1, ROT= 145.6, -38.1

2025-01-09T00:52:34.352Z,1736383954.352 [DAT](INFO): got valid direction response:
 00:52:33.2643 LVL= 12240, 13681,  9394, 13139, AGC= 27, IDX= 508, 0.04, 2.411, 2.963, 1.518,-3.086, PHS=-0.698,-0.187,-1.682, RAW=  10.4,  34.6, CAL=   4.4,  38.1, ROT= 145.6, -38.1

2025-01-09T00:52:34.352Z,1736383954.352 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-01-09T00:52:34.353Z,1736383954.353 [DAT](INFO): direction in FSK: [-0.649311,0.444592,0.617036]
2025-01-09T00:52:34.354Z,1736383954.354 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:34.366Z,1736383954.366 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.961720
2025-01-09T00:52:34.482Z,1736383954.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:34.545Z,1736383954.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503878 s,
      deltaX: -0.100000 m,
      approachRate: -0.198461 m/s,
      rangeRepo size: 4

2025-01-09T00:52:34.556Z,1736383954.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 185.131177 deg,
      lat: 36.903997 deg,
      lon: -122.118940 deg,
      deltaT: 0.503878 s,
      deltaX: -0.100000 m,
      approachRate: -0.198461 m/s,
      posRepo size: 4

2025-01-09T00:52:34.592Z,1736383954.592 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.188271
2025-01-09T00:52:34.595Z,1736383954.595 [DockingStepper](INFO): Stopping
2025-01-09T00:52:34.833Z,1736383954.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:34.845Z,1736383954.845 [DAT](INFO): DAT read: Rx Time:00:52:33.7644 

2025-01-09T00:52:34.845Z,1736383954.845 [DAT](INFO): Rx dataTimestamp_ set to:1736383954.845121
2025-01-09T00:52:34.847Z,1736383954.847 [DAT](INFO): DAT read: Bearing 140.4, -39.6 (Local)

2025-01-09T00:52:34.847Z,1736383954.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.4, -39.6 (Local)

2025-01-09T00:52:34.849Z,1736383954.849 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:52:34.855Z,1736383954.855 [DAT](INFO): DAT read: 00:52:33.7644 LVL= 16224, 13761,  9714, 14179, AGC= 27, IDX= 509, 0.09,-2.569,-2.171, 2.729,-1.844, PHS=-0.637,-0.280,-1.713, RAW=  16.2,  35.7, CAL=   9.6,  39.6, ROT= 140.4, -39.6

2025-01-09T00:52:34.856Z,1736383954.856 [DAT](INFO): got valid direction response:
 00:52:33.7644 LVL= 16224, 13761,  9714, 14179, AGC= 27, IDX= 509, 0.09,-2.569,-2.171, 2.729,-1.844, PHS=-0.637,-0.280,-1.713, RAW=  16.2,  35.7, CAL=   9.6,  39.6, ROT= 140.4, -39.6

2025-01-09T00:52:34.856Z,1736383954.856 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-01-09T00:52:34.857Z,1736383954.857 [DAT](INFO): direction in FSK: [-0.593691,0.491144,0.637424]
2025-01-09T00:52:34.857Z,1736383954.857 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:34.861Z,1736383954.861 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.456646
2025-01-09T00:52:34.880Z,1736383954.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504035 s,
      deltaX: 0.100000 m,
      approachRate: 0.198399 m/s,
      rangeRepo size: 4

2025-01-09T00:52:34.882Z,1736383954.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 179.974287 deg,
      lat: 36.903996 deg,
      lon: -122.118940 deg,
      deltaT: 0.504035 s,
      deltaX: 0.100000 m,
      approachRate: 0.198399 m/s,
      posRepo size: 4

2025-01-09T00:52:34.927Z,1736383954.927 [DockingStepper](INFO): Stopping
2025-01-09T00:52:35.097Z,1736383955.097 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.692871
2025-01-09T00:52:35.327Z,1736383955.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:35.337Z,1736383955.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:35.349Z,1736383955.349 [DAT](INFO): DAT read: Rx Time:00:52:34.2643 

2025-01-09T00:52:35.349Z,1736383955.349 [DAT](INFO): Rx dataTimestamp_ set to:1736383955.349115
2025-01-09T00:52:35.352Z,1736383955.352 [DAT](INFO): DAT read: Bearing 143.1, -38.7 (Local)

2025-01-09T00:52:35.352Z,1736383955.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.1, -38.7 (Local)

2025-01-09T00:52:35.354Z,1736383955.354 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:35.359Z,1736383955.359 [DAT](INFO): DAT read: 00:52:34.2643 LVL= 14816, 13105,  9970, 16595, AGC= 27, IDX= 508, 0.12, 3.013,-2.803, 2.098,-2.534, PHS=-0.648,-0.222,-1.654, RAW=  13.2,  35.0, CAL=   6.9,  38.7, ROT= 143.1, -38.7

2025-01-09T00:52:35.360Z,1736383955.360 [DAT](INFO): got valid direction response:
 00:52:34.2643 LVL= 14816, 13105,  9970, 16595, AGC= 27, IDX= 508, 0.12, 3.013,-2.803, 2.098,-2.534, PHS=-0.648,-0.222,-1.654, RAW=  13.2,  35.0, CAL=   6.9,  38.7, ROT= 143.1, -38.7

2025-01-09T00:52:35.361Z,1736383955.361 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-01-09T00:52:35.362Z,1736383955.362 [DAT](INFO): direction in FSK: [-0.624098,0.468586,0.625243]
2025-01-09T00:52:35.362Z,1736383955.362 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:35.385Z,1736383955.385 [DockingStepper](INFO): Stopping
2025-01-09T00:52:35.396Z,1736383955.396 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.991898
2025-01-09T00:52:35.601Z,1736383955.601 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.196770
2025-01-09T00:52:35.640Z,1736383955.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:35.656Z,1736383955.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503994 s,
      deltaX: -0.100000 m,
      approachRate: -0.198415 m/s,
      rangeRepo size: 4

2025-01-09T00:52:35.659Z,1736383955.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 181.829894 deg,
      lat: 36.903997 deg,
      lon: -122.118939 deg,
      deltaT: 0.503994 s,
      deltaX: -0.100000 m,
      approachRate: -0.198415 m/s,
      posRepo size: 4

2025-01-09T00:52:35.695Z,1736383955.695 [DockingStepper](INFO): Stopping
2025-01-09T00:52:35.853Z,1736383955.853 [DAT](INFO): DAT read: Rx Time:00:52:34.7643 

2025-01-09T00:52:35.853Z,1736383955.853 [DAT](INFO): Rx dataTimestamp_ set to:1736383955.853163
2025-01-09T00:52:35.855Z,1736383955.855 [DAT](INFO): DAT read: Bearing 142.1, -38.5 (Local)

2025-01-09T00:52:35.855Z,1736383955.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.1, -38.5 (Local)

2025-01-09T00:52:35.857Z,1736383955.857 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:35.866Z,1736383955.866 [DAT](INFO): DAT read: 00:52:34.7643 LVL= 14928, 13425, 10034, 16643, AGC= 27, IDX= 508, 0.15, 2.827,-3.004, 1.879,-2.735, PHS=-0.633,-0.222,-1.672, RAW=  14.1,  34.6, CAL=   7.9,  38.5, ROT= 142.1, -38.5

2025-01-09T00:52:35.868Z,1736383955.868 [DAT](INFO): got valid direction response:
 00:52:34.7643 LVL= 14928, 13425, 10034, 16643, AGC= 27, IDX= 508, 0.15, 2.827,-3.004, 1.879,-2.735, PHS=-0.633,-0.222,-1.672, RAW=  14.1,  34.6, CAL=   7.9,  38.5, ROT= 142.1, -38.5

2025-01-09T00:52:35.869Z,1736383955.869 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-01-09T00:52:35.870Z,1736383955.870 [DAT](INFO): direction in FSK: [-0.617544,0.480745,0.622515]
2025-01-09T00:52:35.870Z,1736383955.870 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:35.875Z,1736383955.875 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.470379
2025-01-09T00:52:36.039Z,1736383956.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:36.057Z,1736383956.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504048 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:36.059Z,1736383956.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 180.443032 deg,
      lat: 36.903997 deg,
      lon: -122.118939 deg,
      deltaT: 0.504048 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:36.095Z,1736383956.095 [DockingStepper](INFO): Stopping
2025-01-09T00:52:36.105Z,1736383956.105 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.700809
2025-01-09T00:52:36.357Z,1736383956.357 [DAT](INFO): DAT read: Rx Time:00:52:35.2642 

2025-01-09T00:52:36.357Z,1736383956.357 [DAT](INFO): Rx dataTimestamp_ set to:1736383956.357075
2025-01-09T00:52:36.359Z,1736383956.359 [DAT](INFO): DAT read: Bearing 148.2, -36.0 (Local)

2025-01-09T00:52:36.359Z,1736383956.359 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.2, -36.0 (Local)

2025-01-09T00:52:36.361Z,1736383956.361 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:36.370Z,1736383956.370 [DAT](INFO): DAT read: 00:52:35.2642 LVL= 14576, 13937, 10018, 16547, AGC= 28, IDX= 507, 0.12, 2.779,-2.860, 1.936,-2.726, PHS=-0.690,-0.086,-1.624, RAW=   7.1,  32.3, CAL=   1.8,  36.0, ROT= 148.2, -36.0

2025-01-09T00:52:36.377Z,1736383956.377 [DAT](INFO): got valid direction response:
 00:52:35.2642 LVL= 14576, 13937, 10018, 16547, AGC= 28, IDX= 507, 0.12, 2.779,-2.860, 1.936,-2.726, PHS=-0.690,-0.086,-1.624, RAW=   7.1,  32.3, CAL=   1.8,  36.0, ROT= 148.2, -36.0

2025-01-09T00:52:36.377Z,1736383956.377 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-01-09T00:52:36.378Z,1736383956.378 [DAT](INFO): direction in FSK: [-0.687578,0.426316,0.587785]
2025-01-09T00:52:36.378Z,1736383956.378 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:36.387Z,1736383956.387 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.982597
2025-01-09T00:52:36.525Z,1736383956.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:36.557Z,1736383956.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503912 s,
      deltaX: -0.200000 m,
      approachRate: -0.396895 m/s,
      rangeRepo size: 4

2025-01-09T00:52:36.559Z,1736383956.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 186.551700 deg,
      lat: 36.903997 deg,
      lon: -122.118939 deg,
      deltaT: 0.503912 s,
      deltaX: -0.200000 m,
      approachRate: -0.396895 m/s,
      posRepo size: 4

2025-01-09T00:52:36.606Z,1736383956.606 [DockingStepper](INFO): Stopping
2025-01-09T00:52:36.608Z,1736383956.608 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.204170
2025-01-09T00:52:36.852Z,1736383956.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:36.861Z,1736383956.861 [DAT](INFO): DAT read: Rx Time:00:52:35.7643 

2025-01-09T00:52:36.862Z,1736383956.862 [DAT](INFO): Rx dataTimestamp_ set to:1736383956.861423
2025-01-09T00:52:36.863Z,1736383956.863 [DAT](INFO): DAT read: Bearing 149.3, -36.1 (Local)

2025-01-09T00:52:36.863Z,1736383956.863 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.3, -36.1 (Local)

2025-01-09T00:52:36.865Z,1736383956.865 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:36.871Z,1736383956.871 [DAT](INFO): DAT read: 00:52:35.7643 LVL= 14208, 14801, 10146, 15923, AGC= 28, IDX= 508, 0.16,-2.313,-1.642,-3.129,-1.510, PHS=-0.715,-0.086,-1.622, RAW=   6.0,  32.6, CAL=   0.7,  36.1, ROT= 149.3, -36.1

2025-01-09T00:52:36.872Z,1736383956.872 [DAT](INFO): got valid direction response:
 00:52:35.7643 LVL= 14208, 14801, 10146, 15923, AGC= 28, IDX= 508, 0.16,-2.313,-1.642,-3.129,-1.510, PHS=-0.715,-0.086,-1.622, RAW=   6.0,  32.6, CAL=   0.7,  36.1, ROT= 149.3, -36.1

2025-01-09T00:52:36.872Z,1736383956.872 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-01-09T00:52:36.873Z,1736383956.873 [DAT](INFO): direction in FSK: [-0.694752,0.412514,0.589196]
2025-01-09T00:52:36.874Z,1736383956.874 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:36.886Z,1736383956.886 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.482033
2025-01-09T00:52:36.893Z,1736383956.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504348 s,
      deltaX: 0.200000 m,
      approachRate: 0.396552 m/s,
      rangeRepo size: 4

2025-01-09T00:52:36.926Z,1736383956.926 [DockingStepper](INFO): Stopping
2025-01-09T00:52:37.114Z,1736383957.114 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.709122
2025-01-09T00:52:37.348Z,1736383957.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:37.365Z,1736383957.365 [DAT](INFO): DAT read: Rx Time:00:52:36.2642 

2025-01-09T00:52:37.365Z,1736383957.365 [DAT](INFO): Rx dataTimestamp_ set to:1736383957.365156
2025-01-09T00:52:37.368Z,1736383957.368 [DAT](INFO): DAT read: Bearing 150.7, -37.4 (Local)

2025-01-09T00:52:37.369Z,1736383957.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.7, -37.4 (Local)

2025-01-09T00:52:37.371Z,1736383957.371 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:37.376Z,1736383957.376 [DAT](INFO): DAT read: 00:52:36.2642 LVL= 12320, 14001,  9346, 13507, AGC= 27, IDX= 507, 0.20, 2.574,-3.024, 1.798,-2.848, PHS=-0.773,-0.129,-1.640, RAW=   4.9,  34.4, CAL= 359.3,  37.4, ROT= 150.7, -37.4

2025-01-09T00:52:37.377Z,1736383957.377 [DAT](INFO): got valid direction response:
 00:52:36.2642 LVL= 12320, 14001,  9346, 13507, AGC= 27, IDX= 507, 0.20, 2.574,-3.024, 1.798,-2.848, PHS=-0.773,-0.129,-1.640, RAW=   4.9,  34.4, CAL= 359.3,  37.4, ROT= 150.7, -37.4

2025-01-09T00:52:37.378Z,1736383957.378 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-01-09T00:52:37.379Z,1736383957.379 [DAT](INFO): direction in FSK: [-0.692785,0.388773,0.607376]
2025-01-09T00:52:37.379Z,1736383957.379 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:37.382Z,1736383957.382 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.978241
2025-01-09T00:52:37.409Z,1736383957.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503733 s,
      deltaX: -0.200000 m,
      approachRate: -0.397036 m/s,
      rangeRepo size: 4

2025-01-09T00:52:37.411Z,1736383957.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 187.612699 deg,
      lat: 36.903997 deg,
      lon: -122.118939 deg,
      deltaT: 1.008081 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:37.454Z,1736383957.454 [DockingStepper](INFO): Stopping
2025-01-09T00:52:37.628Z,1736383957.628 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.224277
2025-01-09T00:52:37.664Z,1736383957.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:37.683Z,1736383957.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:37.721Z,1736383957.721 [DockingStepper](INFO): Stopping
2025-01-09T00:52:37.877Z,1736383957.877 [DAT](INFO): DAT read: Rx Time:00:52:36.7643 

2025-01-09T00:52:37.877Z,1736383957.877 [DAT](INFO): Rx dataTimestamp_ set to:1736383957.877108
2025-01-09T00:52:37.879Z,1736383957.879 [DAT](INFO): DAT read: Bearing 151.4, -37.0 (Local)

2025-01-09T00:52:37.879Z,1736383957.879 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.4, -37.0 (Local)

2025-01-09T00:52:37.881Z,1736383957.881 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:37.889Z,1736383957.889 [DAT](INFO): DAT read: 00:52:36.7643 LVL= 13280, 16305, 10738, 14499, AGC= 28, IDX= 508, 0.23,-2.089,-1.373,-2.859,-1.218, PHS=-0.783,-0.108,-1.644, RAW=   4.0,  33.9, CAL= 358.6,  37.0, ROT= 151.4, -37.0

2025-01-09T00:52:37.890Z,1736383957.890 [DAT](INFO): got valid direction response:
 00:52:36.7643 LVL= 13280, 16305, 10738, 14499, AGC= 28, IDX= 508, 0.23,-2.089,-1.373,-2.859,-1.218, PHS=-0.783,-0.108,-1.644, RAW=   4.0,  33.9, CAL= 358.6,  37.0, ROT= 151.4, -37.0

2025-01-09T00:52:37.891Z,1736383957.891 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-01-09T00:52:37.892Z,1736383957.892 [DAT](INFO): direction in FSK: [-0.701188,0.382300,0.601815]
2025-01-09T00:52:37.893Z,1736383957.893 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:37.896Z,1736383957.896 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.491901
2025-01-09T00:52:38.053Z,1736383958.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:38.088Z,1736383958.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.511952 s,
      deltaX: 0.200000 m,
      approachRate: 0.390662 m/s,
      rangeRepo size: 4

2025-01-09T00:52:38.090Z,1736383958.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 187.426631 deg,
      lat: 36.903997 deg,
      lon: -122.118939 deg,
      deltaT: 0.511952 s,
      deltaX: 0.200000 m,
      approachRate: 0.390662 m/s,
      posRepo size: 4

2025-01-09T00:52:38.102Z,1736383958.102 [DockingStepper](INFO): Stopping
2025-01-09T00:52:38.130Z,1736383958.130 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.725662
2025-01-09T00:52:38.381Z,1736383958.381 [DAT](INFO): DAT read: Rx Time:00:52:37.2643 

2025-01-09T00:52:38.381Z,1736383958.381 [DAT](INFO): Rx dataTimestamp_ set to:1736383958.381040
2025-01-09T00:52:38.383Z,1736383958.383 [DAT](INFO): DAT read: Bearing 151.6, -37.4 (Local)

2025-01-09T00:52:38.383Z,1736383958.383 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.6, -37.4 (Local)

2025-01-09T00:52:38.386Z,1736383958.386 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:38.391Z,1736383958.391 [DAT](INFO): DAT read: 00:52:37.2643 LVL= 12976, 16673, 10962, 14067, AGC= 28, IDX= 507, 0.30, 2.877,-2.688, 2.109,-2.516, PHS=-0.802,-0.124,-1.660, RAW=   3.9,  34.4, CAL= 358.4,  37.4, ROT= 151.6, -37.4

2025-01-09T00:52:38.392Z,1736383958.392 [DAT](INFO): got valid direction response:
 00:52:37.2643 LVL= 12976, 16673, 10962, 14067, AGC= 28, IDX= 507, 0.30, 2.877,-2.688, 2.109,-2.516, PHS=-0.802,-0.124,-1.660, RAW=   3.9,  34.4, CAL= 358.4,  37.4, ROT= 151.6, -37.4

2025-01-09T00:52:38.392Z,1736383958.392 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-01-09T00:52:38.393Z,1736383958.393 [DAT](INFO): direction in FSK: [-0.698806,0.377843,0.607376]
2025-01-09T00:52:38.394Z,1736383958.394 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:38.397Z,1736383958.397 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.993130
2025-01-09T00:52:38.569Z,1736383958.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:38.605Z,1736383958.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503932 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:38.607Z,1736383958.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 187.197767 deg,
      lat: 36.903997 deg,
      lon: -122.118939 deg,
      deltaT: 0.503932 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:38.633Z,1736383958.633 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.228443
2025-01-09T00:52:38.676Z,1736383958.676 [DockingStepper](INFO): Stopping
2025-01-09T00:52:38.881Z,1736383958.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:38.886Z,1736383958.886 [DAT](INFO): DAT read: Rx Time:00:52:37.7643 

2025-01-09T00:52:38.886Z,1736383958.886 [DAT](INFO): Rx dataTimestamp_ set to:1736383958.885761
2025-01-09T00:52:38.887Z,1736383958.887 [DAT](INFO): DAT read: Bearing 150.9, -38.6 (Local)

2025-01-09T00:52:38.888Z,1736383958.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.9, -38.6 (Local)

2025-01-09T00:52:38.890Z,1736383958.890 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:38.895Z,1736383958.895 [DAT](INFO): DAT read: 00:52:37.7643 LVL= 11408, 15073,  9842, 12691, AGC= 27, IDX= 507, 0.41, 2.046, 2.720, 1.275, 2.943, PHS=-0.809,-0.176,-1.671, RAW=   5.0,  35.8, CAL= 359.1,  38.6, ROT= 150.9, -38.6

2025-01-09T00:52:38.897Z,1736383958.897 [DAT](INFO): got valid direction response:
 00:52:37.7643 LVL= 11408, 15073,  9842, 12691, AGC= 27, IDX= 507, 0.41, 2.046, 2.720, 1.275, 2.943, PHS=-0.809,-0.176,-1.671, RAW=   5.0,  35.8, CAL= 359.1,  38.6, ROT= 150.9, -38.6

2025-01-09T00:52:38.897Z,1736383958.897 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-01-09T00:52:38.898Z,1736383958.898 [DAT](INFO): direction in FSK: [-0.682871,0.380081,0.623880]
2025-01-09T00:52:38.898Z,1736383958.898 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:38.902Z,1736383958.902 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.498096
2025-01-09T00:52:38.923Z,1736383958.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504721 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:38.929Z,1736383958.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 186.106290 deg,
      lat: 36.903997 deg,
      lon: -122.118939 deg,
      deltaT: 0.504721 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:38.970Z,1736383958.970 [DockingStepper](INFO): Stopping
2025-01-09T00:52:39.138Z,1736383959.138 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.733330
2025-01-09T00:52:39.325Z,1736383959.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:39.389Z,1736383959.389 [DAT](INFO): DAT read: Rx Time:00:52:38.2642 

2025-01-09T00:52:39.389Z,1736383959.389 [DAT](INFO): Rx dataTimestamp_ set to:1736383959.389225
2025-01-09T00:52:39.391Z,1736383959.391 [DAT](INFO): DAT read: Bearing 149.8, -37.6 (Local)

2025-01-09T00:52:39.391Z,1736383959.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.8, -37.6 (Local)

2025-01-09T00:52:39.393Z,1736383959.393 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:39.398Z,1736383959.398 [DAT](INFO): DAT read: 00:52:38.2642 LVL= 12784, 16593, 10914, 14067, AGC= 28, IDX= 506, 0.48, 0.763, 1.438,-0.056, 1.630, PHS=-0.779,-0.145,-1.688, RAW=   5.9,  34.5, CAL=   0.2,  37.6, ROT= 149.8, -37.6

2025-01-09T00:52:39.399Z,1736383959.399 [DAT](INFO): got valid direction response:
 00:52:38.2642 LVL= 12784, 16593, 10914, 14067, AGC= 28, IDX= 506, 0.48, 0.763, 1.438,-0.056, 1.630, PHS=-0.779,-0.145,-1.688, RAW=   5.9,  34.5, CAL=   0.2,  37.6, ROT= 149.8, -37.6

2025-01-09T00:52:39.400Z,1736383959.400 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-01-09T00:52:39.401Z,1736383959.401 [DAT](INFO): direction in FSK: [-0.684756,0.398537,0.610145]
2025-01-09T00:52:39.402Z,1736383959.402 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:39.405Z,1736383959.405 [DockingStepper](INFO): Stopping
2025-01-09T00:52:39.412Z,1736383959.412 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.007923
2025-01-09T00:52:39.641Z,1736383959.641 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.236485
2025-01-09T00:52:39.685Z,1736383959.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:39.729Z,1736383959.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503464 s,
      deltaX: -0.200000 m,
      approachRate: -0.397248 m/s,
      rangeRepo size: 4

2025-01-09T00:52:39.744Z,1736383959.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 184.354861 deg,
      lat: 36.903997 deg,
      lon: -122.118939 deg,
      deltaT: 0.503464 s,
      deltaX: -0.200000 m,
      approachRate: -0.397248 m/s,
      posRepo size: 4

2025-01-09T00:52:39.852Z,1736383959.852 [DockingStepper](INFO): Stopping
2025-01-09T00:52:39.893Z,1736383959.893 [DAT](INFO): DAT read: Rx Time:00:52:38.7643 

2025-01-09T00:52:39.893Z,1736383959.893 [DAT](INFO): Rx dataTimestamp_ set to:1736383959.893132
2025-01-09T00:52:39.895Z,1736383959.895 [DAT](INFO): DAT read: Bearing 145.9, -39.5 (Local)

2025-01-09T00:52:39.895Z,1736383959.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.9, -39.5 (Local)

2025-01-09T00:52:39.897Z,1736383959.897 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:39.902Z,1736383959.902 [DAT](INFO): DAT read: 00:52:38.7643 LVL= 11568, 14625,  9826, 13075, AGC= 27, IDX= 508,-0.35,-0.049, 0.493,-0.933, 0.780, PHS=-0.741,-0.240,-1.717, RAW=  10.5,  36.2, CAL=   4.1,  39.5, ROT= 145.9, -39.5

2025-01-09T00:52:39.904Z,1736383959.904 [DAT](INFO): got valid direction response:
 00:52:38.7643 LVL= 11568, 14625,  9826, 13075, AGC= 27, IDX= 508,-0.35,-0.049, 0.493,-0.933, 0.780, PHS=-0.741,-0.240,-1.717, RAW=  10.5,  36.2, CAL=   4.1,  39.5, ROT= 145.9, -39.5

2025-01-09T00:52:39.904Z,1736383959.904 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-01-09T00:52:39.905Z,1736383959.905 [DAT](INFO): direction in FSK: [-0.638952,0.432603,0.636078]
2025-01-09T00:52:39.906Z,1736383959.906 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:39.909Z,1736383959.909 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.505032
2025-01-09T00:52:40.083Z,1736383960.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:40.100Z,1736383960.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503907 s,
      deltaX: 0.200000 m,
      approachRate: 0.396899 m/s,
      rangeRepo size: 4

2025-01-09T00:52:40.102Z,1736383960.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 180.153027 deg,
      lat: 36.903997 deg,
      lon: -122.118939 deg,
      deltaT: 0.503907 s,
      deltaX: 0.200000 m,
      approachRate: 0.396899 m/s,
      posRepo size: 4

2025-01-09T00:52:40.136Z,1736383960.136 [DockingStepper](INFO): Stopping
2025-01-09T00:52:40.146Z,1736383960.146 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.741447
2025-01-09T00:52:40.397Z,1736383960.397 [DAT](INFO): DAT read: Rx Time:00:52:39.2642 

2025-01-09T00:52:40.397Z,1736383960.397 [DAT](INFO): Rx dataTimestamp_ set to:1736383960.397016
2025-01-09T00:52:40.399Z,1736383960.399 [DAT](INFO): DAT read: Bearing 144.7, -38.7 (Local)

2025-01-09T00:52:40.399Z,1736383960.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.7, -38.7 (Local)

2025-01-09T00:52:40.402Z,1736383960.402 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:40.406Z,1736383960.406 [DAT](INFO): DAT read: 00:52:39.2642 LVL= 13008, 15969, 10770, 14419, AGC= 28, IDX= 507,-0.29,-1.375,-0.849,-2.301,-0.582, PHS=-0.705,-0.219,-1.721, RAW=  11.5,  35.2, CAL=   5.3,  38.7, ROT= 144.7, -38.7

2025-01-09T00:52:40.407Z,1736383960.407 [DAT](INFO): got valid direction response:
 00:52:39.2642 LVL= 13008, 15969, 10770, 14419, AGC= 28, IDX= 507,-0.29,-1.375,-0.849,-2.301,-0.582, PHS=-0.705,-0.219,-1.721, RAW=  11.5,  35.2, CAL=   5.3,  38.7, ROT= 144.7, -38.7

2025-01-09T00:52:40.408Z,1736383960.408 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-01-09T00:52:40.409Z,1736383960.409 [DAT](INFO): direction in FSK: [-0.636939,0.450978,0.625243]
2025-01-09T00:52:40.409Z,1736383960.409 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:40.412Z,1736383960.412 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.008320
2025-01-09T00:52:40.551Z,1736383960.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:40.580Z,1736383960.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503884 s,
      deltaX: -0.200000 m,
      approachRate: -0.396917 m/s,
      rangeRepo size: 4

2025-01-09T00:52:40.582Z,1736383960.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 179.021536 deg,
      lat: 36.903997 deg,
      lon: -122.118939 deg,
      deltaT: 0.503884 s,
      deltaX: -0.200000 m,
      approachRate: -0.396917 m/s,
      posRepo size: 4

2025-01-09T00:52:40.612Z,1736383960.612 [DockingStepper](INFO): Stopping
2025-01-09T00:52:40.648Z,1736383960.648 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.244251
2025-01-09T00:52:40.885Z,1736383960.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:40.892Z,1736383960.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:40.902Z,1736383960.902 [DAT](INFO): DAT read: Rx Time:00:52:39.7643 

2025-01-09T00:52:40.902Z,1736383960.902 [DAT](INFO): Rx dataTimestamp_ set to:1736383960.901799
2025-01-09T00:52:40.904Z,1736383960.904 [DAT](INFO): DAT read: Bearing 144.2, -39.3 (Local)

2025-01-09T00:52:40.904Z,1736383960.904 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.2, -39.3 (Local)

2025-01-09T00:52:40.906Z,1736383960.906 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:40.911Z,1736383960.911 [DAT](INFO): DAT read: 00:52:39.7643 LVL= 11808, 14193,  9650, 13219, AGC= 27, IDX= 508,-0.19,-0.186, 0.316,-1.108, 0.607, PHS=-0.705,-0.243,-1.718, RAW=  12.2,  35.8, CAL=   5.8,  39.3, ROT= 144.2, -39.3

2025-01-09T00:52:40.912Z,1736383960.912 [DAT](INFO): got valid direction response:
 00:52:39.7643 LVL= 11808, 14193,  9650, 13219, AGC= 27, IDX= 508,-0.19,-0.186, 0.316,-1.108, 0.607, PHS=-0.705,-0.243,-1.718, RAW=  12.2,  35.8, CAL=   5.8,  39.3, ROT= 144.2, -39.3

2025-01-09T00:52:40.912Z,1736383960.912 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-01-09T00:52:40.913Z,1736383960.913 [DAT](INFO): direction in FSK: [-0.627634,0.452664,0.633381]
2025-01-09T00:52:40.913Z,1736383960.913 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:40.918Z,1736383960.918 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.513618
2025-01-09T00:52:40.946Z,1736383960.946 [DockingStepper](INFO): Stopping
2025-01-09T00:52:41.152Z,1736383961.152 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.748066
2025-01-09T00:52:41.352Z,1736383961.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:41.385Z,1736383961.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504783 s,
      deltaX: 0.200000 m,
      approachRate: 0.396210 m/s,
      rangeRepo size: 4

2025-01-09T00:52:41.391Z,1736383961.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 177.327345 deg,
      lat: 36.903997 deg,
      lon: -122.118939 deg,
      deltaT: 0.504783 s,
      deltaX: 0.200000 m,
      approachRate: 0.396210 m/s,
      posRepo size: 4

2025-01-09T00:52:41.405Z,1736383961.405 [DAT](INFO): DAT read: Rx Time:00:52:40.2642 

2025-01-09T00:52:41.406Z,1736383961.406 [DAT](INFO): Rx dataTimestamp_ set to:1736383961.405439
2025-01-09T00:52:41.407Z,1736383961.407 [DAT](INFO): DAT read: Bearing 144.3, -38.6 (Local)

2025-01-09T00:52:41.407Z,1736383961.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.3, -38.6 (Local)

2025-01-09T00:52:41.409Z,1736383961.409 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:41.414Z,1736383961.414 [DAT](INFO): DAT read: 00:52:40.2642 LVL= 13104, 16081, 10690, 14499, AGC= 28, IDX= 507,-0.14,-1.465,-0.946,-2.401,-0.681, PHS=-0.696,-0.218,-1.723, RAW=  11.9,  35.0, CAL=   5.7,  38.6, ROT= 144.3, -38.6

2025-01-09T00:52:41.416Z,1736383961.416 [DAT](INFO): got valid direction response:
 00:52:40.2642 LVL= 13104, 16081, 10690, 14499, AGC= 28, IDX= 507,-0.14,-1.465,-0.946,-2.401,-0.681, PHS=-0.696,-0.218,-1.723, RAW=  11.9,  35.0, CAL=   5.7,  38.6, ROT= 144.3, -38.6

2025-01-09T00:52:41.416Z,1736383961.416 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-01-09T00:52:41.418Z,1736383961.418 [DAT](INFO): direction in FSK: [-0.634660,0.456049,0.623880]
2025-01-09T00:52:41.418Z,1736383961.418 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:41.422Z,1736383961.422 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.017948
2025-01-09T00:52:41.435Z,1736383961.435 [DockingStepper](INFO): Stopping
2025-01-09T00:52:41.657Z,1736383961.657 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.252953
2025-01-09T00:52:41.710Z,1736383961.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:41.796Z,1736383961.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503640 s,
      deltaX: -0.200000 m,
      approachRate: -0.397109 m/s,
      rangeRepo size: 4

2025-01-09T00:52:41.798Z,1736383961.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 176.987825 deg,
      lat: 36.903998 deg,
      lon: -122.118939 deg,
      deltaT: 0.503640 s,
      deltaX: -0.200000 m,
      approachRate: -0.397109 m/s,
      posRepo size: 4

2025-01-09T00:52:41.874Z,1736383961.874 [DockingStepper](INFO): Stopping
2025-01-09T00:52:41.909Z,1736383961.909 [DAT](INFO): DAT read: Rx Time:00:52:40.7643 

2025-01-09T00:52:41.910Z,1736383961.910 [DAT](INFO): Rx dataTimestamp_ set to:1736383961.909660
2025-01-09T00:52:41.911Z,1736383961.911 [DAT](INFO): DAT read: Bearing 144.2, -39.8 (Local)

2025-01-09T00:52:41.912Z,1736383961.912 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.2, -39.8 (Local)

2025-01-09T00:52:41.914Z,1736383961.914 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:41.919Z,1736383961.919 [DAT](INFO): DAT read: 00:52:40.7643 LVL= 11632, 15153,  9714, 12995, AGC= 27, IDX= 508,-0.09,-0.388, 0.111,-1.317, 0.422, PHS=-0.722,-0.264,-1.742, RAW=  12.4,  36.4, CAL=   5.8,  39.8, ROT= 144.2, -39.8

2025-01-09T00:52:41.923Z,1736383961.923 [DAT](INFO): got valid direction response:
 00:52:40.7643 LVL= 11632, 15153,  9714, 12995, AGC= 27, IDX= 508,-0.09,-0.388, 0.111,-1.317, 0.422, PHS=-0.722,-0.264,-1.742, RAW=  12.4,  36.4, CAL=   5.8,  39.8, ROT= 144.2, -39.8

2025-01-09T00:52:41.925Z,1736383961.925 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-01-09T00:52:41.939Z,1736383961.939 [DAT](INFO): direction in FSK: [-0.623127,0.449413,0.640110]
2025-01-09T00:52:41.940Z,1736383961.940 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:41.943Z,1736383961.943 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.538700
2025-01-09T00:52:42.107Z,1736383962.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:42.124Z,1736383962.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504221 s,
      deltaX: 0.200000 m,
      approachRate: 0.396651 m/s,
      rangeRepo size: 4

2025-01-09T00:52:42.128Z,1736383962.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 176.340663 deg,
      lat: 36.903997 deg,
      lon: -122.118939 deg,
      deltaT: 0.504221 s,
      deltaX: 0.200000 m,
      approachRate: 0.396651 m/s,
      posRepo size: 4

2025-01-09T00:52:42.141Z,1736383962.141 [DockingStepper](INFO): Stopping
2025-01-09T00:52:42.161Z,1736383962.161 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.756462
2025-01-09T00:52:42.413Z,1736383962.413 [DAT](INFO): DAT read: Rx Time:00:52:41.2642 

2025-01-09T00:52:42.413Z,1736383962.413 [DAT](INFO): Rx dataTimestamp_ set to:1736383962.413089
2025-01-09T00:52:42.415Z,1736383962.415 [DAT](INFO): DAT read: Bearing 145.9, -39.5 (Local)

2025-01-09T00:52:42.415Z,1736383962.415 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.9, -39.5 (Local)

2025-01-09T00:52:42.419Z,1736383962.419 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:42.424Z,1736383962.424 [DAT](INFO): DAT read: 00:52:41.2642 LVL= 12592, 17681, 10930, 13891, AGC= 28, IDX= 507,-0.07,-1.199,-0.646,-2.105,-0.352, PHS=-0.758,-0.247,-1.756, RAW=  10.5,  36.3, CAL=   4.1,  39.5, ROT= 145.9, -39.5

2025-01-09T00:52:42.425Z,1736383962.425 [DAT](INFO): got valid direction response:
 00:52:41.2642 LVL= 12592, 17681, 10930, 13891, AGC= 28, IDX= 507,-0.07,-1.199,-0.646,-2.105,-0.352, PHS=-0.758,-0.247,-1.756, RAW=  10.5,  36.3, CAL=   4.1,  39.5, ROT= 145.9, -39.5

2025-01-09T00:52:42.425Z,1736383962.425 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-01-09T00:52:42.426Z,1736383962.426 [DAT](INFO): direction in FSK: [-0.638952,0.432603,0.636078]
2025-01-09T00:52:42.427Z,1736383962.427 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:42.430Z,1736383962.430 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.025894
2025-01-09T00:52:42.594Z,1736383962.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:42.623Z,1736383962.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503429 s,
      deltaX: -0.200000 m,
      approachRate: -0.397275 m/s,
      rangeRepo size: 4

2025-01-09T00:52:42.633Z,1736383962.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 178.015325 deg,
      lat: 36.903998 deg,
      lon: -122.118939 deg,
      deltaT: 0.503429 s,
      deltaX: -0.200000 m,
      approachRate: -0.397275 m/s,
      posRepo size: 4

2025-01-09T00:52:42.665Z,1736383962.665 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.260956
2025-01-09T00:52:42.694Z,1736383962.694 [DockingStepper](INFO): Stopping
2025-01-09T00:52:42.908Z,1736383962.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:42.914Z,1736383962.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:42.918Z,1736383962.918 [DAT](INFO): DAT read: Rx Time:00:52:41.7642 

2025-01-09T00:52:42.918Z,1736383962.918 [DAT](INFO): Rx dataTimestamp_ set to:1736383962.918099
2025-01-09T00:52:42.920Z,1736383962.920 [DAT](INFO): DAT read: Bearing 146.4, -39.5 (Local)

2025-01-09T00:52:42.920Z,1736383962.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.4, -39.5 (Local)

2025-01-09T00:52:42.922Z,1736383962.922 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:42.927Z,1736383962.927 [DAT](INFO): DAT read: 00:52:41.7642 LVL= 12112, 18529, 11298, 13667, AGC= 28, IDX= 507,-0.04,-1.421,-0.842,-2.339,-0.547, PHS=-0.787,-0.249,-1.795, RAW=  10.0,  36.4, CAL=   3.6,  39.5, ROT= 146.4, -39.5

2025-01-09T00:52:42.928Z,1736383962.928 [DAT](INFO): got valid direction response:
 00:52:41.7642 LVL= 12112, 18529, 11298, 13667, AGC= 28, IDX= 507,-0.04,-1.421,-0.842,-2.339,-0.547, PHS=-0.787,-0.249,-1.795, RAW=  10.0,  36.4, CAL=   3.6,  39.5, ROT= 146.4, -39.5

2025-01-09T00:52:42.928Z,1736383962.928 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-01-09T00:52:42.929Z,1736383962.929 [DAT](INFO): direction in FSK: [-0.642702,0.427011,0.636078]
2025-01-09T00:52:42.930Z,1736383962.930 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:42.934Z,1736383962.934 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.529736
2025-01-09T00:52:42.937Z,1736383962.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.505010 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:42.990Z,1736383962.990 [DockingStepper](INFO): Stopping
2025-01-09T00:52:43.169Z,1736383963.169 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.765282
2025-01-09T00:52:43.402Z,1736383963.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:43.421Z,1736383963.421 [DAT](INFO): DAT read: Rx Time:00:52:42.2641 

2025-01-09T00:52:43.421Z,1736383963.421 [DAT](INFO): Rx dataTimestamp_ set to:1736383963.421118
2025-01-09T00:52:43.423Z,1736383963.423 [DAT](INFO): DAT read: Bearing 147.9, -39.5 (Local)

2025-01-09T00:52:43.423Z,1736383963.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.9, -39.5 (Local)

2025-01-09T00:52:43.425Z,1736383963.425 [DAT](INFO): DAT read: Range 10 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-01-09T00:52:43.435Z,1736383963.435 [DAT](INFO): DAT read: 00:52:42.2641 LVL= 12864, 21649, 13154, 14003, AGC= 29, IDX= 506,-0.04,-2.171,-1.540,-3.080,-1.250, PHS=-0.833,-0.243,-1.833, RAW=   8.5,  36.5, CAL=   2.1,  39.5, ROT= 147.9, -39.5

2025-01-09T00:52:43.437Z,1736383963.437 [DAT](INFO): got valid direction response:
 00:52:42.2641 LVL= 12864, 21649, 13154, 14003, AGC= 29, IDX= 506,-0.04,-2.171,-1.540,-3.080,-1.250, PHS=-0.833,-0.243,-1.833, RAW=   8.5,  36.5, CAL=   2.1,  39.5, ROT= 147.9, -39.5

2025-01-09T00:52:43.438Z,1736383963.438 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-01-09T00:52:43.438Z,1736383963.438 [DAT](INFO): direction in FSK: [-0.653660,0.410040,0.636078]
2025-01-09T00:52:43.439Z,1736383963.439 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:43.442Z,1736383963.442 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.038174
2025-01-09T00:52:43.455Z,1736383963.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.200000 m,
      deltaT: 0.503019 s,
      deltaX: -0.100000 m,
      approachRate: -0.198800 m/s,
      rangeRepo size: 4

2025-01-09T00:52:43.465Z,1736383963.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 176.512603 deg,
      lat: 36.903998 deg,
      lon: -122.118939 deg,
      deltaT: 0.505010 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:43.527Z,1736383963.527 [DockingStepper](INFO): Stopping
2025-01-09T00:52:43.675Z,1736383963.675 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.270355
2025-01-09T00:52:43.800Z,1736383963.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:43.856Z,1736383963.856 [DockingStepper](INFO): Stopping
2025-01-09T00:52:43.925Z,1736383963.925 [DAT](INFO): DAT read: Rx Time:00:52:42.7642 

2025-01-09T00:52:43.925Z,1736383963.925 [DAT](INFO): Rx dataTimestamp_ set to:1736383963.925042
2025-01-09T00:52:43.927Z,1736383963.927 [DAT](INFO): DAT read: Bearing 150.0, -39.8 (Local)

2025-01-09T00:52:43.927Z,1736383963.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.0, -39.8 (Local)

2025-01-09T00:52:43.929Z,1736383963.929 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:43.935Z,1736383963.935 [DAT](INFO): DAT read: 00:52:42.7642 LVL= 12080, 21441, 14098, 14227, AGC= 29, IDX= 507,-0.01,-0.511, 0.174,-1.370, 0.466, PHS=-0.889,-0.246,-1.840, RAW=   6.4,  37.1, CAL= 360.0,  39.8, ROT= 150.0, -39.8

2025-01-09T00:52:43.936Z,1736383963.936 [DAT](INFO): got valid direction response:
 00:52:42.7642 LVL= 12080, 21441, 14098, 14227, AGC= 29, IDX= 507,-0.01,-0.511, 0.174,-1.370, 0.466, PHS=-0.889,-0.246,-1.840, RAW=   6.4,  37.1, CAL= 360.0,  39.8, ROT= 150.0, -39.8

2025-01-09T00:52:43.936Z,1736383963.936 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-01-09T00:52:43.937Z,1736383963.937 [DAT](INFO): direction in FSK: [-0.665353,0.384142,0.640110]
2025-01-09T00:52:43.938Z,1736383963.938 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:43.941Z,1736383963.941 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.537025
2025-01-09T00:52:44.015Z,1736383964.015 [CBIT](IMPORTANT): Beginning ground fault scan
2025-01-09T00:52:44.143Z,1736383964.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:44.161Z,1736383964.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503924 s,
      deltaX: 0.100000 m,
      approachRate: 0.198443 m/s,
      rangeRepo size: 4

2025-01-09T00:52:44.163Z,1736383964.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 178.491892 deg,
      lat: 36.903998 deg,
      lon: -122.118939 deg,
      deltaT: 1.006943 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T00:52:44.176Z,1736383964.176 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.771965
2025-01-09T00:52:44.197Z,1736383964.197 [DockingStepper](INFO): Stopping
2025-01-09T00:52:44.429Z,1736383964.429 [DAT](INFO): DAT read: Rx Time:00:52:43.2641 

2025-01-09T00:52:44.429Z,1736383964.429 [DAT](INFO): Rx dataTimestamp_ set to:1736383964.429043
2025-01-09T00:52:44.431Z,1736383964.431 [DAT](INFO): DAT read: Bearing 151.0, -40.4 (Local)

2025-01-09T00:52:44.431Z,1736383964.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.0, -40.4 (Local)

2025-01-09T00:52:44.433Z,1736383964.433 [DAT](INFO): DAT read: Range 10 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-01-09T00:52:44.439Z,1736383964.439 [DAT](INFO): DAT read: 00:52:43.2641 LVL= 11504, 21201, 15138, 14403, AGC= 29, IDX= 506, 0.01,-1.374,-0.672,-2.198,-0.364, PHS=-0.922,-0.261,-1.837, RAW=   5.3,  37.9, CAL= 359.0,  40.4, ROT= 151.0, -40.4

2025-01-09T00:52:44.440Z,1736383964.440 [DAT](INFO): got valid direction response:
 00:52:43.2641 LVL= 11504, 21201, 15138, 14403, AGC= 29, IDX= 506, 0.01,-1.374,-0.672,-2.198,-0.364, PHS=-0.922,-0.261,-1.837, RAW=   5.3,  37.9, CAL= 359.0,  40.4, ROT= 151.0, -40.4

2025-01-09T00:52:44.441Z,1736383964.441 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-01-09T00:52:44.442Z,1736383964.442 [DAT](INFO): direction in FSK: [-0.666056,0.369201,0.648120]
2025-01-09T00:52:44.442Z,1736383964.442 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:44.449Z,1736383964.449 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.044754
2025-01-09T00:52:44.477Z,1736383964.477 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-09T00:52:44.479Z,1736383964.479 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-09T00:52:44.584Z,1736383964.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:44.597Z,1736383964.597 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:44.608Z,1736383964.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.200000 m,
      deltaT: 0.504001 s,
      deltaX: -0.100000 m,
      approachRate: -0.198412 m/s,
      rangeRepo size: 4

2025-01-09T00:52:44.636Z,1736383964.636 [DockingStepper](INFO): Stopping
2025-01-09T00:52:44.681Z,1736383964.681 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.276764
2025-01-09T00:52:44.933Z,1736383964.933 [DAT](INFO): DAT read: Rx Time:00:52:43.7642 

2025-01-09T00:52:44.934Z,1736383964.934 [DAT](INFO): Rx dataTimestamp_ set to:1736383964.933061
2025-01-09T00:52:44.936Z,1736383964.936 [DAT](INFO): DAT read: Bearing 151.9, -41.1 (Local)

2025-01-09T00:52:44.936Z,1736383964.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.9, -41.1 (Local)

2025-01-09T00:52:44.938Z,1736383964.938 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:44.943Z,1736383964.943 [DAT](INFO): DAT read: 00:52:43.7642 LVL= 11072, 20113, 15682, 14659, AGC= 29, IDX= 507, 0.05, 0.312, 1.032,-0.472, 1.359, PHS=-0.959,-0.280,-1.834, RAW=   4.2,  38.8, CAL= 358.1,  41.1, ROT= 151.9, -41.1

2025-01-09T00:52:44.944Z,1736383964.944 [DAT](INFO): got valid direction response:
 00:52:43.7642 LVL= 11072, 20113, 15682, 14659, AGC= 29, IDX= 507, 0.05, 0.312, 1.032,-0.472, 1.359, PHS=-0.959,-0.280,-1.834, RAW=   4.2,  38.8, CAL= 358.1,  41.1, ROT= 151.9, -41.1

2025-01-09T00:52:44.945Z,1736383964.945 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-01-09T00:52:44.945Z,1736383964.945 [DAT](INFO): direction in FSK: [-0.664738,0.354937,0.657375]
2025-01-09T00:52:44.946Z,1736383964.946 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:44.954Z,1736383964.954 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:52:44.954Z,1736383964.954 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:52:44.954Z,1736383964.954 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:52:44.992Z,1736383964.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:45.015Z,1736383965.015 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:45.019Z,1736383965.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504018 s,
      deltaX: 0.100000 m,
      approachRate: 0.198406 m/s,
      rangeRepo size: 4

2025-01-09T00:52:45.059Z,1736383965.059 [DockingStepper](INFO): Stopping
2025-01-09T00:52:45.184Z,1736383965.184 [DAT](INFO): Reached modem response timeout
2025-01-09T00:52:45.184Z,1736383965.184 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:52:45.185Z,1736383965.185 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:52:45.421Z,1736383965.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:45.437Z,1736383965.437 [DAT](INFO): DAT read: Rx Time:00:52:44.2642 

2025-01-09T00:52:45.437Z,1736383965.437 [DAT](INFO): Rx dataTimestamp_ set to:1736383965.437201
2025-01-09T00:52:45.439Z,1736383965.439 [DAT](INFO): DAT read: Bearing 151.5, -42.0 (Local)

2025-01-09T00:52:45.439Z,1736383965.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.5, -42.0 (Local)

2025-01-09T00:52:45.441Z,1736383965.441 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:45.446Z,1736383965.446 [DAT](INFO): DAT read: 00:52:44.2642 LVL= 10592, 19489, 16354, 14179, AGC= 29, IDX= 506, 0.07,-1.217,-0.518,-1.996,-0.160, PHS=-0.970,-0.311,-1.839, RAW=   4.6,  39.7, CAL= 358.5,  42.0, ROT= 151.5, -42.0

2025-01-09T00:52:45.447Z,1736383965.447 [DAT](INFO): got valid direction response:
 00:52:44.2642 LVL= 10592, 19489, 16354, 14179, AGC= 29, IDX= 506, 0.07,-1.217,-0.518,-1.996,-0.160, PHS=-0.970,-0.311,-1.839, RAW=   4.6,  39.7, CAL= 358.5,  42.0, ROT= 151.5, -42.0

2025-01-09T00:52:45.447Z,1736383965.447 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:52:45.448Z,1736383965.448 [DAT](INFO): direction in FSK: [-0.653088,0.354598,0.669131]
2025-01-09T00:52:45.449Z,1736383965.449 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:45.457Z,1736383965.457 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:52:45.458Z,1736383965.458 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:52:45.481Z,1736383965.481 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-09T00:52:45.482Z,1736383965.482 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-09T00:52:45.496Z,1736383965.496 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:45.498Z,1736383965.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504140 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:45.542Z,1736383965.542 [DockingStepper](INFO): Stopping
2025-01-09T00:52:45.689Z,1736383965.689 [DAT](INFO): Reached modem response timeout
2025-01-09T00:52:45.689Z,1736383965.689 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:52:45.690Z,1736383965.690 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:52:45.855Z,1736383965.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:45.864Z,1736383965.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:45.886Z,1736383965.886 [DockingStepper](INFO): Stopping
2025-01-09T00:52:45.941Z,1736383965.941 [DAT](INFO): DAT read: Rx Time:00:52:44.7643 

2025-01-09T00:52:45.942Z,1736383965.942 [DAT](INFO): Rx dataTimestamp_ set to:1736383965.941269
2025-01-09T00:52:45.943Z,1736383965.943 [DAT](INFO): DAT read: Bearing 152.3, -42.7 (Local)

2025-01-09T00:52:45.943Z,1736383965.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.3, -42.7 (Local)

2025-01-09T00:52:45.945Z,1736383965.945 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:45.950Z,1736383965.950 [DAT](INFO): DAT read: 00:52:44.7643 LVL= 10352, 18593, 16850, 14227, AGC= 29, IDX= 507, 0.10, 0.341, 1.052,-0.399, 1.428, PHS=-0.998,-0.329,-1.829, RAW=   3.5,  40.6, CAL= 357.7,  42.7, ROT= 152.3, -42.7

2025-01-09T00:52:45.953Z,1736383965.953 [DAT](INFO): got valid direction response:
 00:52:44.7643 LVL= 10352, 18593, 16850, 14227, AGC= 29, IDX= 507, 0.10, 0.341, 1.052,-0.399, 1.428, PHS=-0.998,-0.329,-1.829, RAW=   3.5,  40.6, CAL= 357.7,  42.7, ROT= 152.3, -42.7

2025-01-09T00:52:45.953Z,1736383965.953 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:52:45.954Z,1736383965.954 [DAT](INFO): direction in FSK: [-0.650689,0.341619,0.678160]
2025-01-09T00:52:45.955Z,1736383965.955 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:45.958Z,1736383965.958 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:52:45.958Z,1736383965.958 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:52:46.193Z,1736383966.193 [DAT](INFO): Reached modem response timeout
2025-01-09T00:52:46.193Z,1736383966.193 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:52:46.193Z,1736383966.193 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:52:46.330Z,1736383966.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:46.352Z,1736383966.352 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:46.398Z,1736383966.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504068 s,
      deltaX: 0.200000 m,
      approachRate: 0.396772 m/s,
      rangeRepo size: 4

2025-01-09T00:52:46.440Z,1736383966.440 [DockingStepper](INFO): Stopping
2025-01-09T00:52:46.446Z,1736383966.446 [DAT](INFO): DAT read: Rx Time:00:52:45.2642 

2025-01-09T00:52:46.447Z,1736383966.447 [DAT](INFO): Rx dataTimestamp_ set to:1736383966.446430
2025-01-09T00:52:46.448Z,1736383966.448 [DAT](INFO): DAT read: Bearing 151.4, -43.8 (Local)

2025-01-09T00:52:46.448Z,1736383966.448 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.4, -43.8 (Local)

2025-01-09T00:52:46.452Z,1736383966.452 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:46.457Z,1736383966.457 [DAT](INFO): DAT read: 00:52:45.2642 LVL= 10272, 18209, 16962, 14019, AGC= 27, IDX= 506, 0.14,-0.844,-0.168,-1.585, 0.243, PHS=-0.999,-0.363,-1.830, RAW=   4.4,  41.5, CAL= 358.6,  43.8, ROT= 151.4, -43.8

2025-01-09T00:52:46.459Z,1736383966.459 [DAT](INFO): got valid direction response:
 00:52:45.2642 LVL= 10272, 18209, 16962, 14019, AGC= 27, IDX= 506, 0.14,-0.844,-0.168,-1.585, 0.243, PHS=-0.999,-0.363,-1.830, RAW=   4.4,  41.5, CAL= 358.6,  43.8, ROT= 151.4, -43.8

2025-01-09T00:52:46.489Z,1736383966.489 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-09T00:52:46.491Z,1736383966.491 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-09T00:52:46.492Z,1736383966.492 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:52:46.492Z,1736383966.492 [DAT](INFO): direction in FSK: [-0.633693,0.345501,0.692143]
2025-01-09T00:52:46.493Z,1736383966.493 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:46.502Z,1736383966.502 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:52:46.502Z,1736383966.502 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:52:46.696Z,1736383966.696 [DAT](INFO): Reached modem response timeout
2025-01-09T00:52:46.697Z,1736383966.697 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:52:46.697Z,1736383966.697 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:52:46.727Z,1736383966.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:46.796Z,1736383966.796 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:46.799Z,1736383966.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.505161 s,
      deltaX: -0.200000 m,
      approachRate: -0.395913 m/s,
      rangeRepo size: 4

2025-01-09T00:52:46.826Z,1736383966.826 [DockingStepper](INFO): Stopping
2025-01-09T00:52:46.950Z,1736383966.950 [DAT](INFO): DAT read: Rx Time:00:52:45.7642 

2025-01-09T00:52:46.950Z,1736383966.950 [DAT](INFO): Rx dataTimestamp_ set to:1736383966.949824
2025-01-09T00:52:46.952Z,1736383966.952 [DAT](INFO): DAT read: Bearing 151.9, -44.7 (Local)

2025-01-09T00:52:46.952Z,1736383966.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.9, -44.7 (Local)

2025-01-09T00:52:46.954Z,1736383966.954 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:46.960Z,1736383966.960 [DAT](INFO): DAT read: 00:52:45.7642 LVL= 11152, 19873, 17090, 14707, AGC= 27, IDX= 506, 0.18,-0.390, 0.284,-1.095, 0.717, PHS=-1.018,-0.386,-1.814, RAW=   3.8,  42.5, CAL= 358.1,  44.7, ROT= 151.9, -44.7

2025-01-09T00:52:46.962Z,1736383966.962 [DAT](INFO): got valid direction response:
 00:52:45.7642 LVL= 11152, 19873, 17090, 14707, AGC= 27, IDX= 506, 0.18,-0.390, 0.284,-1.095, 0.717, PHS=-1.018,-0.386,-1.814, RAW=   3.8,  42.5, CAL= 358.1,  44.7, ROT= 151.9, -44.7

2025-01-09T00:52:46.962Z,1736383966.962 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:52:46.964Z,1736383966.964 [DAT](INFO): direction in FSK: [-0.627015,0.334795,0.703395]
2025-01-09T00:52:46.964Z,1736383966.964 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:46.968Z,1736383966.968 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:52:46.969Z,1736383966.969 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:52:47.135Z,1736383967.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:47.162Z,1736383967.162 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:47.179Z,1736383967.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503394 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:47.200Z,1736383967.200 [DAT](INFO): Reached modem response timeout
2025-01-09T00:52:47.200Z,1736383967.200 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:52:47.201Z,1736383967.201 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:52:47.220Z,1736383967.220 [DockingStepper](INFO): Stopping
2025-01-09T00:52:47.454Z,1736383967.454 [DAT](INFO): DAT read: Rx Time:00:52:46.2642 

2025-01-09T00:52:47.454Z,1736383967.454 [DAT](INFO): Rx dataTimestamp_ set to:1736383967.454109
2025-01-09T00:52:47.456Z,1736383967.456 [DAT](INFO): DAT read: Bearing 153.0, -44.2 (Local)

2025-01-09T00:52:47.457Z,1736383967.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.0, -44.2 (Local)

2025-01-09T00:52:47.476Z,1736383967.476 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:47.493Z,1736383967.493 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-09T00:52:47.494Z,1736383967.494 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-09T00:52:47.516Z,1736383967.516 [DAT](INFO): DAT read: 00:52:46.2642 LVL=  9968, 17553, 15474, 13107, AGC= 27, IDX= 505, 0.22,-1.731,-1.034,-2.410,-0.625, PHS=-1.018,-0.362,-1.788, RAW=   2.6,  42.2, CAL= 357.0,  44.2, ROT= 153.0, -44.2

2025-01-09T00:52:47.518Z,1736383967.518 [DAT](INFO): got valid direction response:
 00:52:46.2642 LVL=  9968, 17553, 15474, 13107, AGC= 27, IDX= 505, 0.22,-1.731,-1.034,-2.410,-0.625, PHS=-1.018,-0.362,-1.788, RAW=   2.6,  42.2, CAL= 357.0,  44.2, ROT= 153.0, -44.2

2025-01-09T00:52:47.518Z,1736383967.518 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:52:47.519Z,1736383967.519 [DAT](INFO): direction in FSK: [-0.638772,0.325471,0.697165]
2025-01-09T00:52:47.531Z,1736383967.531 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:47.544Z,1736383967.544 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:52:47.544Z,1736383967.544 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:52:47.629Z,1736383967.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:47.641Z,1736383967.641 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:47.647Z,1736383967.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504285 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:47.691Z,1736383967.691 [DockingStepper](INFO): Stopping
2025-01-09T00:52:47.704Z,1736383967.704 [DAT](INFO): Reached modem response timeout
2025-01-09T00:52:47.704Z,1736383967.704 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:52:47.705Z,1736383967.705 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T00:52:47.938Z,1736383967.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:47.945Z,1736383967.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:47.956Z,1736383967.956 [DAT](INFO): DAT read: user:3791>

2025-01-09T00:52:47.957Z,1736383967.957 [DAT](INFO): DAT read: 50

2025-01-09T00:52:47.957Z,1736383967.957 [DAT](INFO): unknown deviceResponse_: 50

2025-01-09T00:52:47.958Z,1736383967.958 [DAT](INFO): DAT read: Ok

2025-01-09T00:52:47.958Z,1736383967.958 [DAT](INFO): unknown deviceResponse_: Ok

2025-01-09T00:52:47.958Z,1736383967.958 [DAT](INFO): DAT read: user:3792>

2025-01-09T00:52:47.959Z,1736383967.959 [DAT](INFO): DAT read: Tx time:00:52:47.2853

2025-01-09T00:52:47.959Z,1736383967.959 [DAT](INFO): Ping request sent.
2025-01-09T00:52:47.959Z,1736383967.959 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:52:47.960Z,1736383967.960 [DAT](INFO): publishing transmit ping time
2025-01-09T00:52:47.960Z,1736383967.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-01-09T00:52:47.974Z,1736383967.974 [DockingStepper](INFO): Stopping
2025-01-09T00:52:48.208Z,1736383968.208 [DAT](INFO): DAT read: TxSync time:00:52:47.2845

2025-01-09T00:52:48.209Z,1736383968.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249542
2025-01-09T00:52:48.338Z,1736383968.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:48.364Z,1736383968.364 [DockingStepper](INFO): Stopping
2025-01-09T00:52:48.460Z,1736383968.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501055
2025-01-09T00:52:48.501Z,1736383968.501 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-09T00:52:48.503Z,1736383968.503 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-09T00:52:48.712Z,1736383968.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752711
2025-01-09T00:52:48.780Z,1736383968.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:48.825Z,1736383968.825 [DockingStepper](INFO): Stopped
2025-01-09T00:52:48.965Z,1736383968.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005127
2025-01-09T00:52:49.007Z,1736383969.007 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-01-09T00:52:49.007Z,1736383969.007 [DockingStepper] No Fault, FailCount= 4
2025-01-09T00:52:49.141Z,1736383969.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:49.162Z,1736383969.162 [DockingStepper](INFO): Start
2025-01-09T00:52:49.163Z,1736383969.163 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-09T00:52:49.179Z,1736383969.179 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-09T00:52:49.217Z,1736383969.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257185
2025-01-09T00:52:49.469Z,1736383969.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509141
2025-01-09T00:52:49.502Z,1736383969.502 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-09T00:52:49.503Z,1736383969.503 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-09T00:52:49.582Z,1736383969.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:49.642Z,1736383969.642 [DockingStepper](INFO): Starting
2025-01-09T00:52:49.722Z,1736383969.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762313
2025-01-09T00:52:49.961Z,1736383969.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:49.970Z,1736383969.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:49.972Z,1736383969.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012996
2025-01-09T00:52:49.986Z,1736383969.986 [DockingStepper](INFO): Starting
2025-01-09T00:52:50.224Z,1736383970.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264812
2025-01-09T00:52:50.366Z,1736383970.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:50.477Z,1736383970.477 [DAT](INFO): DAT read: Rx Time:00:52:49.4152 

2025-01-09T00:52:50.477Z,1736383970.477 [DAT](INFO): Rx dataTimestamp_ set to:1736383970.477155
2025-01-09T00:52:50.479Z,1736383970.479 [DAT](INFO): DAT read: Bearing 151.4, -39.7 (Local)

2025-01-09T00:52:50.479Z,1736383970.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.4, -39.7 (Local)

2025-01-09T00:52:50.481Z,1736383970.481 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:50.486Z,1736383970.486 [DAT](INFO): DAT read: 00:52:49.4152 LVL= 11456, 17569, 13170, 12227, AGC= 28, IDX= 484,-0.12, 1.775, 2.464, 0.995, 2.734, PHS=-0.870,-0.223,-1.742, RAW=   4.9,  37.2, CAL= 358.6,  39.7, ROT= 151.4, -39.7

2025-01-09T00:52:50.488Z,1736383970.488 [DAT](INFO): got valid direction response:
 00:52:49.4152 LVL= 11456, 17569, 13170, 12227, AGC= 28, IDX= 484,-0.12, 1.775, 2.464, 0.995, 2.734, PHS=-0.870,-0.223,-1.742, RAW=   4.9,  37.2, CAL= 358.6,  39.7, ROT= 151.4, -39.7

2025-01-09T00:52:50.488Z,1736383970.488 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:52:50.489Z,1736383970.489 [DAT](INFO): direction in FSK: [-0.675520,0.368305,0.638768]
2025-01-09T00:52:50.489Z,1736383970.489 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:50.497Z,1736383970.497 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.537219
2025-01-09T00:52:50.502Z,1736383970.502 [DockingStepper](INFO): Starting
2025-01-09T00:52:50.508Z,1736383970.508 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-09T00:52:50.509Z,1736383970.509 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-09T00:52:50.548Z,1736383970.548 [DockingStepper](INFO): Init string: /1z14863aE13561N3m50
2025-01-09T00:52:50.728Z,1736383970.728 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.768841
2025-01-09T00:52:50.820Z,1736383970.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:50.828Z,1736383970.828 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:50.830Z,1736383970.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 3.023046 s,
      deltaX: 0.200000 m,
      approachRate: 0.066158 m/s,
      rangeRepo size: 4

2025-01-09T00:52:50.883Z,1736383970.883 [DockingStepper](INFO): Starting
2025-01-09T00:52:50.981Z,1736383970.981 [DAT](INFO): DAT read: Rx Time:00:52:49.9151 

2025-01-09T00:52:50.981Z,1736383970.981 [DAT](INFO): Rx dataTimestamp_ set to:1736383970.981191
2025-01-09T00:52:50.983Z,1736383970.983 [DAT](INFO): DAT read: Bearing 151.0, -39.6 (Local)

2025-01-09T00:52:50.983Z,1736383970.983 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.0, -39.6 (Local)

2025-01-09T00:52:50.986Z,1736383970.986 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:50.994Z,1736383970.994 [DAT](INFO): DAT read: 00:52:49.9151 LVL= 10880, 15297, 11250, 11443, AGC= 27, IDX= 499,-0.08, 1.304, 1.971, 0.533, 2.232, PHS=-0.840,-0.214,-1.702, RAW=   5.2,  37.0, CAL= 359.0,  39.6, ROT= 151.0, -39.6

2025-01-09T00:52:51.004Z,1736383971.004 [DAT](INFO): got valid direction response:
 00:52:49.9151 LVL= 10880, 15297, 11250, 11443, AGC= 27, IDX= 499,-0.08, 1.304, 1.971, 0.533, 2.232, PHS=-0.840,-0.214,-1.702, RAW=   5.2,  37.0, CAL= 359.0,  39.6, ROT= 151.0, -39.6

2025-01-09T00:52:51.005Z,1736383971.005 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-09T00:52:51.006Z,1736383971.006 [DAT](INFO): direction in FSK: [-0.673906,0.373552,0.637424]
2025-01-09T00:52:51.006Z,1736383971.006 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:51.021Z,1736383971.021 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.061890
2025-01-09T00:52:51.197Z,1736383971.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:51.204Z,1736383971.204 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:51.207Z,1736383971.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504036 s,
      deltaX: -0.200000 m,
      approachRate: -0.396797 m/s,
      rangeRepo size: 4

2025-01-09T00:52:51.232Z,1736383971.232 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.272970
2025-01-09T00:52:51.240Z,1736383971.240 [DockingStepper](INFO): Starting
2025-01-09T00:52:51.486Z,1736383971.486 [DAT](INFO): DAT read: Rx Time:00:52:50.4151 

2025-01-09T00:52:51.486Z,1736383971.486 [DAT](INFO): Rx dataTimestamp_ set to:1736383971.485843
2025-01-09T00:52:51.488Z,1736383971.488 [DAT](INFO): DAT read: Bearing 149.4, -37.9 (Local)

2025-01-09T00:52:51.488Z,1736383971.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.4, -37.9 (Local)

2025-01-09T00:52:51.490Z,1736383971.490 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:51.495Z,1736383971.495 [DAT](INFO): DAT read: 00:52:50.4151 LVL= 12624, 16209, 11474, 13555, AGC= 28, IDX= 498,-0.05, 0.237, 0.895,-0.587, 1.101, PHS=-0.776,-0.159,-1.690, RAW=   6.4,  34.8, CAL=   0.6,  37.9, ROT= 149.4, -37.9

2025-01-09T00:52:51.496Z,1736383971.496 [DAT](INFO): got valid direction response:
 00:52:50.4151 LVL= 12624, 16209, 11474, 13555, AGC= 28, IDX= 498,-0.05, 0.237, 0.895,-0.587, 1.101, PHS=-0.776,-0.159,-1.690, RAW=   6.4,  34.8, CAL=   0.6,  37.9, ROT= 149.4, -37.9

2025-01-09T00:52:51.496Z,1736383971.496 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-09T00:52:51.497Z,1736383971.497 [DAT](INFO): direction in FSK: [-0.679198,0.401677,0.614285]
2025-01-09T00:52:51.497Z,1736383971.497 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:51.509Z,1736383971.509 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-09T00:52:51.510Z,1736383971.510 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-09T00:52:51.518Z,1736383971.518 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.558472
2025-01-09T00:52:51.665Z,1736383971.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:51.690Z,1736383971.690 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:51.697Z,1736383971.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504652 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:51.722Z,1736383971.722 [DockingStepper](INFO): Starting
2025-01-09T00:52:51.737Z,1736383971.737 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777106
2025-01-09T00:52:51.990Z,1736383971.990 [DAT](INFO): DAT read: Rx Time:00:52:50.9152 

2025-01-09T00:52:51.991Z,1736383971.991 [DAT](INFO): Rx dataTimestamp_ set to:1736383971.990802
2025-01-09T00:52:51.994Z,1736383971.994 [DAT](INFO): DAT read: Bearing 149.5, -37.9 (Local)

2025-01-09T00:52:51.994Z,1736383971.994 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.5, -37.9 (Local)

2025-01-09T00:52:51.998Z,1736383971.998 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:52.005Z,1736383972.005 [DAT](INFO): DAT read: 00:52:50.9152 LVL= 12176, 13601,  9714, 14147, AGC= 27, IDX= 499, 0.01, 2.128, 2.769, 1.331, 2.970, PHS=-0.754,-0.155,-1.642, RAW=   6.4,  34.8, CAL=   0.5,  37.9, ROT= 149.5, -37.9

2025-01-09T00:52:52.006Z,1736383972.006 [DAT](INFO): got valid direction response:
 00:52:50.9152 LVL= 12176, 13601,  9714, 14147, AGC= 27, IDX= 499, 0.01, 2.128, 2.769, 1.331, 2.970, PHS=-0.754,-0.155,-1.642, RAW=   6.4,  34.8, CAL=   0.5,  37.9, ROT= 149.5, -37.9

2025-01-09T00:52:52.006Z,1736383972.006 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-01-09T00:52:52.007Z,1736383972.007 [DAT](INFO): direction in FSK: [-0.679898,0.400490,0.614285]
2025-01-09T00:52:52.008Z,1736383972.008 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:52.011Z,1736383972.011 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.052012
2025-01-09T00:52:52.060Z,1736383972.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:52.085Z,1736383972.085 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:52.101Z,1736383972.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504959 s,
      deltaX: 0.200000 m,
      approachRate: 0.396072 m/s,
      rangeRepo size: 4

2025-01-09T00:52:52.144Z,1736383972.144 [DockingStepper](INFO): Starting
2025-01-09T00:52:52.169Z,1736383972.169 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-09T00:52:52.242Z,1736383972.242 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.282267
2025-01-09T00:52:52.493Z,1736383972.493 [DAT](INFO): DAT read: Rx Time:00:52:51.4151 

2025-01-09T00:52:52.493Z,1736383972.493 [DAT](INFO): Rx dataTimestamp_ set to:1736383972.492854
2025-01-09T00:52:52.494Z,1736383972.494 [DAT](INFO): DAT read: Bearing 145.4, -38.3 (Local)

2025-01-09T00:52:52.495Z,1736383972.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.4, -38.3 (Local)

2025-01-09T00:52:52.497Z,1736383972.497 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:52.502Z,1736383972.502 [DAT](INFO): DAT read: 00:52:51.4151 LVL= 15856, 14961, 10274, 15603, AGC= 28, IDX= 498, 0.04, 1.719, 2.261, 0.826, 2.502, PHS=-0.695,-0.194,-1.679, RAW=  10.7,  34.8, CAL=   4.6,  38.3, ROT= 145.4, -38.3

2025-01-09T00:52:52.503Z,1736383972.503 [DAT](INFO): got valid direction response:
 00:52:51.4151 LVL= 15856, 14961, 10274, 15603, AGC= 28, IDX= 498, 0.04, 1.719, 2.261, 0.826, 2.502, PHS=-0.695,-0.194,-1.679, RAW=  10.7,  34.8, CAL=   4.6,  38.3, ROT= 145.4, -38.3

2025-01-09T00:52:52.503Z,1736383972.503 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-01-09T00:52:52.504Z,1736383972.504 [DAT](INFO): direction in FSK: [-0.645978,0.445630,0.619779]
2025-01-09T00:52:52.504Z,1736383972.504 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:52.512Z,1736383972.512 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.551522
2025-01-09T00:52:52.574Z,1736383972.574 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-09T00:52:52.608Z,1736383972.608 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-09T00:52:52.622Z,1736383972.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:52.636Z,1736383972.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:52:52.656Z,1736383972.656 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:52.664Z,1736383972.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.502052 s,
      deltaX: -0.200000 m,
      approachRate: -0.398365 m/s,
      rangeRepo size: 4

2025-01-09T00:52:52.699Z,1736383972.699 [DockingStepper](INFO): Starting
2025-01-09T00:52:52.744Z,1736383972.744 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785042
2025-01-09T00:52:52.947Z,1736383972.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:52.966Z,1736383972.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:52.997Z,1736383972.997 [DAT](INFO): DAT read: Rx Time:00:52:51.9152 

2025-01-09T00:52:52.997Z,1736383972.997 [DAT](INFO): Rx dataTimestamp_ set to:1736383972.997162
2025-01-09T00:52:52.999Z,1736383972.999 [DAT](INFO): DAT read: Bearing 146.5, -36.8 (Local)

2025-01-09T00:52:52.999Z,1736383972.999 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.5, -36.8 (Local)

2025-01-09T00:52:53.002Z,1736383973.002 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:53.007Z,1736383973.007 [DAT](INFO): DAT read: 00:52:51.9152 LVL= 14656, 14225, 10066, 16707, AGC= 28, IDX= 499, 0.09, 2.772,-2.921, 1.891,-2.746, PHS=-0.677,-0.129,-1.649, RAW=   9.1,  33.1, CAL=   3.5,  36.8, ROT= 146.5, -36.8

2025-01-09T00:52:53.008Z,1736383973.008 [DAT](INFO): got valid direction response:
 00:52:51.9152 LVL= 14656, 14225, 10066, 16707, AGC= 28, IDX= 499, 0.09, 2.772,-2.921, 1.891,-2.746, PHS=-0.677,-0.129,-1.649, RAW=   9.1,  33.1, CAL=   3.5,  36.8, ROT= 146.5, -36.8

2025-01-09T00:52:53.009Z,1736383973.009 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-01-09T00:52:53.010Z,1736383973.010 [DAT](INFO): direction in FSK: [-0.667719,0.441953,0.599024]
2025-01-09T00:52:53.010Z,1736383973.010 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:53.013Z,1736383973.013 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.053751
2025-01-09T00:52:53.030Z,1736383973.030 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T00:52:53.030Z,1736383973.030 [DockingStepper](INFO): Standby mode.
2025-01-09T00:52:53.088Z,1736383973.088 [DockingStepper](INFO): Commanding positive:9770
2025-01-09T00:52:53.188Z,1736383973.188 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T00:52:53.248Z,1736383973.248 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289041
2025-01-09T00:52:53.320Z,1736383973.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:53.326Z,1736383973.326 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:53.348Z,1736383973.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504308 s,
      deltaX: 0.200000 m,
      approachRate: 0.396583 m/s,
      rangeRepo size: 4

2025-01-09T00:52:53.502Z,1736383973.502 [DAT](INFO): DAT read: Rx Time:00:52:52.4151 

2025-01-09T00:52:53.503Z,1736383973.503 [DAT](INFO): Rx dataTimestamp_ set to:1736383973.502308
2025-01-09T00:52:53.504Z,1736383973.504 [DAT](INFO): DAT read: Bearing 142.9, -41.3 (Local)

2025-01-09T00:52:53.504Z,1736383973.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.9, -41.3 (Local)

2025-01-09T00:52:53.506Z,1736383973.506 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:53.511Z,1736383973.511 [DAT](INFO): DAT read: 00:52:52.4151 LVL= 16576, 14433,  9410, 15651, AGC= 27, IDX= 498, 0.18, 1.622, 2.070, 0.725, 2.428, PHS=-0.718,-0.311,-1.705, RAW=  13.5,  37.9, CAL=   7.1,  41.3, ROT= 142.9, -41.3

2025-01-09T00:52:53.512Z,1736383973.512 [DAT](INFO): got valid direction response:
 00:52:52.4151 LVL= 16576, 14433,  9410, 15651, AGC= 27, IDX= 498, 0.18, 1.622, 2.070, 0.725, 2.428, PHS=-0.718,-0.311,-1.705, RAW=  13.5,  37.9, CAL=   7.1,  41.3, ROT= 142.9, -41.3

2025-01-09T00:52:53.513Z,1736383973.513 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-01-09T00:52:53.514Z,1736383973.514 [DAT](INFO): direction in FSK: [-0.599196,0.453169,0.660002]
2025-01-09T00:52:53.514Z,1736383973.514 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:53.517Z,1736383973.517 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-09T00:52:53.519Z,1736383973.519 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-09T00:52:53.529Z,1736383973.529 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.569981
2025-01-09T00:52:53.640Z,1736383973.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:52:53.752Z,1736383973.752 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.792766
2025-01-09T00:52:53.818Z,1736383973.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T00:52:53.819Z,1736383973.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:53.826Z,1736383973.826 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:53.845Z,1736383973.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.505146 s,
      deltaX: -0.200000 m,
      approachRate: -0.395925 m/s,
      rangeRepo size: 4

2025-01-09T00:52:54.005Z,1736383974.005 [DAT](INFO): DAT read: Rx Time:00:52:52.9151 

2025-01-09T00:52:54.005Z,1736383974.005 [DAT](INFO): Rx dataTimestamp_ set to:1736383974.005099
2025-01-09T00:52:54.007Z,1736383974.007 [DAT](INFO): DAT read: Bearing 146.3, -39.6 (Local)

2025-01-09T00:52:54.007Z,1736383974.007 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.3, -39.6 (Local)

2025-01-09T00:52:54.009Z,1736383974.009 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:54.014Z,1736383974.014 [DAT](INFO): DAT read: 00:52:52.9151 LVL= 13296, 13905,  9458, 16195, AGC= 27, IDX= 498, 0.22, 1.459, 1.999, 0.607, 2.282, PHS=-0.735,-0.236,-1.678, RAW=  10.1,  36.4, CAL=   3.7,  39.6, ROT= 146.3, -39.6

2025-01-09T00:52:54.015Z,1736383974.015 [DAT](INFO): got valid direction response:
 00:52:52.9151 LVL= 13296, 13905,  9458, 16195, AGC= 27, IDX= 498, 0.22, 1.459, 1.999, 0.607, 2.282, PHS=-0.735,-0.236,-1.678, RAW=  10.1,  36.4, CAL=   3.7,  39.6, ROT= 146.3, -39.6

2025-01-09T00:52:54.016Z,1736383974.016 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-01-09T00:52:54.017Z,1736383974.017 [DAT](INFO): direction in FSK: [-0.641032,0.427515,0.637424]
2025-01-09T00:52:54.017Z,1736383974.017 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:54.054Z,1736383974.054 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.094149
2025-01-09T00:52:54.191Z,1736383974.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T00:52:54.191Z,1736383974.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:54.198Z,1736383974.198 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:54.202Z,1736383974.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.502791 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:54.258Z,1736383974.258 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297986
2025-01-09T00:52:54.283Z,1736383974.283 [DockingStepper](INFO): Commanding positive:9752
2025-01-09T00:52:54.513Z,1736383974.513 [DAT](INFO): DAT read: Rx Time:00:52:53.4151 

2025-01-09T00:52:54.514Z,1736383974.514 [DAT](INFO): Rx dataTimestamp_ set to:1736383974.513323
2025-01-09T00:52:54.518Z,1736383974.518 [DAT](INFO): DAT read: Bearing 145.9, -40.8 (Local)

2025-01-09T00:52:54.524Z,1736383974.524 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-09T00:52:54.528Z,1736383974.528 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-09T00:52:54.530Z,1736383974.530 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.9, -40.8 (Local)

2025-01-09T00:52:54.533Z,1736383974.533 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:54.543Z,1736383974.543 [DAT](INFO): DAT read: 00:52:53.4151 LVL= 13232, 14769,  9954, 16371, AGC= 27, IDX= 497, 0.28, 0.034, 0.556,-0.814, 0.882, PHS=-0.760,-0.279,-1.699, RAW=  10.6,  37.7, CAL=   4.1,  40.8, ROT= 145.9, -40.8

2025-01-09T00:52:54.544Z,1736383974.544 [DAT](INFO): got valid direction response:
 00:52:53.4151 LVL= 13232, 14769,  9954, 16371, AGC= 27, IDX= 497, 0.28, 0.034, 0.556,-0.814, 0.882, PHS=-0.760,-0.279,-1.699, RAW=  10.6,  37.7, CAL=   4.1,  40.8, ROT= 145.9, -40.8

2025-01-09T00:52:54.544Z,1736383974.544 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-01-09T00:52:54.545Z,1736383974.545 [DAT](INFO): direction in FSK: [-0.626838,0.424401,0.653421]
2025-01-09T00:52:54.546Z,1736383974.546 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:54.576Z,1736383974.576 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.616105
2025-01-09T00:52:54.658Z,1736383974.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:54.681Z,1736383974.681 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:54.689Z,1736383974.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.508224 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T00:52:54.761Z,1736383974.761 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801809
2025-01-09T00:52:55.013Z,1736383975.013 [DAT](INFO): DAT read: Rx Time:00:52:53.9152 

2025-01-09T00:52:55.013Z,1736383975.013 [DAT](INFO): Rx dataTimestamp_ set to:1736383975.012906
2025-01-09T00:52:55.014Z,1736383975.014 [DAT](INFO): DAT read: Bearing 141.9, -44.2 (Local)

2025-01-09T00:52:55.015Z,1736383975.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.9, -44.2 (Local)

2025-01-09T00:52:55.018Z,1736383975.018 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:55.023Z,1736383975.023 [DAT](INFO): DAT read: 00:52:53.9152 LVL= 15936, 17905,  9890, 16547, AGC= 27, IDX= 498, 0.36, 1.003, 1.430, 0.110, 1.890, PHS=-0.799,-0.414,-1.783, RAW=  14.2,  40.9, CAL=   8.1,  44.2, ROT= 141.9, -44.2

2025-01-09T00:52:55.024Z,1736383975.024 [DAT](INFO): got valid direction response:
 00:52:53.9152 LVL= 15936, 17905,  9890, 16547, AGC= 27, IDX= 498, 0.36, 1.003, 1.430, 0.110, 1.890, PHS=-0.799,-0.414,-1.783, RAW=  14.2,  40.9, CAL=   8.1,  44.2, ROT= 141.9, -44.2

2025-01-09T00:52:55.024Z,1736383975.024 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-01-09T00:52:55.025Z,1736383975.025 [DAT](INFO): direction in FSK: [-0.564162,0.442360,0.697165]
2025-01-09T00:52:55.025Z,1736383975.025 [DAT](INFO): publishing direction and range info
2025-01-09T00:52:55.029Z,1736383975.029 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.069181
2025-01-09T00:52:55.147Z,1736383975.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:55.163Z,1736383975.163 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T00:52:55.166Z,1736383975.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.499583 s,
      deltaX: 0.200000 m,
      approachRate: 0.400334 m/s,
      rangeRepo size: 4

2025-01-09T00:52:55.264Z,1736383975.264 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.304915
2025-01-09T00:52:55.439Z,1736383975.439 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.036267
CHAN A1 (24V): 0.058387
CHAN A2 (12V): 0.018808
CHAN A3 (5V): -0.000339
CHAN B0 (3.3V): -0.002438
CHAN B1 (3.15aV): -0.003369
CHAN B2 (3.15bV): -0.002373
CHAN B3 (GND): -0.009482
OPEN: 0.003193
Full Scale: +/- 1 mA
2025-01-09T00:52:55.520Z,1736383975.520 [DAT](INFO): DAT read: Rx Time:00:52:54.4151 

2025-01-09T00:52:55.521Z,1736383975.521 [DAT](INFO): Rx dataTimestamp_ set to:1736383975.520458
2025-01-09T00:52:55.533Z,1736383975.533 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:55.534Z,1736383975.534 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-01-09T00:52:55.535Z,1736383975.535 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.575333
2025-01-09T00:52:55.648Z,1736383975.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:55.666Z,1736383975.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:55.681Z,1736383975.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.507552 s,
      deltaX: -0.200000 m,
      approachRate: -0.394048 m/s,
      rangeRepo size: 4

2025-01-09T00:52:55.682Z,1736383975.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 0.30 m. Lat: 36.903998 Lon: -122.118939 Reached intercept timeout.
2025-01-09T00:52:55.683Z,1736383975.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-01-09T00:52:55.683Z,1736383975.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-01-09T00:52:55.688Z,1736383975.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-01-09T00:52:55.769Z,1736383975.769 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.809235
2025-01-09T00:52:55.783Z,1736383975.783 [DockingStepper](INFO): Commanding positive:9684
2025-01-09T00:52:56.021Z,1736383976.021 [DAT](INFO): DAT read: Rx Time:00:52:54.9152 

2025-01-09T00:52:56.021Z,1736383976.021 [DAT](INFO): Rx dataTimestamp_ set to:1736383976.020802
2025-01-09T00:52:56.022Z,1736383976.022 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:56.023Z,1736383976.023 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-01-09T00:52:56.024Z,1736383976.024 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.064426
2025-01-09T00:52:56.049Z,1736383976.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:56.071Z,1736383976.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-01-09T00:52:56.071Z,1736383976.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-01-09T00:52:56.071Z,1736383976.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-01-09T00:52:56.272Z,1736383976.272 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.312762
2025-01-09T00:52:56.430Z,1736383976.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:56.438Z,1736383976.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-01-09T00:52:56.460Z,1736383976.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-09T00:52:56.460Z,1736383976.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-01-09T00:52:56.460Z,1736383976.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-09T00:52:56.460Z,1736383976.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-01-09T00:52:56.460Z,1736383976.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-01-09T00:52:56.460Z,1736383976.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-01-09T00:52:56.460Z,1736383976.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-01-09T00:52:56.460Z,1736383976.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-01-09T00:52:56.460Z,1736383976.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-01-09T00:52:56.461Z,1736383976.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-09T00:52:56.544Z,1736383976.544 [DAT](INFO): DAT read: Rx Time:00:52:55.4151 

2025-01-09T00:52:56.545Z,1736383976.545 [DAT](INFO): Rx dataTimestamp_ set to:1736383976.544224
2025-01-09T00:52:56.556Z,1736383976.556 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:56.558Z,1736383976.558 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-01-09T00:52:56.572Z,1736383976.572 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.612199
2025-01-09T00:52:56.776Z,1736383976.776 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.816710
2025-01-09T00:52:56.860Z,1736383976.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:56.866Z,1736383976.866 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-01-09T00:52:56.866Z,1736383976.866 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-01-09T00:52:56.867Z,1736383976.867 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-01-09T00:52:56.868Z,1736383976.868 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-01-09T00:52:56.868Z,1736383976.868 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-01-09T00:52:56.868Z,1736383976.868 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-01-09T00:52:56.869Z,1736383976.869 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-01-09T00:52:56.869Z,1736383976.869 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-01-09T00:52:56.869Z,1736383976.869 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-01-09T00:52:56.870Z,1736383976.870 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-01-09T00:52:56.870Z,1736383976.870 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-01-09T00:52:56.870Z,1736383976.870 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-01-09T00:52:56.870Z,1736383976.870 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-01-09T00:52:56.870Z,1736383976.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-01-09T00:52:56.870Z,1736383976.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-09T00:52:56.870Z,1736383976.870 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-01-09T00:52:56.870Z,1736383976.870 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-01-09T00:52:57.028Z,1736383977.028 [DAT](INFO): DAT read: Rx Time:00:52:55.9152 

2025-01-09T00:52:57.029Z,1736383977.029 [DAT](INFO): Rx dataTimestamp_ set to:1736383977.028553
2025-01-09T00:52:57.030Z,1736383977.030 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:52:57.031Z,1736383977.031 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-01-09T00:52:57.032Z,1736383977.032 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.072224
2025-01-09T00:52:57.115Z,1736383977.115 [DockingStepper](INFO): Commanding positive:9672
2025-01-09T00:52:57.237Z,1736383977.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:57.262Z,1736383977.262 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-01-09T00:52:57.262Z,1736383977.262 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-01-09T00:52:57.281Z,1736383977.281 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.321143
2025-01-09T00:52:57.535Z,1736383977.535 [DAT](INFO): DAT read: Rx Time:00:52:56.4151 

2025-01-09T00:52:57.537Z,1736383977.537 [DAT](INFO): Rx dataTimestamp_ set to:1736383977.536005
2025-01-09T00:52:57.541Z,1736383977.541 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:57.543Z,1736383977.543 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-01-09T00:52:57.545Z,1736383977.545 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.585692
2025-01-09T00:52:57.692Z,1736383977.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:57.698Z,1736383977.698 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-01-09T00:52:57.698Z,1736383977.698 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-01-09T00:52:57.698Z,1736383977.698 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-01-09T00:52:57.699Z,1736383977.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:57.785Z,1736383977.785 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.825896
2025-01-09T00:52:58.037Z,1736383978.037 [DAT](INFO): DAT read: Rx Time:00:52:56.9154 

2025-01-09T00:52:58.037Z,1736383978.037 [DAT](INFO): Rx dataTimestamp_ set to:1736383978.036727
2025-01-09T00:52:58.038Z,1736383978.038 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-01-09T00:52:58.039Z,1736383978.039 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-01-09T00:52:58.040Z,1736383978.040 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.080512
2025-01-09T00:52:58.046Z,1736383978.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:58.288Z,1736383978.288 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.328782
2025-01-09T00:52:58.463Z,1736383978.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:58.544Z,1736383978.544 [DAT](INFO): DAT read: Rx Time:00:52:57.4153 

2025-01-09T00:52:58.546Z,1736383978.546 [DAT](INFO): Rx dataTimestamp_ set to:1736383978.544494
2025-01-09T00:52:58.573Z,1736383978.573 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:52:58.576Z,1736383978.576 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-01-09T00:52:58.579Z,1736383978.579 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.618468
2025-01-09T00:52:58.643Z,1736383978.643 [DockingStepper](INFO): Commanding positive:9764
2025-01-09T00:52:58.792Z,1736383978.792 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.832816
2025-01-09T00:52:58.910Z,1736383978.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:59.044Z,1736383979.044 [DAT](INFO): DAT read: Rx Time:00:52:57.9151 

2025-01-09T00:52:59.045Z,1736383979.045 [DAT](INFO): Rx dataTimestamp_ set to:1736383979.044620
2025-01-09T00:52:59.046Z,1736383979.046 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:52:59.047Z,1736383979.047 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-01-09T00:52:59.048Z,1736383979.048 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.088273
2025-01-09T00:52:59.266Z,1736383979.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:59.296Z,1736383979.296 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.336880
2025-01-09T00:52:59.565Z,1736383979.565 [DAT](INFO): DAT read: Rx Time:00:52:58.4150 

2025-01-09T00:52:59.567Z,1736383979.567 [DAT](INFO): Rx dataTimestamp_ set to:1736383979.565933
2025-01-09T00:52:59.571Z,1736383979.571 [DAT](INFO): DAT read: Range 10 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-01-09T00:52:59.573Z,1736383979.573 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-01-09T00:52:59.581Z,1736383979.581 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.621507
2025-01-09T00:52:59.712Z,1736383979.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:52:59.720Z,1736383979.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:52:59.801Z,1736383979.801 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.841914
2025-01-09T00:52:59.831Z,1736383979.831 [DockingStepper](INFO): Commanding positive:9770
2025-01-09T00:53:00.053Z,1736383980.053 [DAT](INFO): DAT read: Rx Time:00:52:58.9151 

2025-01-09T00:53:00.054Z,1736383980.053 [DAT](INFO): Rx dataTimestamp_ set to:1736383980.053231
2025-01-09T00:53:00.055Z,1736383980.055 [DAT](INFO): DAT read: Bearing 151.1, -46.4 (Local)

2025-01-09T00:53:00.055Z,1736383980.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.1, -46.4 (Local)

2025-01-09T00:53:00.057Z,1736383980.057 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:00.062Z,1736383980.062 [DAT](INFO): DAT read: 00:52:58.9151 LVL=  7792, 11857, 13986, 14035, AGC= 32, IDX=   2,-0.28, 0.148, 0.745,-0.491, 1.206, PHS=-0.970,-0.413,-1.699, RAW=   4.4,  44.3, CAL= 358.9,  46.4, ROT= 151.1, -46.4

2025-01-09T00:53:00.063Z,1736383980.063 [DAT](INFO): got valid direction response:
 00:52:58.9151 LVL=  7792, 11857, 13986, 14035, AGC= 32, IDX=   2,-0.28, 0.148, 0.745,-0.491, 1.206, PHS=-0.970,-0.413,-1.699, RAW=   4.4,  44.3, CAL= 358.9,  46.4, ROT= 151.1, -46.4

2025-01-09T00:53:00.068Z,1736383980.068 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-01-09T00:53:00.069Z,1736383980.069 [DAT](INFO): direction in FSK: [-0.603737,0.333281,0.724172]
2025-01-09T00:53:00.069Z,1736383980.069 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:00.077Z,1736383980.077 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.117230
2025-01-09T00:53:00.103Z,1736383980.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:00.305Z,1736383980.305 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.345379
2025-01-09T00:53:00.467Z,1736383980.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:00.480Z,1736383980.480 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-01-09T00:53:00.480Z,1736383980.480 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-01-09T00:53:00.481Z,1736383980.481 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-01-09T00:53:00.481Z,1736383980.481 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-01-09T00:53:00.561Z,1736383980.561 [DAT](INFO): DAT read: Rx Time:00:52:59.4150 

2025-01-09T00:53:00.562Z,1736383980.562 [DAT](INFO): Rx dataTimestamp_ set to:1736383980.561420
2025-01-09T00:53:00.566Z,1736383980.566 [DAT](INFO): DAT read: Bearing 152.0, -45.9 (Local)

2025-01-09T00:53:00.568Z,1736383980.568 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.0, -45.9 (Local)

2025-01-09T00:53:00.574Z,1736383980.574 [DAT](INFO): DAT read: Range 10 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-01-09T00:53:00.645Z,1736383980.645 [DAT](INFO): DAT read: 00:52:59.4150 LVL= 13584, 16049, 16882, 17059, AGC= 30, IDX= 497,-0.21,-1.070,-0.458,-1.686,-0.022, PHS=-0.960,-0.389,-1.667, RAW=   3.5,  43.9, CAL= 358.0,  45.9, ROT= 152.0, -45.9

2025-01-09T00:53:00.646Z,1736383980.646 [DAT](INFO): got valid direction response:
 00:52:59.4150 LVL= 13584, 16049, 16882, 17059, AGC= 30, IDX= 497,-0.21,-1.070,-0.458,-1.686,-0.022, PHS=-0.960,-0.389,-1.667, RAW=   3.5,  43.9, CAL= 358.0,  45.9, ROT= 152.0, -45.9

2025-01-09T00:53:00.647Z,1736383980.647 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-01-09T00:53:00.661Z,1736383980.661 [DAT](INFO): direction in FSK: [-0.614455,0.326711,0.718126]
2025-01-09T00:53:00.661Z,1736383980.661 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:00.671Z,1736383980.671 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.710986
2025-01-09T00:53:00.808Z,1736383980.808 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.848648
2025-01-09T00:53:00.950Z,1736383980.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:00.962Z,1736383980.962 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-01-09T00:53:00.962Z,1736383980.962 [lineCaptureHoming:LineCapture:M] Stopped
2025-01-09T00:53:00.985Z,1736383980.985 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-01-09T00:53:00.985Z,1736383980.985 [lineCaptureHoming:LineCapture] Stopped
2025-01-09T00:53:00.985Z,1736383980.985 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-01-09T00:53:00.985Z,1736383980.985 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:G] Stopped
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:H] Stopped
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-01-09T00:53:00.986Z,1736383980.986 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-01-09T00:53:00.987Z,1736383980.987 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-01-09T00:53:00.987Z,1736383980.987 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-01-09T00:53:00.987Z,1736383980.987 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-01-09T00:53:00.987Z,1736383980.987 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-09T00:53:01.062Z,1736383981.062 [DAT](INFO): DAT read: Rx Time:00:52:59.9151 

2025-01-09T00:53:01.063Z,1736383981.063 [DAT](INFO): Rx dataTimestamp_ set to:1736383981.062250
2025-01-09T00:53:01.065Z,1736383981.065 [DAT](INFO): DAT read: Bearing 153.9, -44.0 (Local)

2025-01-09T00:53:01.065Z,1736383981.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.9, -44.0 (Local)

2025-01-09T00:53:01.069Z,1736383981.069 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:01.074Z,1736383981.074 [DAT](INFO): DAT read: 00:52:59.9151 LVL= 10208, 14129, 15330, 15219, AGC= 33, IDX=   2,-0.14, 0.150, 0.820,-0.455, 1.194, PHS=-0.956,-0.327,-1.652, RAW=   1.7,  42.1, CAL= 356.1,  44.0, ROT= 153.9, -44.0

2025-01-09T00:53:01.075Z,1736383981.075 [DAT](INFO): got valid direction response:
 00:52:59.9151 LVL= 10208, 14129, 15330, 15219, AGC= 33, IDX=   2,-0.14, 0.150, 0.820,-0.455, 1.194, PHS=-0.956,-0.327,-1.652, RAW=   1.7,  42.1, CAL= 356.1,  44.0, ROT= 153.9, -44.0

2025-01-09T00:53:01.084Z,1736383981.084 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-01-09T00:53:01.085Z,1736383981.085 [DAT](INFO): direction in FSK: [-0.645987,0.316466,0.694658]
2025-01-09T00:53:01.085Z,1736383981.085 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:01.092Z,1736383981.092 [DockingStepper](INFO): Commanding positive:9863
2025-01-09T00:53:01.101Z,1736383981.101 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.141774
2025-01-09T00:53:01.279Z,1736383981.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:01.286Z,1736383981.286 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-01-09T00:53:01.286Z,1736383981.286 [lineCaptureHoming:Lap:B] Stopped
2025-01-09T00:53:01.287Z,1736383981.287 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-01-09T00:53:01.287Z,1736383981.287 [lineCaptureHoming:Lap:C] Running Loop=1
2025-01-09T00:53:01.312Z,1736383981.312 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.352909
2025-01-09T00:53:01.568Z,1736383981.568 [DAT](INFO): DAT read: Rx Time:00:53:00.4151 

2025-01-09T00:53:01.569Z,1736383981.569 [DAT](INFO): Rx dataTimestamp_ set to:1736383981.568641
2025-01-09T00:53:01.573Z,1736383981.573 [DAT](INFO): DAT read: Bearing 155.3, -41.6 (Local)

2025-01-09T00:53:01.574Z,1736383981.574 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.3, -41.6 (Local)

2025-01-09T00:53:01.592Z,1736383981.592 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:01.627Z,1736383981.627 [DAT](INFO): DAT read: 00:53:00.4151 LVL= 13296, 17233, 16786, 15347, AGC= 30, IDX= 497,-0.08,-1.099,-0.379,-1.703,-0.080, PHS=-0.931,-0.252,-1.627, RAW=   0.4,  39.8, CAL= 354.7,  41.6, ROT= 155.3, -41.6

2025-01-09T00:53:01.628Z,1736383981.628 [DAT](INFO): got valid direction response:
 00:53:00.4151 LVL= 13296, 17233, 16786, 15347, AGC= 30, IDX= 497,-0.08,-1.099,-0.379,-1.703,-0.080, PHS=-0.931,-0.252,-1.627, RAW=   0.4,  39.8, CAL= 354.7,  41.6, ROT= 155.3, -41.6

2025-01-09T00:53:01.628Z,1736383981.628 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-01-09T00:53:01.629Z,1736383981.629 [DAT](INFO): direction in FSK: [-0.679381,0.312480,0.663926]
2025-01-09T00:53:01.629Z,1736383981.629 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:01.650Z,1736383981.650 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.690524
2025-01-09T00:53:01.766Z,1736383981.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:01.783Z,1736383981.783 [lineCaptureHoming:Lap:C] Stopped
2025-01-09T00:53:01.783Z,1736383981.783 [lineCaptureHoming:Lap:D] Running Loop=1
2025-01-09T00:53:01.816Z,1736383981.816 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.856941
2025-01-09T00:53:02.069Z,1736383982.069 [DAT](INFO): DAT read: Rx Time:00:53:00.9151 

2025-01-09T00:53:02.070Z,1736383982.070 [DAT](INFO): Rx dataTimestamp_ set to:1736383982.069415
2025-01-09T00:53:02.071Z,1736383982.071 [DAT](INFO): DAT read: Bearing 130.0, -21.5 (Local)

2025-01-09T00:53:02.071Z,1736383982.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing 130.0, -21.5 (Local)

2025-01-09T00:53:02.073Z,1736383982.073 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:02.078Z,1736383982.078 [DAT](INFO): DAT read: 00:53:00.9151 LVL= 13152, 18081, 17170, 14291, AGC= 30, IDX= 513,-0.02,-2.035,-1.682, 2.630,-1.958, PHS= 0.012, 0.323,-1.698, RAW=  21.8,  14.3, CAL=  20.0,  21.5, ROT= 130.0, -21.5

2025-01-09T00:53:02.079Z,1736383982.079 [DAT](INFO): got valid direction response:
 00:53:00.9151 LVL= 13152, 18081, 17170, 14291, AGC= 30, IDX= 513,-0.02,-2.035,-1.682, 2.630,-1.958, PHS= 0.012, 0.323,-1.698, RAW=  21.8,  14.3, CAL=  20.0,  21.5, ROT= 130.0, -21.5

2025-01-09T00:53:02.079Z,1736383982.079 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-01-09T00:53:02.080Z,1736383982.080 [DAT](INFO): direction in FSK: [-0.598061,0.712741,0.366501]
2025-01-09T00:53:02.081Z,1736383982.081 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:02.085Z,1736383982.085 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.125396
2025-01-09T00:53:02.153Z,1736383982.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:02.177Z,1736383982.177 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-01-09T00:53:02.177Z,1736383982.177 [lineCaptureHoming:Lap:D] Stopped
2025-01-09T00:53:02.177Z,1736383982.177 [lineCaptureHoming:Lap:E] Running Loop=1
2025-01-09T00:53:02.177Z,1736383982.177 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-01-09T00:53:02.263Z,1736383982.263 [DockingStepper](INFO): Commanding positive:9770
2025-01-09T00:53:02.288Z,1736383982.288 [DockingStepper](FAULT): Timed out moving from: 14863 to: 16450 response: ÿ
2025-01-09T00:53:02.288Z,1736383982.288 [DockingStepper] Hardware Fault, FailCount= 5
2025-01-09T00:53:02.288Z,1736383982.288 [DockingStepper](ERROR): Hardware Fault
2025-01-09T00:53:02.293Z,1736383982.293 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-01-09T00:53:02.293Z,1736383982.293 [CBIT](CRITICAL): Hardware Fault in component: DockingStepper
2025-01-09T00:53:02.320Z,1736383982.320 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.360963
2025-01-09T00:53:02.498Z,1736383982.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:02.508Z,1736383982.508 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-01-09T00:53:02.508Z,1736383982.508 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-01-09T00:53:02.508Z,1736383982.508 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-01-09T00:53:02.508Z,1736383982.508 [lineCaptureHoming:restartDHCP:A](IMPORTANT): Restarting DHCP...
2025-01-09T00:53:02.508Z,1736383982.508 [lineCaptureHoming:restartDHCP:A] Stopped
2025-01-09T00:53:02.508Z,1736383982.508 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-01-09T00:53:02.509Z,1736383982.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T00:53:02.525Z,1736383982.525 [DockingStepper](INFO): Stop
2025-01-09T00:53:02.525Z,1736383982.525 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-01-09T00:53:02.525Z,1736383982.525 [DockingStepper](INFO): Powering down
2025-01-09T00:53:02.548Z,1736383982.548 [CommandExec](FAULT): Scheduling is paused for 1 commands
2025-01-09T00:53:02.549Z,1736383982.549 [CBIT](INFO): Critical error at 20250109T005302
2025-01-09T00:53:02.549Z,1736383982.549 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-01-09T00:53:02.573Z,1736383982.573 [DAT](INFO): DAT read: Rx Time:00:53:01.4151 

2025-01-09T00:53:02.573Z,1736383982.573 [DAT](INFO): Rx dataTimestamp_ set to:1736383982.573231
2025-01-09T00:53:02.575Z,1736383982.575 [DAT](INFO): DAT read: Bearing 132.4, -21.3 (Local)

2025-01-09T00:53:02.575Z,1736383982.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing 132.4, -21.3 (Local)

2025-01-09T00:53:02.577Z,1736383982.577 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:02.599Z,1736383982.599 [DAT](INFO): DAT read: 00:53:01.4151 LVL= 13152, 19233, 17186, 14035, AGC= 30, IDX= 512, 0.05,-2.731,-2.292, 2.037,-2.611, PHS=-0.032, 0.367,-1.638, RAW=  19.2,  14.1, CAL=  17.6,  21.3, ROT= 132.4, -21.3

2025-01-09T00:53:02.607Z,1736383982.607 [DAT](INFO): got valid direction response:
 00:53:01.4151 LVL= 13152, 19233, 17186, 14035, AGC= 30, IDX= 512, 0.05,-2.731,-2.292, 2.037,-2.611, PHS=-0.032, 0.367,-1.638, RAW=  19.2,  14.1, CAL=  17.6,  21.3, ROT= 132.4, -21.3

2025-01-09T00:53:02.616Z,1736383982.616 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-01-09T00:53:02.624Z,1736383982.624 [DAT](INFO): direction in FSK: [-0.628242,0.688012,0.363251]
2025-01-09T00:53:02.625Z,1736383982.625 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:02.656Z,1736383982.656 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.696422
2025-01-09T00:53:02.824Z,1736383982.824 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.864849
2025-01-09T00:53:02.968Z,1736383982.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:02.974Z,1736383982.974 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-01-09T00:53:02.974Z,1736383982.974 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-01-09T00:53:02.975Z,1736383982.975 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-01-09T00:53:02.975Z,1736383982.975 [lineCaptureHoming:restartDHCP] Stopped
2025-01-09T00:53:02.975Z,1736383982.975 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-01-09T00:53:02.984Z,1736383982.984 [MissionManager](INFO): MissionManager is completed.
2025-01-09T00:53:02.985Z,1736383982.985 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-01-09T00:53:02.985Z,1736383982.985 [lineCaptureHoming] Stopped
2025-01-09T00:53:02.985Z,1736383982.985 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-01-09T00:53:02.985Z,1736383982.985 [lineCaptureHoming:Science] Stopped
2025-01-09T00:53:02.985Z,1736383982.985 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-01-09T00:53:02.985Z,1736383982.985 [lineCaptureHoming:Science:B] Stopped
2025-01-09T00:53:02.985Z,1736383982.985 [lineCaptureHoming:Science:C] Stopped
2025-01-09T00:53:02.985Z,1736383982.985 [lineCaptureHoming:Science:E] Stopped
2025-01-09T00:53:02.985Z,1736383982.985 [lineCaptureHoming:Science:F] Stopped
2025-01-09T00:53:02.985Z,1736383982.985 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-01-09T00:53:02.985Z,1736383982.985 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-01-09T00:53:02.985Z,1736383982.985 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-01-09T00:53:02.985Z,1736383982.985 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:MicromodemComms] Stopped
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-01-09T00:53:02.986Z,1736383982.986 [lineCaptureHoming:TrackAC.] Stopped
2025-01-09T00:53:02.987Z,1736383982.987 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-01-09T00:53:02.987Z,1736383982.987 [lineCaptureHoming:Lap] Stopped
2025-01-09T00:53:02.987Z,1736383982.987 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-01-09T00:53:02.987Z,1736383982.987 [lineCaptureHoming:Lap:E] Stopped
2025-01-09T00:53:02.987Z,1736383982.987 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-01-09T00:53:03.054Z,1736383983.054 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-01-09T00:53:03.092Z,1736383983.092 [DAT](INFO): DAT read: Rx Time:00:53:01.9152 

2025-01-09T00:53:03.093Z,1736383983.093 [DAT](INFO): Rx dataTimestamp_ set to:1736383983.091964
2025-01-09T00:53:03.094Z,1736383983.094 [DAT](INFO): DAT read: Bearing 155.9, -35.9 (Local)

2025-01-09T00:53:03.095Z,1736383983.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.9, -35.9 (Local)

2025-01-09T00:53:03.097Z,1736383983.097 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:03.100Z,1736383983.100 [WetLabsBB2FL](INFO): Powering down
2025-01-09T00:53:03.106Z,1736383983.106 [DAT](INFO): DAT read: 00:53:01.9152 LVL= 11472, 20161, 15410, 12259, AGC= 33, IDX=   1, 0.15,-1.300,-0.438,-1.964,-0.349, PHS=-0.864,-0.042,-1.619, RAW= 358.6,  33.2, CAL= 354.1,  35.9, ROT= 155.9, -35.9

2025-01-09T00:53:03.108Z,1736383983.108 [DAT](INFO): got valid direction response:
 00:53:01.9152 LVL= 11472, 20161, 15410, 12259, AGC= 33, IDX=   1, 0.15,-1.300,-0.438,-1.964,-0.349, PHS=-0.864,-0.042,-1.619, RAW= 358.6,  33.2, CAL= 354.1,  35.9, ROT= 155.9, -35.9

2025-01-09T00:53:03.109Z,1736383983.109 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-01-09T00:53:03.110Z,1736383983.110 [DAT](INFO): direction in FSK: [-0.739434,0.330765,0.586372]
2025-01-09T00:53:03.110Z,1736383983.110 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:03.141Z,1736383983.141 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.181010
2025-01-09T00:53:03.328Z,1736383983.328 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.368979
2025-01-09T00:53:03.353Z,1736383983.353 [WetLabsUBAT](INFO): Powering down
2025-01-09T00:53:03.534Z,1736383983.534 [DockingStepper](INFO): Stopping
2025-01-09T00:53:03.584Z,1736383983.584 [DAT](INFO): DAT read: Rx Time:00:53:02.4151 

2025-01-09T00:53:03.585Z,1736383983.585 [DAT](INFO): Rx dataTimestamp_ set to:1736383983.584442
2025-01-09T00:53:03.592Z,1736383983.592 [DAT](INFO): DAT read: Bearing 154.0, -37.0 (Local)

2025-01-09T00:53:03.593Z,1736383983.593 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.0, -37.0 (Local)

2025-01-09T00:53:03.609Z,1736383983.609 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:03.706Z,1736383983.706 [DAT](INFO): DAT read: 00:53:02.4151 LVL= 11760, 18993, 13970, 11923, AGC= 28, IDX= 496, 0.27, 2.957,-2.543, 2.253,-2.400, PHS=-0.838,-0.095,-1.632, RAW=   1.1,  34.3, CAL= 356.0,  37.0, ROT= 154.0, -37.0

2025-01-09T00:53:03.720Z,1736383983.720 [DAT](INFO): got valid direction response:
 00:53:02.4151 LVL= 11760, 18993, 13970, 11923, AGC= 28, IDX= 496, 0.27, 2.957,-2.543, 2.253,-2.400, PHS=-0.838,-0.095,-1.632, RAW=   1.1,  34.3, CAL= 356.0,  37.0, ROT= 154.0, -37.0

2025-01-09T00:53:03.720Z,1736383983.720 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-01-09T00:53:03.721Z,1736383983.721 [DAT](INFO): direction in FSK: [-0.717809,0.350099,0.601815]
2025-01-09T00:53:03.722Z,1736383983.722 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:03.754Z,1736383983.754 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.794119
2025-01-09T00:53:03.832Z,1736383983.832 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.872957
2025-01-09T00:53:03.866Z,1736383983.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:03.882Z,1736383983.882 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-01-09T00:53:03.887Z,1736383983.887 [DefaultWithUndock] Running Loop=1
2025-01-09T00:53:03.900Z,1736383983.900 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-01-09T00:53:03.901Z,1736383983.901 [DefaultWithUndock:A.Wait] Running Loop=1
2025-01-09T00:53:03.901Z,1736383983.901 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-01-09T00:53:04.050Z,1736383984.050 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-01-09UTC005303_sh
  
2025-01-09T00:53:04.081Z,1736383984.081 [DockingStepper](INFO): Stopping
2025-01-09T00:53:04.085Z,1736383984.085 [DAT](INFO): DAT read: Rx Time:00:53:02.9152 

2025-01-09T00:53:04.086Z,1736383984.086 [DAT](INFO): Rx dataTimestamp_ set to:1736383984.085406
2025-01-09T00:53:04.087Z,1736383984.087 [DAT](INFO): DAT read: Bearing 151.6, -37.9 (Local)

2025-01-09T00:53:04.087Z,1736383984.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.6, -37.9 (Local)

2025-01-09T00:53:04.089Z,1736383984.089 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:04.094Z,1736383984.094 [DAT](INFO): DAT read: 00:53:02.9152 LVL=  8336, 16209, 11922, 10195, AGC= 30, IDX=   1, 0.40,-2.905,-2.204, 2.626,-2.013, PHS=-0.803,-0.144,-1.647, RAW=   4.1,  35.1, CAL= 358.4,  37.9, ROT= 151.6, -37.9

2025-01-09T00:53:04.095Z,1736383984.095 [DAT](INFO): got valid direction response:
 00:53:02.9152 LVL=  8336, 16209, 11922, 10195, AGC= 30, IDX=   1, 0.40,-2.905,-2.204, 2.626,-2.013, PHS=-0.803,-0.144,-1.647, RAW=   4.1,  35.1, CAL= 358.4,  37.9, ROT= 151.6, -37.9

2025-01-09T00:53:04.096Z,1736383984.096 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-01-09T00:53:04.097Z,1736383984.097 [DAT](INFO): direction in FSK: [-0.694117,0.375307,0.614285]
2025-01-09T00:53:04.097Z,1736383984.097 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:04.101Z,1736383984.101 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.141384
2025-01-09T00:53:04.224Z,1736383984.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:04.285Z,1736383984.285 [DockingStepper](INFO): Stopping
2025-01-09T00:53:04.337Z,1736383984.337 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.377131
2025-01-09T00:53:04.555Z,1736383984.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:04.589Z,1736383984.589 [DAT](INFO): DAT read: Rx Time:00:53:03.4151 

2025-01-09T00:53:04.589Z,1736383984.589 [DAT](INFO): Rx dataTimestamp_ set to:1736383984.589160
2025-01-09T00:53:04.591Z,1736383984.591 [DAT](INFO): DAT read: Bearing 147.6, -37.9 (Local)

2025-01-09T00:53:04.597Z,1736383984.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.6, -37.9 (Local)

2025-01-09T00:53:04.600Z,1736383984.600 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:04.606Z,1736383984.606 [DAT](INFO): DAT read: 00:53:03.4151 LVL= 13408, 17057, 11858, 12195, AGC= 27, IDX= 497,-0.50, 0.618, 1.241,-0.264, 1.457, PHS=-0.751,-0.169,-1.725, RAW=   8.3,  34.5, CAL=   2.4,  37.9, ROT= 147.6, -37.9

2025-01-09T00:53:04.607Z,1736383984.607 [DAT](INFO): got valid direction response:
 00:53:03.4151 LVL= 13408, 17057, 11858, 12195, AGC= 27, IDX= 497,-0.50, 0.618, 1.241,-0.264, 1.457, PHS=-0.751,-0.169,-1.725, RAW=   8.3,  34.5, CAL=   2.4,  37.9, ROT= 147.6, -37.9

2025-01-09T00:53:04.608Z,1736383984.608 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-01-09T00:53:04.609Z,1736383984.609 [DAT](INFO): direction in FSK: [-0.666246,0.422812,0.614285]
2025-01-09T00:53:04.609Z,1736383984.609 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:04.628Z,1736383984.628 [DockingStepper](INFO): Stopping
2025-01-09T00:53:04.634Z,1736383984.634 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.673582
2025-01-09T00:53:04.841Z,1736383984.841 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.881197
2025-01-09T00:53:05.016Z,1736383985.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:05.057Z,1736383985.057 [DockingStepper](INFO): Stopping
2025-01-09T00:53:05.093Z,1736383985.093 [DAT](INFO): DAT read: Rx Time:00:53:03.9152 

2025-01-09T00:53:05.094Z,1736383985.094 [DAT](INFO): Rx dataTimestamp_ set to:1736383985.093241
2025-01-09T00:53:05.095Z,1736383985.095 [DAT](INFO): DAT read: Bearing 145.3, -38.4 (Local)

2025-01-09T00:53:05.095Z,1736383985.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.3, -38.4 (Local)

2025-01-09T00:53:05.097Z,1736383985.097 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:05.102Z,1736383985.102 [DAT](INFO): DAT read: 00:53:03.9152 LVL=  6192, 14321, 11122,  9843, AGC= 30, IDX=   2,-0.40, 1.714, 2.279, 0.767, 2.534, PHS=-0.732,-0.208,-1.769, RAW=  10.8,  34.8, CAL=   4.7,  38.4, ROT= 145.3, -38.4

2025-01-09T00:53:05.103Z,1736383985.103 [DAT](INFO): got valid direction response:
 00:53:03.9152 LVL=  6192, 14321, 11122,  9843, AGC= 30, IDX=   2,-0.40, 1.714, 2.279, 0.767, 2.534, PHS=-0.732,-0.208,-1.769, RAW=  10.8,  34.8, CAL=   4.7,  38.4, ROT= 145.3, -38.4

2025-01-09T00:53:05.103Z,1736383985.103 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-01-09T00:53:05.104Z,1736383985.104 [DAT](INFO): direction in FSK: [-0.644309,0.446141,0.621148]
2025-01-09T00:53:05.105Z,1736383985.105 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:05.117Z,1736383985.117 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.157150
2025-01-09T00:53:05.344Z,1736383985.344 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.384613
2025-01-09T00:53:05.350Z,1736383985.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:05.401Z,1736383985.401 [DockingStepper](INFO): Stopping
2025-01-09T00:53:05.598Z,1736383985.598 [DAT](INFO): DAT read: Rx Time:00:53:04.4151 

2025-01-09T00:53:05.599Z,1736383985.599 [DAT](INFO): Rx dataTimestamp_ set to:1736383985.598669
2025-01-09T00:53:05.600Z,1736383985.600 [DAT](INFO): DAT read: Bearing 141.6, -40.3 (Local)

2025-01-09T00:53:05.601Z,1736383985.601 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.6, -40.3 (Local)

2025-01-09T00:53:05.603Z,1736383985.603 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:05.619Z,1736383985.619 [DAT](INFO): DAT read: 00:53:04.4151 LVL= 16368, 17873, 10434, 15123, AGC= 27, IDX= 497,-0.37, 0.265, 0.715,-0.764, 1.079, PHS=-0.726,-0.316,-1.845, RAW=  15.0,  36.7, CAL=   8.4,  40.3, ROT= 141.6, -40.3

2025-01-09T00:53:05.625Z,1736383985.625 [DAT](INFO): got valid direction response:
 00:53:04.4151 LVL= 16368, 17873, 10434, 15123, AGC= 27, IDX= 497,-0.37, 0.265, 0.715,-0.764, 1.079, PHS=-0.726,-0.316,-1.845, RAW=  15.0,  36.7, CAL=   8.4,  40.3, ROT= 141.6, -40.3

2025-01-09T00:53:05.626Z,1736383985.626 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-01-09T00:53:05.630Z,1736383985.630 [DAT](INFO): direction in FSK: [-0.597698,0.473730,0.646790]
2025-01-09T00:53:05.631Z,1736383985.631 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:05.675Z,1736383985.675 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.714727
2025-01-09T00:53:05.807Z,1736383985.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:05.848Z,1736383985.848 [DockingStepper](INFO): Stopping
2025-01-09T00:53:05.856Z,1736383985.856 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.896095
2025-01-09T00:53:06.108Z,1736383986.108 [DAT](INFO): DAT read: Rx Time:00:53:04.9151 

2025-01-09T00:53:06.109Z,1736383986.109 [DAT](INFO): Rx dataTimestamp_ set to:1736383986.108498
2025-01-09T00:53:06.110Z,1736383986.110 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:06.111Z,1736383986.111 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-01-09T00:53:06.112Z,1736383986.112 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.152220
2025-01-09T00:53:06.176Z,1736383986.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:06.216Z,1736383986.216 [DockingStepper](INFO): Stopping
2025-01-09T00:53:06.361Z,1736383986.361 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.401043
2025-01-09T00:53:06.562Z,1736383986.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:06.596Z,1736383986.596 [DockingStepper](INFO): Stopping
2025-01-09T00:53:06.613Z,1736383986.613 [DAT](INFO): DAT read: Rx Time:00:53:05.4150 

2025-01-09T00:53:06.613Z,1736383986.613 [DAT](INFO): Rx dataTimestamp_ set to:1736383986.612703
2025-01-09T00:53:06.614Z,1736383986.614 [DAT](INFO): DAT read: Range 10 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-01-09T00:53:06.615Z,1736383986.615 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-01-09T00:53:06.616Z,1736383986.616 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.656378
2025-01-09T00:53:06.864Z,1736383986.864 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.904768
2025-01-09T00:53:06.978Z,1736383986.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:07.020Z,1736383987.020 [DockingStepper](INFO): Stopping
2025-01-09T00:53:07.116Z,1736383987.116 [DAT](INFO): DAT read: Rx Time:00:53:05.9151 

2025-01-09T00:53:07.117Z,1736383987.117 [DAT](INFO): Rx dataTimestamp_ set to:1736383987.116644
2025-01-09T00:53:07.118Z,1736383987.118 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:07.119Z,1736383987.119 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-01-09T00:53:07.120Z,1736383987.120 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.160290
2025-01-09T00:53:07.368Z,1736383987.368 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.408772
2025-01-09T00:53:07.378Z,1736383987.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:07.428Z,1736383987.428 [DockingStepper](INFO): Stopping
2025-01-09T00:53:07.621Z,1736383987.621 [DAT](INFO): DAT read: Rx Time:00:53:06.4151 

2025-01-09T00:53:07.621Z,1736383987.621 [DAT](INFO): Rx dataTimestamp_ set to:1736383987.620981
2025-01-09T00:53:07.624Z,1736383987.624 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:07.626Z,1736383987.626 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-01-09T00:53:07.628Z,1736383987.628 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.668686
2025-01-09T00:53:07.781Z,1736383987.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:07.821Z,1736383987.821 [DockingStepper](INFO): Stopping
2025-01-09T00:53:07.872Z,1736383987.872 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.912716
2025-01-09T00:53:08.124Z,1736383988.124 [DAT](INFO): DAT read: Rx Time:00:53:06.9152 

2025-01-09T00:53:08.125Z,1736383988.125 [DAT](INFO): Rx dataTimestamp_ set to:1736383988.124640
2025-01-09T00:53:08.126Z,1736383988.126 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:08.127Z,1736383988.127 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-01-09T00:53:08.128Z,1736383988.128 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.168308
2025-01-09T00:53:08.205Z,1736383988.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:08.244Z,1736383988.244 [DockingStepper](INFO): Stopping
2025-01-09T00:53:08.378Z,1736383988.378 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.418411
2025-01-09T00:53:08.571Z,1736383988.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:08.625Z,1736383988.625 [DockingStepper](INFO): Stopping
2025-01-09T00:53:08.629Z,1736383988.629 [DAT](INFO): DAT read: Rx Time:00:53:07.4151 

2025-01-09T00:53:08.629Z,1736383988.629 [DAT](INFO): Rx dataTimestamp_ set to:1736383988.628733
2025-01-09T00:53:08.630Z,1736383988.630 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:08.631Z,1736383988.631 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-01-09T00:53:08.632Z,1736383988.632 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.672403
2025-01-09T00:53:08.880Z,1736383988.880 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.920835
2025-01-09T00:53:08.998Z,1736383988.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:09.032Z,1736383989.032 [DockingStepper](INFO): Stopping
2025-01-09T00:53:09.132Z,1736383989.132 [DAT](INFO): DAT read: Rx Time:00:53:07.9152 

2025-01-09T00:53:09.133Z,1736383989.133 [DAT](INFO): Rx dataTimestamp_ set to:1736383989.132582
2025-01-09T00:53:09.134Z,1736383989.134 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:09.135Z,1736383989.135 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-01-09T00:53:09.136Z,1736383989.136 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.176199
2025-01-09T00:53:09.388Z,1736383989.388 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.427393
2025-01-09T00:53:09.401Z,1736383989.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:09.440Z,1736383989.440 [DockingStepper](INFO): Stopping
2025-01-09T00:53:09.637Z,1736383989.637 [DAT](INFO): DAT read: Rx Time:00:53:08.4151 

2025-01-09T00:53:09.637Z,1736383989.637 [DAT](INFO): Rx dataTimestamp_ set to:1736383989.636804
2025-01-09T00:53:09.638Z,1736383989.638 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:09.639Z,1736383989.639 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-01-09T00:53:09.641Z,1736383989.641 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.681107
2025-01-09T00:53:09.812Z,1736383989.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:09.864Z,1736383989.864 [DockingStepper](INFO): Stopping
2025-01-09T00:53:09.893Z,1736383989.893 [DAT](INFO): DAT read: Rx Time:00:53:08.9151 

2025-01-09T00:53:09.894Z,1736383989.894 [DAT](INFO): Rx dataTimestamp_ set to:1736383989.893627
2025-01-09T00:53:09.896Z,1736383989.896 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.936584
2025-01-09T00:53:10.141Z,1736383990.141 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:10.142Z,1736383990.142 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-01-09T00:53:10.143Z,1736383990.143 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.183281
2025-01-09T00:53:10.200Z,1736383990.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:10.236Z,1736383990.236 [DockingStepper](INFO): Stopping
2025-01-09T00:53:10.395Z,1736383990.395 [DAT](INFO): DAT read: Rx Time:00:53:09.4150 

2025-01-09T00:53:10.396Z,1736383990.396 [DAT](INFO): Rx dataTimestamp_ set to:1736383990.395547
2025-01-09T00:53:10.398Z,1736383990.398 [DAT](INFO): DAT read: Bearing 140.8, -43.6 (Local)

2025-01-09T00:53:10.401Z,1736383990.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.8, -43.6 (Local)

2025-01-09T00:53:10.403Z,1736383990.403 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.442986
2025-01-09T00:53:10.591Z,1736383990.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:10.625Z,1736383990.625 [DockingStepper](INFO): Stopping
2025-01-09T00:53:10.646Z,1736383990.646 [DAT](INFO): DAT read: Range 10 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-01-09T00:53:10.651Z,1736383990.651 [DAT](INFO): DAT read: 00:53:09.4150 LVL= 18128, 23681, 14994, 19235, AGC= 28, IDX= 511, 0.11,-0.501,-0.069,-1.514, 0.413, PHS=-0.826,-0.435,-1.930, RAW=  15.4,  40.0, CAL=   9.2,  43.6, ROT= 140.8, -43.6

2025-01-09T00:53:10.652Z,1736383990.652 [DAT](INFO): got valid direction response:
 00:53:09.4150 LVL= 18128, 23681, 14994, 19235, AGC= 28, IDX= 511, 0.11,-0.501,-0.069,-1.514, 0.413, PHS=-0.826,-0.435,-1.930, RAW=  15.4,  40.0, CAL=   9.2,  43.6, ROT= 140.8, -43.6

2025-01-09T00:53:10.653Z,1736383990.653 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-01-09T00:53:10.654Z,1736383990.654 [DAT](INFO): direction in FSK: [-0.561193,0.457698,0.689620]
2025-01-09T00:53:10.654Z,1736383990.654 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:10.657Z,1736383990.657 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.697889
2025-01-09T00:53:10.899Z,1736383990.899 [DAT](INFO): DAT read: Rx Time:00:53:09.9151 

2025-01-09T00:53:10.899Z,1736383990.899 [DAT](INFO): Rx dataTimestamp_ set to:1736383990.898749
2025-01-09T00:53:10.900Z,1736383990.900 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:10.901Z,1736383990.901 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-01-09T00:53:10.902Z,1736383990.902 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.942364
2025-01-09T00:53:11.029Z,1736383991.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:11.072Z,1736383991.072 [DockingStepper](INFO): Stopping
2025-01-09T00:53:11.148Z,1736383991.148 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.188833
2025-01-09T00:53:11.404Z,1736383991.404 [DAT](INFO): DAT read: Rx Time:00:53:10.4150 

2025-01-09T00:53:11.405Z,1736383991.405 [DAT](INFO): Rx dataTimestamp_ set to:1736383991.404128
2025-01-09T00:53:11.408Z,1736383991.408 [DAT](INFO): DAT read: Bearing 142.7, -43.5 (Local)

2025-01-09T00:53:11.409Z,1736383991.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.7, -43.5 (Local)

2025-01-09T00:53:11.412Z,1736383991.412 [DAT](INFO): DAT read: Range 10 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-01-09T00:53:11.414Z,1736383991.414 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-01-09T00:53:11.448Z,1736383991.448 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.488541
2025-01-09T00:53:11.493Z,1736383991.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:11.536Z,1736383991.536 [DockingStepper](INFO): Stopping
2025-01-09T00:53:11.657Z,1736383991.657 [DAT](INFO): DAT read: 00:53:10.4150 LVL= 17488, 23169, 15858, 18851, AGC= 28, IDX= 511, 0.16, 0.046, 0.524,-0.919, 0.986, PHS=-0.853,-0.416,-1.909, RAW=  13.5,  40.2, CAL=   7.3,  43.5, ROT= 142.7, -43.5

2025-01-09T00:53:11.658Z,1736383991.658 [DAT](INFO): got valid direction response:
 00:53:10.4150 LVL= 17488, 23169, 15858, 18851, AGC= 28, IDX= 511, 0.16, 0.046, 0.524,-0.919, 0.986, PHS=-0.853,-0.416,-1.909, RAW=  13.5,  40.2, CAL=   7.3,  43.5, ROT= 142.7, -43.5

2025-01-09T00:53:11.658Z,1736383991.658 [DAT](INFO): #Rx 44: Read direction message, but no range.
2025-01-09T00:53:11.659Z,1736383991.659 [DAT](INFO): direction in FSK: [-0.577016,0.439568,0.688355]
2025-01-09T00:53:11.662Z,1736383991.662 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.702866
2025-01-09T00:53:11.833Z,1736383991.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:11.872Z,1736383991.872 [DockingStepper](INFO): Stopping
2025-01-09T00:53:11.905Z,1736383991.905 [DAT](INFO): DAT read: Rx Time:00:53:10.9152 

2025-01-09T00:53:11.905Z,1736383991.905 [DAT](INFO): Rx dataTimestamp_ set to:1736383991.904709
2025-01-09T00:53:11.906Z,1736383991.906 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:11.907Z,1736383991.907 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-01-09T00:53:11.908Z,1736383991.908 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.948334
2025-01-09T00:53:12.156Z,1736383992.156 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.196753
2025-01-09T00:53:12.212Z,1736383992.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:12.248Z,1736383992.248 [DockingStepper](INFO): Stopping
2025-01-09T00:53:12.413Z,1736383992.413 [DAT](INFO): DAT read: Rx Time:00:53:11.4151 

2025-01-09T00:53:12.415Z,1736383992.415 [DAT](INFO): Rx dataTimestamp_ set to:1736383992.413880
2025-01-09T00:53:12.418Z,1736383992.418 [DAT](INFO): DAT read: Bearing 143.4, -43.8 (Local)

2025-01-09T00:53:12.419Z,1736383992.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.4, -43.8 (Local)

2025-01-09T00:53:12.424Z,1736383992.424 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:12.426Z,1736383992.426 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-01-09T00:53:12.430Z,1736383992.430 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.469734
2025-01-09T00:53:12.612Z,1736383992.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:12.648Z,1736383992.648 [DockingStepper](INFO): Stopping
2025-01-09T00:53:12.665Z,1736383992.665 [DAT](INFO): DAT read: 00:53:11.4151 LVL= 17456, 22817, 16370, 18931, AGC= 28, IDX= 511, 0.25, 0.579, 1.072,-0.362, 1.539, PHS=-0.872,-0.420,-1.904, RAW=  12.7,  40.6, CAL=   6.6,  43.8, ROT= 143.4, -43.8

2025-01-09T00:53:12.666Z,1736383992.666 [DAT](INFO): got valid direction response:
 00:53:11.4151 LVL= 17456, 22817, 16370, 18931, AGC= 28, IDX= 511, 0.25, 0.579, 1.072,-0.362, 1.539, PHS=-0.872,-0.420,-1.904, RAW=  12.7,  40.6, CAL=   6.6,  43.8, ROT= 143.4, -43.8

2025-01-09T00:53:12.666Z,1736383992.666 [DAT](INFO): #Rx 47: Read direction message, but no range.
2025-01-09T00:53:12.667Z,1736383992.667 [DAT](INFO): direction in FSK: [-0.579442,0.430331,0.692143]
2025-01-09T00:53:12.670Z,1736383992.670 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.710697
2025-01-09T00:53:12.916Z,1736383992.916 [DAT](INFO): DAT read: Rx Time:00:53:11.9151 

2025-01-09T00:53:12.917Z,1736383992.917 [DAT](INFO): Rx dataTimestamp_ set to:1736383992.916244
2025-01-09T00:53:12.920Z,1736383992.920 [DAT](INFO): DAT read: Bearing 146.0, -41.1 (Local)

2025-01-09T00:53:12.921Z,1736383992.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.0, -41.1 (Local)

2025-01-09T00:53:12.926Z,1736383992.926 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:12.940Z,1736383992.940 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-01-09T00:53:12.943Z,1736383992.943 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.983353
2025-01-09T00:53:13.033Z,1736383993.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:13.092Z,1736383993.092 [DockingStepper](INFO): Stopping
2025-01-09T00:53:13.168Z,1736383993.168 [DAT](INFO): DAT read: 00:53:11.9151 LVL= 15536, 20337, 14946, 16947, AGC= 29, IDX= 511, 0.27, 0.512, 1.085,-0.426, 1.449, PHS=-0.849,-0.317,-1.878, RAW=  10.4,  38.1, CAL=   4.0,  41.1, ROT= 146.0, -41.1

2025-01-09T00:53:13.169Z,1736383993.169 [DAT](INFO): got valid direction response:
 00:53:11.9151 LVL= 15536, 20337, 14946, 16947, AGC= 29, IDX= 511, 0.27, 0.512, 1.085,-0.426, 1.449, PHS=-0.849,-0.317,-1.878, RAW=  10.4,  38.1, CAL=   4.0,  41.1, ROT= 146.0, -41.1

2025-01-09T00:53:13.169Z,1736383993.169 [DAT](INFO): #Rx 49: Read direction message, but no range.
2025-01-09T00:53:13.170Z,1736383993.170 [DAT](INFO): direction in FSK: [-0.624732,0.421387,0.657375]
2025-01-09T00:53:13.174Z,1736383993.174 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.214418
2025-01-09T00:53:13.420Z,1736383993.420 [DAT](INFO): DAT read: Rx Time:00:53:12.4150 

2025-01-09T00:53:13.421Z,1736383993.421 [DAT](INFO): Rx dataTimestamp_ set to:1736383993.420310
2025-01-09T00:53:13.424Z,1736383993.424 [DAT](INFO): DAT read: Bearing 142.1, -44.0 (Local)

2025-01-09T00:53:13.425Z,1736383993.425 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.1, -44.0 (Local)

2025-01-09T00:53:13.443Z,1736383993.443 [DAT](INFO): DAT read: Range 10 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-01-09T00:53:13.464Z,1736383993.464 [DAT](INFO): DAT read: 00:53:12.4150 LVL= 17392, 22865, 16370, 18931, AGC= 28, IDX= 510, 0.38,-1.376,-0.913,-2.352,-0.427, PHS=-0.862,-0.439,-1.928, RAW=  14.0,  40.7, CAL=   7.9,  44.0, ROT= 142.1, -44.0

2025-01-09T00:53:13.465Z,1736383993.465 [DAT](INFO): got valid direction response:
 00:53:12.4150 LVL= 17392, 22865, 16370, 18931, AGC= 28, IDX= 510, 0.38,-1.376,-0.913,-2.352,-0.427, PHS=-0.862,-0.439,-1.928, RAW=  14.0,  40.7, CAL=   7.9,  44.0, ROT= 142.1, -44.0

2025-01-09T00:53:13.465Z,1736383993.465 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-01-09T00:53:13.466Z,1736383993.466 [DAT](INFO): direction in FSK: [-0.567620,0.441880,0.694658]
2025-01-09T00:53:13.466Z,1736383993.466 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:13.482Z,1736383993.482 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.522570
2025-01-09T00:53:13.540Z,1736383993.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:13.584Z,1736383993.584 [DockingStepper](INFO): Stopping
2025-01-09T00:53:13.668Z,1736383993.668 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.708763
2025-01-09T00:53:13.845Z,1736383993.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:13.903Z,1736383993.903 [DockingStepper](INFO): Stopping
2025-01-09T00:53:13.925Z,1736383993.925 [DAT](INFO): DAT read: Rx Time:00:53:12.9151 

2025-01-09T00:53:13.926Z,1736383993.926 [DAT](INFO): Rx dataTimestamp_ set to:1736383993.925445
2025-01-09T00:53:13.930Z,1736383993.930 [DAT](INFO): DAT read: Bearing 145.8, -40.9 (Local)

2025-01-09T00:53:13.931Z,1736383993.931 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.8, -40.9 (Local)

2025-01-09T00:53:13.936Z,1736383993.936 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:13.938Z,1736383993.938 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-01-09T00:53:13.992Z,1736383993.992 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.032526
2025-01-09T00:53:14.176Z,1736383994.176 [DAT](INFO): DAT read: 00:53:12.9151 LVL= 15488, 20593, 14722, 16947, AGC= 29, IDX= 511, 0.40, 0.411, 0.983,-0.540, 1.342, PHS=-0.843,-0.312,-1.885, RAW=  10.7,  37.8, CAL=   4.2,  40.9, ROT= 145.8, -40.9

2025-01-09T00:53:14.177Z,1736383994.177 [DAT](INFO): got valid direction response:
 00:53:12.9151 LVL= 15488, 20593, 14722, 16947, AGC= 29, IDX= 511, 0.40, 0.411, 0.983,-0.540, 1.342, PHS=-0.843,-0.312,-1.885, RAW=  10.7,  37.8, CAL=   4.2,  40.9, ROT= 145.8, -40.9

2025-01-09T00:53:14.178Z,1736383994.178 [DAT](INFO): #Rx 52: Read direction message, but no range.
2025-01-09T00:53:14.178Z,1736383994.178 [DAT](INFO): direction in FSK: [-0.625152,0.424853,0.654741]
2025-01-09T00:53:14.182Z,1736383994.182 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.222544
2025-01-09T00:53:14.252Z,1736383994.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:14.293Z,1736383994.293 [DockingStepper](INFO): Stopping
2025-01-09T00:53:14.428Z,1736383994.428 [DAT](INFO): DAT read: Rx Time:00:53:13.4151 

2025-01-09T00:53:14.429Z,1736383994.429 [DAT](INFO): Rx dataTimestamp_ set to:1736383994.428512
2025-01-09T00:53:14.433Z,1736383994.433 [DAT](INFO): DAT read: Bearing 146.1, -40.8 (Local)

2025-01-09T00:53:14.434Z,1736383994.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.1, -40.8 (Local)

2025-01-09T00:53:14.440Z,1736383994.440 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:14.442Z,1736383994.442 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-01-09T00:53:14.444Z,1736383994.444 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.484138
2025-01-09T00:53:14.641Z,1736383994.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:14.694Z,1736383994.694 [DAT](INFO): DAT read: 00:53:13.4151 LVL= 15168, 20929, 15074, 16851, AGC= 29, IDX= 510, 0.50,-0.918,-0.341,-1.858, 0.009, PHS=-0.839,-0.303,-1.871, RAW=  10.3,  37.7, CAL=   3.9,  40.8, ROT= 146.1, -40.8

2025-01-09T00:53:14.695Z,1736383994.695 [DAT](INFO): got valid direction response:
 00:53:13.4151 LVL= 15168, 20929, 15074, 16851, AGC= 29, IDX= 510, 0.50,-0.918,-0.341,-1.858, 0.009, PHS=-0.839,-0.303,-1.871, RAW=  10.3,  37.7, CAL=   3.9,  40.8, ROT= 146.1, -40.8

2025-01-09T00:53:14.695Z,1736383994.695 [DAT](INFO): #Rx 54: Read direction message, but no range.
2025-01-09T00:53:14.696Z,1736383994.696 [DAT](INFO): direction in FSK: [-0.628315,0.422210,0.653421]
2025-01-09T00:53:14.699Z,1736383994.699 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.739975
2025-01-09T00:53:14.712Z,1736383994.712 [DockingStepper](INFO): Stopping
2025-01-09T00:53:14.936Z,1736383994.936 [DAT](INFO): DAT read: Rx Time:00:53:13.9152 

2025-01-09T00:53:14.937Z,1736383994.937 [DAT](INFO): Rx dataTimestamp_ set to:1736383994.936616
2025-01-09T00:53:14.938Z,1736383994.938 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:14.939Z,1736383994.939 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-01-09T00:53:14.940Z,1736383994.940 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.980253
2025-01-09T00:53:15.053Z,1736383995.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:15.108Z,1736383995.108 [DockingStepper](INFO): Stopping
2025-01-09T00:53:15.188Z,1736383995.188 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.228746
2025-01-09T00:53:15.444Z,1736383995.444 [DAT](INFO): DAT read: Rx Time:00:53:14.4151 

2025-01-09T00:53:15.444Z,1736383995.444 [DAT](INFO): Rx dataTimestamp_ set to:1736383995.444098
2025-01-09T00:53:15.446Z,1736383995.446 [DAT](INFO): DAT read: Bearing 141.8, -42.8 (Local)

2025-01-09T00:53:15.446Z,1736383995.446 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.8, -42.8 (Local)

2025-01-09T00:53:15.448Z,1736383995.448 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:15.454Z,1736383995.454 [DAT](INFO): DAT read: 00:53:14.4151 LVL= 16112, 24817, 16610, 17523, AGC= 28, IDX= 511,-0.25, 2.670, 3.131, 1.661,-2.701, PHS=-0.825,-0.405,-1.925, RAW=  14.5,  39.4, CAL=   8.2,  42.8, ROT= 141.8, -42.8

2025-01-09T00:53:15.455Z,1736383995.455 [DAT](INFO): got valid direction response:
 00:53:14.4151 LVL= 16112, 24817, 16610, 17523, AGC= 28, IDX= 511,-0.25, 2.670, 3.131, 1.661,-2.701, PHS=-0.825,-0.405,-1.925, RAW=  14.5,  39.4, CAL=   8.2,  42.8, ROT= 141.8, -42.8

2025-01-09T00:53:15.455Z,1736383995.455 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-01-09T00:53:15.456Z,1736383995.456 [DAT](INFO): direction in FSK: [-0.576607,0.453745,0.679441]
2025-01-09T00:53:15.456Z,1736383995.456 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:15.464Z,1736383995.464 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.504431
2025-01-09T00:53:15.512Z,1736383995.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:15.553Z,1736383995.553 [DockingStepper](INFO): Stopping
2025-01-09T00:53:15.692Z,1736383995.692 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.732845
2025-01-09T00:53:15.893Z,1736383995.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:15.945Z,1736383995.945 [DAT](INFO): DAT read: Rx Time:00:53:14.9152 

2025-01-09T00:53:15.945Z,1736383995.945 [DAT](INFO): Rx dataTimestamp_ set to:1736383995.945212
2025-01-09T00:53:15.947Z,1736383995.947 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:15.948Z,1736383995.948 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-01-09T00:53:15.949Z,1736383995.949 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.989689
2025-01-09T00:53:15.956Z,1736383995.956 [DockingStepper](INFO): Stopping
2025-01-09T00:53:16.197Z,1736383996.197 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.237053
2025-01-09T00:53:16.251Z,1736383996.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:16.285Z,1736383996.285 [DockingStepper](INFO): Stopping
2025-01-09T00:53:16.449Z,1736383996.449 [DAT](INFO): DAT read: Rx Time:00:53:15.4151 

2025-01-09T00:53:16.449Z,1736383996.449 [DAT](INFO): Rx dataTimestamp_ set to:1736383996.449067
2025-01-09T00:53:16.451Z,1736383996.451 [DAT](INFO): DAT read: Bearing 143.2, -40.7 (Local)

2025-01-09T00:53:16.451Z,1736383996.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.2, -40.7 (Local)

2025-01-09T00:53:16.453Z,1736383996.453 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:16.458Z,1736383996.458 [DAT](INFO): DAT read: 00:53:15.4151 LVL= 13856, 21425, 14642, 14035, AGC= 27, IDX= 511,-0.16,-2.739,-2.254, 2.578,-1.898, PHS=-0.753,-0.309,-1.810, RAW=  13.3,  37.3, CAL=   6.8,  40.7, ROT= 143.2, -40.7

2025-01-09T00:53:16.459Z,1736383996.459 [DAT](INFO): got valid direction response:
 00:53:15.4151 LVL= 13856, 21425, 14642, 14035, AGC= 27, IDX= 511,-0.16,-2.739,-2.254, 2.578,-1.898, PHS=-0.753,-0.309,-1.810, RAW=  13.3,  37.3, CAL=   6.8,  40.7, ROT= 143.2, -40.7

2025-01-09T00:53:16.459Z,1736383996.459 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-01-09T00:53:16.460Z,1736383996.460 [DAT](INFO): direction in FSK: [-0.607062,0.454140,0.652098]
2025-01-09T00:53:16.461Z,1736383996.461 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:16.464Z,1736383996.464 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.504673
2025-01-09T00:53:16.660Z,1736383996.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:16.700Z,1736383996.700 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.740686
2025-01-09T00:53:16.704Z,1736383996.704 [DockingStepper](INFO): Stopping
2025-01-09T00:53:16.953Z,1736383996.953 [DAT](INFO): DAT read: Rx Time:00:53:15.9151 

2025-01-09T00:53:16.953Z,1736383996.953 [DAT](INFO): Rx dataTimestamp_ set to:1736383996.953028
2025-01-09T00:53:16.955Z,1736383996.955 [DAT](INFO): DAT read: Bearing 144.8, -38.7 (Local)

2025-01-09T00:53:16.955Z,1736383996.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.8, -38.7 (Local)

2025-01-09T00:53:16.957Z,1736383996.957 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:16.962Z,1736383996.962 [DAT](INFO): DAT read: 00:53:15.9151 LVL= 12080, 15857, 10898, 11283, AGC= 27, IDX= 511,-0.13,-2.066,-1.534,-2.996,-1.269, PHS=-0.710,-0.218,-1.730, RAW=  11.4,  35.1, CAL=   5.2,  38.7, ROT= 144.8, -38.7

2025-01-09T00:53:16.963Z,1736383996.963 [DAT](INFO): got valid direction response:
 00:53:15.9151 LVL= 12080, 15857, 10898, 11283, AGC= 27, IDX= 511,-0.13,-2.066,-1.534,-2.996,-1.269, PHS=-0.710,-0.218,-1.730, RAW=  11.4,  35.1, CAL=   5.2,  38.7, ROT= 144.8, -38.7

2025-01-09T00:53:16.963Z,1736383996.963 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-01-09T00:53:16.964Z,1736383996.964 [DAT](INFO): direction in FSK: [-0.637725,0.449865,0.625243]
2025-01-09T00:53:16.964Z,1736383996.964 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:16.988Z,1736383996.988 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.028833
2025-01-09T00:53:17.101Z,1736383997.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:17.136Z,1736383997.136 [DockingStepper](INFO): Stopping
2025-01-09T00:53:17.204Z,1736383997.204 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.244835
2025-01-09T00:53:17.457Z,1736383997.457 [DAT](INFO): DAT read: Rx Time:00:53:16.4151 

2025-01-09T00:53:17.457Z,1736383997.457 [DAT](INFO): Rx dataTimestamp_ set to:1736383997.457090
2025-01-09T00:53:17.459Z,1736383997.459 [DAT](INFO): DAT read: Bearing 137.1, -40.5 (Local)

2025-01-09T00:53:17.459Z,1736383997.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.1, -40.5 (Local)

2025-01-09T00:53:17.461Z,1736383997.461 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:17.466Z,1736383997.466 [DAT](INFO): DAT read: 00:53:16.4151 LVL= 12768, 14545, 11346, 12627, AGC= 26, IDX= 510,-0.07, 3.107,-2.858, 2.070,-2.479, PHS=-0.609,-0.332,-1.738, RAW=  19.3,  36.3, CAL=  12.9,  40.5, ROT= 137.1, -40.5

2025-01-09T00:53:17.467Z,1736383997.467 [DAT](INFO): got valid direction response:
 00:53:16.4151 LVL= 12768, 14545, 11346, 12627, AGC= 26, IDX= 510,-0.07, 3.107,-2.858, 2.070,-2.479, PHS=-0.609,-0.332,-1.738, RAW=  19.3,  36.3, CAL=  12.9,  40.5, ROT= 137.1, -40.5

2025-01-09T00:53:17.467Z,1736383997.467 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-01-09T00:53:17.468Z,1736383997.468 [DAT](INFO): direction in FSK: [-0.557030,0.517624,0.649448]
2025-01-09T00:53:17.469Z,1736383997.469 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:17.476Z,1736383997.476 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.516726
2025-01-09T00:53:17.488Z,1736383997.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:17.525Z,1736383997.525 [DockingStepper](INFO): Stopping
2025-01-09T00:53:17.708Z,1736383997.708 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.748730
2025-01-09T00:53:17.910Z,1736383997.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:17.961Z,1736383997.961 [DAT](INFO): DAT read: Rx Time:00:53:16.9153 

2025-01-09T00:53:17.961Z,1736383997.961 [DAT](INFO): Rx dataTimestamp_ set to:1736383997.960711
2025-01-09T00:53:17.962Z,1736383997.962 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:17.963Z,1736383997.963 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-01-09T00:53:17.964Z,1736383997.964 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.004341
2025-01-09T00:53:17.965Z,1736383997.965 [DockingStepper](INFO): Stopping
2025-01-09T00:53:18.212Z,1736383998.212 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.252754
2025-01-09T00:53:18.266Z,1736383998.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:18.300Z,1736383998.300 [DockingStepper](INFO): Stopping
2025-01-09T00:53:18.465Z,1736383998.465 [DAT](INFO): DAT read: Rx Time:00:53:17.4152 

2025-01-09T00:53:18.466Z,1736383998.466 [DAT](INFO): Rx dataTimestamp_ set to:1736383998.465296
2025-01-09T00:53:18.467Z,1736383998.467 [DAT](INFO): DAT read: Bearing 135.5, -39.9 (Local)

2025-01-09T00:53:18.467Z,1736383998.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.5, -39.9 (Local)

2025-01-09T00:53:18.469Z,1736383998.469 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:18.474Z,1736383998.474 [DAT](INFO): DAT read: 00:53:17.4152 LVL= 13472, 11505, 10610, 13299, AGC= 26, IDX= 511,-0.01,-1.297,-1.017,-2.359,-0.651, PHS=-0.558,-0.320,-1.711, RAW=  20.8,  35.4, CAL=  14.5,  39.9, ROT= 135.5, -39.9

2025-01-09T00:53:18.475Z,1736383998.475 [DAT](INFO): got valid direction response:
 00:53:17.4152 LVL= 13472, 11505, 10610, 13299, AGC= 26, IDX= 511,-0.01,-1.297,-1.017,-2.359,-0.651, PHS=-0.558,-0.320,-1.711, RAW=  20.8,  35.4, CAL=  14.5,  39.9, ROT= 135.5, -39.9

2025-01-09T00:53:18.476Z,1736383998.476 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-01-09T00:53:18.477Z,1736383998.477 [DAT](INFO): direction in FSK: [-0.547181,0.537713,0.641450]
2025-01-09T00:53:18.477Z,1736383998.477 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:18.480Z,1736383998.480 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.520802
2025-01-09T00:53:18.699Z,1736383998.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:18.716Z,1736383998.716 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.756847
2025-01-09T00:53:18.756Z,1736383998.756 [DockingStepper](INFO): Stopping
2025-01-09T00:53:18.968Z,1736383998.968 [DAT](INFO): DAT read: Rx Time:00:53:17.9153 

2025-01-09T00:53:18.969Z,1736383998.969 [DAT](INFO): Rx dataTimestamp_ set to:1736383998.968527
2025-01-09T00:53:18.970Z,1736383998.970 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:18.971Z,1736383998.971 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-01-09T00:53:18.972Z,1736383998.972 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.012186
2025-01-09T00:53:19.108Z,1736383999.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:19.148Z,1736383999.148 [DockingStepper](INFO): Stopping
2025-01-09T00:53:19.220Z,1736383999.220 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.260777
2025-01-09T00:53:19.477Z,1736383999.477 [DAT](INFO): DAT read: Rx Time:00:53:18.4152 

2025-01-09T00:53:19.477Z,1736383999.477 [DAT](INFO): Rx dataTimestamp_ set to:1736383999.477053
2025-01-09T00:53:19.479Z,1736383999.479 [DAT](INFO): DAT read: Bearing 140.7, -39.8 (Local)

2025-01-09T00:53:19.479Z,1736383999.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.7, -39.8 (Local)

2025-01-09T00:53:19.481Z,1736383999.481 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:19.486Z,1736383999.486 [DAT](INFO): DAT read: 00:53:18.4152 LVL= 14112, 15729, 10994, 12611, AGC= 27, IDX= 511, 0.04,-0.494,-0.082,-1.493, 0.255, PHS=-0.661,-0.290,-1.751, RAW=  15.9,  36.0, CAL=   9.3,  39.8, ROT= 140.7, -39.8

2025-01-09T00:53:19.487Z,1736383999.487 [DAT](INFO): got valid direction response:
 00:53:18.4152 LVL= 14112, 15729, 10994, 12611, AGC= 27, IDX= 511, 0.04,-0.494,-0.082,-1.493, 0.255, PHS=-0.661,-0.290,-1.751, RAW=  15.9,  36.0, CAL=   9.3,  39.8, ROT= 140.7, -39.8

2025-01-09T00:53:19.488Z,1736383999.488 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-01-09T00:53:19.489Z,1736383999.489 [DAT](INFO): direction in FSK: [-0.594529,0.486616,0.640110]
2025-01-09T00:53:19.489Z,1736383999.489 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:19.501Z,1736383999.501 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.541204
2025-01-09T00:53:19.505Z,1736383999.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:19.545Z,1736383999.545 [DockingStepper](INFO): Stopping
2025-01-09T00:53:19.728Z,1736383999.728 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.768759
2025-01-09T00:53:19.932Z,1736383999.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:19.972Z,1736383999.972 [DockingStepper](INFO): Stopping
2025-01-09T00:53:19.981Z,1736383999.981 [DAT](INFO): DAT read: Rx Time:00:53:18.9153 

2025-01-09T00:53:19.981Z,1736383999.981 [DAT](INFO): Rx dataTimestamp_ set to:1736383999.980968
2025-01-09T00:53:19.982Z,1736383999.982 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:19.983Z,1736383999.983 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-01-09T00:53:19.984Z,1736383999.984 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.024872
2025-01-09T00:53:20.232Z,1736384000.232 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.272835
2025-01-09T00:53:20.287Z,1736384000.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:20.324Z,1736384000.324 [DockingStepper](INFO): Stopping
2025-01-09T00:53:20.485Z,1736384000.485 [DAT](INFO): DAT read: Rx Time:00:53:19.4152 

2025-01-09T00:53:20.485Z,1736384000.485 [DAT](INFO): Rx dataTimestamp_ set to:1736384000.484946
2025-01-09T00:53:20.486Z,1736384000.486 [DAT](INFO): DAT read: Bearing 146.5, -41.2 (Local)

2025-01-09T00:53:20.487Z,1736384000.487 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.5, -41.2 (Local)

2025-01-09T00:53:20.489Z,1736384000.489 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:20.494Z,1736384000.494 [DAT](INFO): DAT read: 00:53:19.4152 LVL= 13328, 21777, 14434, 14035, AGC= 27, IDX= 511, 0.09,-0.754,-0.192,-1.634, 0.155, PHS=-0.821,-0.300,-1.792, RAW=   9.9,  38.2, CAL=   3.5,  41.2, ROT= 146.5, -41.2

2025-01-09T00:53:20.495Z,1736384000.495 [DAT](INFO): got valid direction response:
 00:53:19.4152 LVL= 13328, 21777, 14434, 14035, AGC= 27, IDX= 511, 0.09,-0.754,-0.192,-1.634, 0.155, PHS=-0.821,-0.300,-1.792, RAW=   9.9,  38.2, CAL=   3.5,  41.2, ROT= 146.5, -41.2

2025-01-09T00:53:20.495Z,1736384000.495 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-01-09T00:53:20.496Z,1736384000.496 [DAT](INFO): direction in FSK: [-0.627428,0.415286,0.658689]
2025-01-09T00:53:20.496Z,1736384000.496 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:20.500Z,1736384000.500 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.540501
2025-01-09T00:53:20.700Z,1736384000.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:20.737Z,1736384000.737 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.777859
2025-01-09T00:53:20.738Z,1736384000.738 [DockingStepper](INFO): Stopping
2025-01-09T00:53:20.989Z,1736384000.989 [DAT](INFO): DAT read: Rx Time:00:53:19.9152 

2025-01-09T00:53:20.989Z,1736384000.989 [DAT](INFO): Rx dataTimestamp_ set to:1736384000.989035
2025-01-09T00:53:20.991Z,1736384000.991 [DAT](INFO): DAT read: Bearing 150.3, -40.4 (Local)

2025-01-09T00:53:20.991Z,1736384000.991 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.3, -40.4 (Local)

2025-01-09T00:53:20.993Z,1736384000.993 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:20.998Z,1736384000.998 [DAT](INFO): DAT read: 00:53:19.9152 LVL= 12512, 21121, 13682, 13539, AGC= 28, IDX= 511, 0.13,-1.142,-0.486,-1.945,-0.184, PHS=-0.870,-0.255,-1.764, RAW=   6.1,  37.8, CAL= 359.7,  40.4, ROT= 150.3, -40.4

2025-01-09T00:53:21.002Z,1736384001.002 [DAT](INFO): got valid direction response:
 00:53:19.9152 LVL= 12512, 21121, 13682, 13539, AGC= 28, IDX= 511, 0.13,-1.142,-0.486,-1.945,-0.184, PHS=-0.870,-0.255,-1.764, RAW=   6.1,  37.8, CAL= 359.7,  40.4, ROT= 150.3, -40.4

2025-01-09T00:53:21.027Z,1736384001.027 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-01-09T00:53:21.028Z,1736384001.028 [DAT](INFO): direction in FSK: [-0.661496,0.377311,0.648120]
2025-01-09T00:53:21.029Z,1736384001.029 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:21.040Z,1736384001.040 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.080826
2025-01-09T00:53:21.126Z,1736384001.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:21.172Z,1736384001.172 [DockingStepper](INFO): Stopping
2025-01-09T00:53:21.240Z,1736384001.240 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.280773
2025-01-09T00:53:21.493Z,1736384001.493 [DAT](INFO): DAT read: Rx Time:00:53:20.4152 

2025-01-09T00:53:21.494Z,1736384001.494 [DAT](INFO): Rx dataTimestamp_ set to:1736384001.493316
2025-01-09T00:53:21.495Z,1736384001.495 [DAT](INFO): DAT read: Bearing 149.6, -39.5 (Local)

2025-01-09T00:53:21.495Z,1736384001.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.6, -39.5 (Local)

2025-01-09T00:53:21.497Z,1736384001.497 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:21.502Z,1736384001.502 [DAT](INFO): DAT read: 00:53:20.4152 LVL= 14320, 23217, 16818, 15843, AGC= 29, IDX= 510, 0.13,-1.981,-1.311,-2.840,-1.034, PHS=-0.859,-0.230,-1.809, RAW=   6.7,  36.7, CAL=   0.4,  39.5, ROT= 149.6, -39.5

2025-01-09T00:53:21.507Z,1736384001.507 [DAT](INFO): got valid direction response:
 00:53:20.4152 LVL= 14320, 23217, 16818, 15843, AGC= 29, IDX= 510, 0.13,-1.981,-1.311,-2.840,-1.034, PHS=-0.859,-0.230,-1.809, RAW=   6.7,  36.7, CAL=   0.4,  39.5, ROT= 149.6, -39.5

2025-01-09T00:53:21.508Z,1736384001.508 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-01-09T00:53:21.509Z,1736384001.509 [DAT](INFO): direction in FSK: [-0.665537,0.390468,0.636078]
2025-01-09T00:53:21.509Z,1736384001.509 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:21.513Z,1736384001.513 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.553059
2025-01-09T00:53:21.521Z,1736384001.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:21.557Z,1736384001.557 [DockingStepper](INFO): Stopping
2025-01-09T00:53:21.744Z,1736384001.744 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.784798
2025-01-09T00:53:21.977Z,1736384001.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:21.997Z,1736384001.997 [DAT](INFO): DAT read: Rx Time:00:53:20.9153 

2025-01-09T00:53:21.998Z,1736384001.998 [DAT](INFO): Rx dataTimestamp_ set to:1736384001.997020
2025-01-09T00:53:21.999Z,1736384001.999 [DAT](INFO): DAT read: Bearing 149.2, -40.0 (Local)

2025-01-09T00:53:21.000Z,1736384002.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.2, -40.0 (Local)

2025-01-09T00:53:22.002Z,1736384002.002 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:22.016Z,1736384002.016 [DockingStepper](INFO): Stopping
2025-01-09T00:53:22.028Z,1736384002.028 [DAT](INFO): DAT read: 00:53:20.9153 LVL= 14448, 20049, 15314, 16019, AGC= 29, IDX= 511, 0.15,-0.425, 0.225,-1.290, 0.526, PHS=-0.862,-0.254,-1.819, RAW=   7.3,  37.2, CAL=   0.8,  40.0, ROT= 149.2, -40.0

2025-01-09T00:53:22.029Z,1736384002.029 [DAT](INFO): got valid direction response:
 00:53:20.9153 LVL= 14448, 20049, 15314, 16019, AGC= 29, IDX= 511, 0.15,-0.425, 0.225,-1.290, 0.526, PHS=-0.862,-0.254,-1.819, RAW=   7.3,  37.2, CAL=   0.8,  40.0, ROT= 149.2, -40.0

2025-01-09T00:53:22.029Z,1736384002.029 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-01-09T00:53:22.030Z,1736384002.030 [DAT](INFO): direction in FSK: [-0.658001,0.392248,0.642788]
2025-01-09T00:53:22.030Z,1736384002.030 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:22.037Z,1736384002.037 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.077866
2025-01-09T00:53:22.249Z,1736384002.249 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.289055
2025-01-09T00:53:22.312Z,1736384002.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:22.365Z,1736384002.365 [DockingStepper](INFO): Stopping
2025-01-09T00:53:22.501Z,1736384002.501 [DAT](INFO): DAT read: Rx Time:00:53:21.4152 

2025-01-09T00:53:22.501Z,1736384002.501 [DAT](INFO): Rx dataTimestamp_ set to:1736384002.501059
2025-01-09T00:53:22.503Z,1736384002.503 [DAT](INFO): DAT read: Bearing 145.6, -43.2 (Local)

2025-01-09T00:53:22.503Z,1736384002.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.6, -43.2 (Local)

2025-01-09T00:53:22.505Z,1736384002.505 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:22.510Z,1736384002.510 [DAT](INFO): DAT read: 00:53:21.4152 LVL= 16800, 21137, 16818, 18419, AGC= 28, IDX= 510, 0.18,-1.035,-0.498,-1.913,-0.077, PHS=-0.870,-0.374,-1.839, RAW=  10.6,  40.2, CAL=   4.4,  43.2, ROT= 145.6, -43.2

2025-01-09T00:53:22.511Z,1736384002.511 [DAT](INFO): got valid direction response:
 00:53:21.4152 LVL= 16800, 21137, 16818, 18419, AGC= 28, IDX= 510, 0.18,-1.035,-0.498,-1.913,-0.077, PHS=-0.870,-0.374,-1.839, RAW=  10.6,  40.2, CAL=   4.4,  43.2, ROT= 145.6, -43.2

2025-01-09T00:53:22.511Z,1736384002.511 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-01-09T00:53:22.512Z,1736384002.512 [DAT](INFO): direction in FSK: [-0.601482,0.411843,0.684547]
2025-01-09T00:53:22.512Z,1736384002.512 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:22.516Z,1736384002.516 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.556759
2025-01-09T00:53:22.716Z,1736384002.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:22.752Z,1736384002.752 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.792786
2025-01-09T00:53:22.765Z,1736384002.765 [DockingStepper](INFO): Stopping
2025-01-09T00:53:23.005Z,1736384003.005 [DAT](INFO): DAT read: Rx Time:00:53:21.9153 

2025-01-09T00:53:23.006Z,1736384003.006 [DAT](INFO): Rx dataTimestamp_ set to:1736384003.005256
2025-01-09T00:53:23.007Z,1736384003.007 [DAT](INFO): DAT read: Bearing 150.1, -39.5 (Local)

2025-01-09T00:53:23.007Z,1736384003.007 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.1, -39.5 (Local)

2025-01-09T00:53:23.009Z,1736384003.009 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:23.014Z,1736384003.014 [DAT](INFO): DAT read: 00:53:21.9153 LVL= 17248, 20001, 17122, 18259, AGC= 30, IDX= 511, 0.11, 1.344, 2.009, 0.522, 2.280, PHS=-0.848,-0.224,-1.761, RAW=   6.2,  36.8, CAL= 359.9,  39.5, ROT= 150.1, -39.5

2025-01-09T00:53:23.015Z,1736384003.015 [DAT](INFO): got valid direction response:
 00:53:21.9153 LVL= 17248, 20001, 17122, 18259, AGC= 30, IDX= 511, 0.11, 1.344, 2.009, 0.522, 2.280, PHS=-0.848,-0.224,-1.761, RAW=   6.2,  36.8, CAL= 359.9,  39.5, ROT= 150.1, -39.5

2025-01-09T00:53:23.015Z,1736384003.015 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-01-09T00:53:23.016Z,1736384003.016 [DAT](INFO): direction in FSK: [-0.668919,0.384645,0.636078]
2025-01-09T00:53:23.017Z,1736384003.017 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:23.020Z,1736384003.020 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.060772
2025-01-09T00:53:23.217Z,1736384003.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:23.257Z,1736384003.257 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.297493
2025-01-09T00:53:23.272Z,1736384003.272 [DockingStepper](INFO): Stopped
2025-01-09T00:53:23.508Z,1736384003.508 [DAT](INFO): DAT read: Rx Time:00:53:22.4152 

2025-01-09T00:53:23.509Z,1736384003.509 [DAT](INFO): Rx dataTimestamp_ set to:1736384003.508588
2025-01-09T00:53:23.510Z,1736384003.510 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:23.511Z,1736384003.511 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-01-09T00:53:23.512Z,1736384003.512 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.552357
2025-01-09T00:53:23.526Z,1736384003.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:23.761Z,1736384003.761 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.801048
2025-01-09T00:53:23.768Z,1736384003.768 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:53:23.991Z,1736384003.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:24.013Z,1736384004.013 [DAT](INFO): DAT read: Rx Time:00:53:22.9153 

2025-01-09T00:53:24.014Z,1736384004.014 [DAT](INFO): Rx dataTimestamp_ set to:1736384004.013346
2025-01-09T00:53:24.015Z,1736384004.015 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:24.016Z,1736384004.016 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-01-09T00:53:24.018Z,1736384004.018 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.058071
2025-01-09T00:53:24.264Z,1736384004.264 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.304752
2025-01-09T00:53:24.332Z,1736384004.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:24.517Z,1736384004.517 [DAT](INFO): DAT read: Rx Time:00:53:23.4152 

2025-01-09T00:53:24.517Z,1736384004.517 [DAT](INFO): Rx dataTimestamp_ set to:1736384004.516852
2025-01-09T00:53:24.518Z,1736384004.518 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:24.519Z,1736384004.519 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-01-09T00:53:24.520Z,1736384004.520 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.560459
2025-01-09T00:53:24.735Z,1736384004.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:24.768Z,1736384004.768 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.809006
2025-01-09T00:53:24.769Z,1736384004.769 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:53:25.020Z,1736384005.020 [DAT](INFO): DAT read: Rx Time:00:53:23.9152 

2025-01-09T00:53:25.021Z,1736384005.021 [DAT](INFO): Rx dataTimestamp_ set to:1736384005.020592
2025-01-09T00:53:25.022Z,1736384005.022 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:25.023Z,1736384005.023 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-01-09T00:53:25.024Z,1736384005.024 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.064209
2025-01-09T00:53:25.153Z,1736384005.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:25.272Z,1736384005.272 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.312775
2025-01-09T00:53:25.533Z,1736384005.533 [DAT](INFO): DAT read: Rx Time:00:53:24.4151 

2025-01-09T00:53:25.534Z,1736384005.534 [DAT](INFO): Rx dataTimestamp_ set to:1736384005.533285
2025-01-09T00:53:25.535Z,1736384005.535 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:25.535Z,1736384005.535 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-01-09T00:53:25.536Z,1736384005.536 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.576900
2025-01-09T00:53:25.566Z,1736384005.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:25.784Z,1736384005.784 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.824764
2025-01-09T00:53:26.023Z,1736384006.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:26.037Z,1736384006.037 [DAT](INFO): DAT read: Rx Time:00:53:24.9152 

2025-01-09T00:53:26.037Z,1736384006.037 [DAT](INFO): Rx dataTimestamp_ set to:1736384006.036995
2025-01-09T00:53:26.038Z,1736384006.038 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:26.039Z,1736384006.039 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-01-09T00:53:26.040Z,1736384006.040 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.080608
2025-01-09T00:53:26.288Z,1736384006.288 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.328831
2025-01-09T00:53:26.355Z,1736384006.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:26.541Z,1736384006.541 [DAT](INFO): DAT read: Rx Time:00:53:25.4151 

2025-01-09T00:53:26.541Z,1736384006.541 [DAT](INFO): Rx dataTimestamp_ set to:1736384006.541139
2025-01-09T00:53:26.543Z,1736384006.543 [DAT](INFO): DAT read: Bearing 123.5, -43.0 (Local)

2025-01-09T00:53:26.543Z,1736384006.543 [DAT](INFO): Local bearing/azimuth received:
 Bearing 123.5, -43.0 (Local)

2025-01-09T00:53:26.545Z,1736384006.545 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:26.550Z,1736384006.550 [DAT](INFO): DAT read: 00:53:25.4151 LVL= 14416, 19777, 14098, 19443, AGC= 31, IDX= 510,-0.08,-0.664,-0.671,-2.360, 0.093, PHS=-0.670,-0.717,-2.457, RAW=  31.3,  37.6, CAL=  26.5,  43.0, ROT= 123.5, -43.0

2025-01-09T00:53:26.551Z,1736384006.551 [DAT](INFO): got valid direction response:
 00:53:25.4151 LVL= 14416, 19777, 14098, 19443, AGC= 31, IDX= 510,-0.08,-0.664,-0.671,-2.360, 0.093, PHS=-0.670,-0.717,-2.457, RAW=  31.3,  37.6, CAL=  26.5,  43.0, ROT= 123.5, -43.0

2025-01-09T00:53:26.551Z,1736384006.551 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-01-09T00:53:26.552Z,1736384006.552 [DAT](INFO): direction in FSK: [-0.403661,0.609866,0.681998]
2025-01-09T00:53:26.552Z,1736384006.552 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:26.556Z,1736384006.556 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.596676
2025-01-09T00:53:26.761Z,1736384006.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:26.793Z,1736384006.793 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.833424
2025-01-09T00:53:27.045Z,1736384007.045 [DAT](INFO): DAT read: Rx Time:00:53:25.9152 

2025-01-09T00:53:27.045Z,1736384007.045 [DAT](INFO): Rx dataTimestamp_ set to:1736384007.045175
2025-01-09T00:53:27.047Z,1736384007.047 [DAT](INFO): DAT read: Bearing 112.5, -67.7 (Local)

2025-01-09T00:53:27.047Z,1736384007.047 [DAT](INFO): Local bearing/azimuth received:
 Bearing 112.5, -67.7 (Local)

2025-01-09T00:53:27.049Z,1736384007.049 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:27.054Z,1736384007.054 [DAT](INFO): DAT read: 00:53:25.9152 LVL= 18368, 27569, 11186, 20211, AGC= 29, IDX= 511, 0.15,-1.154,-1.226,-1.709,-0.124, PHS=-0.942,-1.055,-1.588, RAW=  39.4,  64.8, CAL=  37.5,  67.7, ROT= 112.5, -67.7

2025-01-09T00:53:27.055Z,1736384007.055 [DAT](INFO): got valid direction response:
 00:53:25.9152 LVL= 18368, 27569, 11186, 20211, AGC= 29, IDX= 511, 0.15,-1.154,-1.226,-1.709,-0.124, PHS=-0.942,-1.055,-1.588, RAW=  39.4,  64.8, CAL=  37.5,  67.7, ROT= 112.5, -67.7

2025-01-09T00:53:27.055Z,1736384007.055 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-01-09T00:53:27.056Z,1736384007.056 [DAT](INFO): direction in FSK: [-0.145212,0.350572,0.925210]
2025-01-09T00:53:27.056Z,1736384007.056 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:27.065Z,1736384007.065 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.105244
2025-01-09T00:53:27.189Z,1736384007.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:27.296Z,1736384007.296 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.336758
2025-01-09T00:53:27.554Z,1736384007.554 [DAT](INFO): DAT read: Rx Time:00:53:26.4152 

2025-01-09T00:53:27.554Z,1736384007.554 [DAT](INFO): Rx dataTimestamp_ set to:1736384007.553995
2025-01-09T00:53:27.556Z,1736384007.556 [DAT](INFO): DAT read: Bearing 110.5, -73.2 (Local)

2025-01-09T00:53:27.556Z,1736384007.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing 110.5, -73.2 (Local)

2025-01-09T00:53:27.558Z,1736384007.558 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:27.563Z,1736384007.563 [DAT](INFO): DAT read: 00:53:26.4152 LVL= 20272, 28577,  9106, 18403, AGC= 29, IDX= 510, 0.26, 3.005, 2.952, 2.628,-2.203, PHS=-0.987,-1.080,-1.455, RAW=  40.9,  71.0, CAL=  39.5,  73.2, ROT= 110.5, -73.2

2025-01-09T00:53:27.564Z,1736384007.564 [DAT](INFO): got valid direction response:
 00:53:26.4152 LVL= 20272, 28577,  9106, 18403, AGC= 29, IDX= 510, 0.26, 3.005, 2.952, 2.628,-2.203, PHS=-0.987,-1.080,-1.455, RAW=  40.9,  71.0, CAL=  39.5,  73.2, ROT= 110.5, -73.2

2025-01-09T00:53:27.564Z,1736384007.564 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-01-09T00:53:27.565Z,1736384007.565 [DAT](INFO): direction in FSK: [-0.101221,0.270728,0.957319]
2025-01-09T00:53:27.565Z,1736384007.565 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:27.573Z,1736384007.573 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.613674
2025-01-09T00:53:27.604Z,1736384007.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:27.804Z,1736384007.804 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.844814
2025-01-09T00:53:28.038Z,1736384008.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:28.057Z,1736384008.057 [DAT](INFO): DAT read: Rx Time:00:53:26.9152 

2025-01-09T00:53:28.057Z,1736384008.057 [DAT](INFO): Rx dataTimestamp_ set to:1736384008.057004
2025-01-09T00:53:28.059Z,1736384008.059 [DAT](INFO): DAT read: Bearing 115.0, -73.5 (Local)

2025-01-09T00:53:28.059Z,1736384008.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 115.0, -73.5 (Local)

2025-01-09T00:53:28.062Z,1736384008.062 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:28.068Z,1736384008.068 [DAT](INFO): DAT read: 00:53:26.9152 LVL= 20416, 28033,  9714, 18995, AGC= 29, IDX= 510, 0.31,-2.755,-2.767,-3.099,-1.672, PHS=-0.994,-1.048,-1.430, RAW=  36.5,  71.5, CAL=  35.0,  73.5, ROT= 115.0, -73.5

2025-01-09T00:53:28.070Z,1736384008.070 [DAT](INFO): got valid direction response:
 00:53:26.9152 LVL= 20416, 28033,  9714, 18995, AGC= 29, IDX= 510, 0.31,-2.755,-2.767,-3.099,-1.672, PHS=-0.994,-1.048,-1.430, RAW=  36.5,  71.5, CAL=  35.0,  73.5, ROT= 115.0, -73.5

2025-01-09T00:53:28.070Z,1736384008.070 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-01-09T00:53:28.071Z,1736384008.071 [DAT](INFO): direction in FSK: [-0.120030,0.257405,0.958820]
2025-01-09T00:53:28.071Z,1736384008.071 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:28.075Z,1736384008.075 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.115192
2025-01-09T00:53:28.309Z,1736384008.309 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.349064
2025-01-09T00:53:28.377Z,1736384008.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:28.560Z,1736384008.560 [DAT](INFO): DAT read: Rx Time:00:53:27.4151 

2025-01-09T00:53:28.561Z,1736384008.561 [DAT](INFO): Rx dataTimestamp_ set to:1736384008.560635
2025-01-09T00:53:28.562Z,1736384008.562 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:28.563Z,1736384008.563 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-01-09T00:53:28.564Z,1736384008.564 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.604259
2025-01-09T00:53:28.792Z,1736384008.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:28.813Z,1736384008.813 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.853203
2025-01-09T00:53:29.065Z,1736384009.065 [DAT](INFO): DAT read: Rx Time:00:53:27.9152 

2025-01-09T00:53:29.065Z,1736384009.065 [DAT](INFO): Rx dataTimestamp_ set to:1736384009.065180
2025-01-09T00:53:29.067Z,1736384009.067 [DAT](INFO): DAT read: Bearing 121.2, -56.2 (Local)

2025-01-09T00:53:29.067Z,1736384009.067 [DAT](INFO): Local bearing/azimuth received:
 Bearing 121.2, -56.2 (Local)

2025-01-09T00:53:29.069Z,1736384009.069 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:29.074Z,1736384009.074 [DAT](INFO): DAT read: 00:53:27.9152 LVL= 16624, 26945, 11058, 19731, AGC= 31, IDX= 510, 0.26,-1.278,-1.281,-2.245,-0.296, PHS=-0.894,-0.939,-1.952, RAW=  32.1,  52.2, CAL=  28.8,  56.2, ROT= 121.2, -56.2

2025-01-09T00:53:29.075Z,1736384009.075 [DAT](INFO): got valid direction response:
 00:53:27.9152 LVL= 16624, 26945, 11058, 19731, AGC= 31, IDX= 510, 0.26,-1.278,-1.281,-2.245,-0.296, PHS=-0.894,-0.939,-1.952, RAW=  32.1,  52.2, CAL=  28.8,  56.2, ROT= 121.2, -56.2

2025-01-09T00:53:29.076Z,1736384009.076 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-01-09T00:53:29.077Z,1736384009.077 [DAT](INFO): direction in FSK: [-0.288176,0.475835,0.830984]
2025-01-09T00:53:29.077Z,1736384009.077 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:29.081Z,1736384009.081 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.121414
2025-01-09T00:53:29.224Z,1736384009.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:29.316Z,1736384009.316 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.356827
2025-01-09T00:53:29.569Z,1736384009.569 [DAT](INFO): DAT read: Rx Time:00:53:28.4151 

2025-01-09T00:53:29.569Z,1736384009.569 [DAT](INFO): Rx dataTimestamp_ set to:1736384009.569025
2025-01-09T00:53:29.571Z,1736384009.571 [DAT](INFO): DAT read: Bearing 126.3, -46.1 (Local)

2025-01-09T00:53:29.571Z,1736384009.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 126.3, -46.1 (Local)

2025-01-09T00:53:29.573Z,1736384009.573 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:29.578Z,1736384009.578 [DAT](INFO): DAT read: 00:53:28.4151 LVL= 13024, 18081, 10738, 17059, AGC= 30, IDX= 509, 0.25,-1.605,-1.516,-3.055,-0.723, PHS=-0.794,-0.746,-2.335, RAW=  28.5,  41.2, CAL=  23.7,  46.1, ROT= 126.3, -46.1

2025-01-09T00:53:29.579Z,1736384009.579 [DAT](INFO): got valid direction response:
 00:53:28.4151 LVL= 13024, 18081, 10738, 17059, AGC= 30, IDX= 509, 0.25,-1.605,-1.516,-3.055,-0.723, PHS=-0.794,-0.746,-2.335, RAW=  28.5,  41.2, CAL=  23.7,  46.1, ROT= 126.3, -46.1

2025-01-09T00:53:29.580Z,1736384009.580 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-01-09T00:53:29.580Z,1736384009.580 [DAT](INFO): direction in FSK: [-0.410503,0.558832,0.720551]
2025-01-09T00:53:29.581Z,1736384009.581 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:29.592Z,1736384009.592 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.633007
2025-01-09T00:53:29.602Z,1736384009.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:29.820Z,1736384009.820 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.860741
2025-01-09T00:53:30.045Z,1736384010.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:30.073Z,1736384010.073 [DAT](INFO): DAT read: Rx Time:00:53:28.9152 

2025-01-09T00:53:30.073Z,1736384010.073 [DAT](INFO): Rx dataTimestamp_ set to:1736384010.072716
2025-01-09T00:53:30.074Z,1736384010.074 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:30.076Z,1736384010.076 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-01-09T00:53:30.077Z,1736384010.077 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.117241
2025-01-09T00:53:30.324Z,1736384010.324 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.364761
2025-01-09T00:53:30.463Z,1736384010.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:30.577Z,1736384010.577 [DAT](INFO): DAT read: Rx Time:00:53:29.4152 

2025-01-09T00:53:30.578Z,1736384010.578 [DAT](INFO): Rx dataTimestamp_ set to:1736384010.577279
2025-01-09T00:53:30.579Z,1736384010.579 [DAT](INFO): DAT read: Bearing 314.5, -44.8 (Local)

2025-01-09T00:53:30.579Z,1736384010.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.5, -44.8 (Local)

2025-01-09T00:53:30.581Z,1736384010.581 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:30.586Z,1736384010.586 [DAT](INFO): DAT read: 00:53:29.4152 LVL= 15424, 17313, 10322, 14931, AGC= 28, IDX= 511,-0.10, 0.308,-0.148, 1.802, 1.918, PHS=-1.523,-2.019,-0.119, RAW= 195.4,  37.2, CAL= 195.5,  44.8, ROT= 314.5, -44.8

2025-01-09T00:53:30.587Z,1736384010.587 [DAT](INFO): got valid direction response:
 00:53:29.4152 LVL= 15424, 17313, 10322, 14931, AGC= 28, IDX= 511,-0.10, 0.308,-0.148, 1.802, 1.918, PHS=-1.523,-2.019,-0.119, RAW= 195.4,  37.2, CAL= 195.5,  44.8, ROT= 314.5, -44.8

2025-01-09T00:53:30.588Z,1736384010.588 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-01-09T00:53:30.589Z,1736384010.589 [DAT](INFO): direction in FSK: [0.497345,-0.506102,0.704634]
2025-01-09T00:53:30.589Z,1736384010.589 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:30.592Z,1736384010.592 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.632980
2025-01-09T00:53:30.796Z,1736384010.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:30.829Z,1736384010.829 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.869087
2025-01-09T00:53:31.081Z,1736384011.081 [DAT](INFO): DAT read: Rx Time:00:53:29.9153 

2025-01-09T00:53:31.081Z,1736384011.081 [DAT](INFO): Rx dataTimestamp_ set to:1736384011.081004
2025-01-09T00:53:31.083Z,1736384011.083 [DAT](INFO): DAT read: Bearing 134.1, -45.9 (Local)

2025-01-09T00:53:31.083Z,1736384011.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing 134.1, -45.9 (Local)

2025-01-09T00:53:31.085Z,1736384011.085 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:31.090Z,1736384011.090 [DAT](INFO): DAT read: 00:53:29.9153 LVL= 17136, 19761, 10210, 15731, AGC= 28, IDX= 510, 0.40, 0.697, 0.956,-0.347, 1.537, PHS=-0.753,-0.535,-1.887, RAW=  21.4,  41.7, CAL=  15.9,  45.9, ROT= 134.1, -45.9

2025-01-09T00:53:31.091Z,1736384011.091 [DAT](INFO): got valid direction response:
 00:53:29.9153 LVL= 17136, 19761, 10210, 15731, AGC= 28, IDX= 510, 0.40, 0.697, 0.956,-0.347, 1.537, PHS=-0.753,-0.535,-1.887, RAW=  21.4,  41.7, CAL=  15.9,  45.9, ROT= 134.1, -45.9

2025-01-09T00:53:31.091Z,1736384011.091 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-01-09T00:53:31.092Z,1736384011.092 [DAT](INFO): direction in FSK: [-0.484295,0.499753,0.718126]
2025-01-09T00:53:31.092Z,1736384011.092 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:31.096Z,1736384011.096 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.136692
2025-01-09T00:53:31.242Z,1736384011.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:31.332Z,1736384011.332 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.372780
2025-01-09T00:53:31.586Z,1736384011.586 [DAT](INFO): DAT read: Rx Time:00:53:30.4152 

2025-01-09T00:53:31.586Z,1736384011.586 [DAT](INFO): Rx dataTimestamp_ set to:1736384011.585942
2025-01-09T00:53:31.588Z,1736384011.588 [DAT](INFO): DAT read: Bearing 137.6, -43.8 (Local)

2025-01-09T00:53:31.588Z,1736384011.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.6, -43.8 (Local)

2025-01-09T00:53:31.590Z,1736384011.590 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:31.595Z,1736384011.595 [DAT](INFO): DAT read: 00:53:30.4152 LVL= 17248, 18385,  9842, 14803, AGC= 27, IDX= 510,-0.48,-1.680,-1.345,-2.677,-0.861, PHS=-0.731,-0.437,-1.819, RAW=  18.4,  39.9, CAL=  12.4,  43.8, ROT= 137.6, -43.8

2025-01-09T00:53:31.596Z,1736384011.596 [DAT](INFO): got valid direction response:
 00:53:30.4152 LVL= 17248, 18385,  9842, 14803, AGC= 27, IDX= 510,-0.48,-1.680,-1.345,-2.677,-0.861, PHS=-0.731,-0.437,-1.819, RAW=  18.4,  39.9, CAL=  12.4,  43.8, ROT= 137.6, -43.8

2025-01-09T00:53:31.596Z,1736384011.596 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-01-09T00:53:31.597Z,1736384011.597 [DAT](INFO): direction in FSK: [-0.532988,0.486685,0.692143]
2025-01-09T00:53:31.597Z,1736384011.597 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:31.609Z,1736384011.609 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.649612
2025-01-09T00:53:31.652Z,1736384011.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:31.836Z,1736384011.836 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.876709
2025-01-09T00:53:32.061Z,1736384012.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:32.089Z,1736384012.089 [DAT](INFO): DAT read: Rx Time:00:53:30.9152 

2025-01-09T00:53:32.090Z,1736384012.090 [DAT](INFO): Rx dataTimestamp_ set to:1736384012.089387
2025-01-09T00:53:32.091Z,1736384012.091 [DAT](INFO): DAT read: Bearing 131.3, -43.5 (Local)

2025-01-09T00:53:32.092Z,1736384012.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing 131.3, -43.5 (Local)

2025-01-09T00:53:32.094Z,1736384012.094 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:32.101Z,1736384012.101 [DAT](INFO): DAT read: 00:53:30.9152 LVL= 15008, 15585,  9042, 12707, AGC= 25, IDX= 510,-0.34,-1.935,-1.745,-3.046,-1.227, PHS=-0.620,-0.471,-1.822, RAW=  24.2,  38.8, CAL=  18.7,  43.5, ROT= 131.3, -43.5

2025-01-09T00:53:32.102Z,1736384012.102 [DAT](INFO): got valid direction response:
 00:53:30.9152 LVL= 15008, 15585,  9042, 12707, AGC= 25, IDX= 510,-0.34,-1.935,-1.745,-3.046,-1.227, PHS=-0.620,-0.471,-1.822, RAW=  24.2,  38.8, CAL=  18.7,  43.5, ROT= 131.3, -43.5

2025-01-09T00:53:32.103Z,1736384012.103 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-01-09T00:53:32.114Z,1736384012.114 [DAT](INFO): direction in FSK: [-0.478748,0.544948,0.688355]
2025-01-09T00:53:32.115Z,1736384012.115 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:32.122Z,1736384012.122 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.162670
2025-01-09T00:53:32.340Z,1736384012.340 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.380829
2025-01-09T00:53:32.488Z,1736384012.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:32.536Z,1736384012.536 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-01-09T00:53:32.536Z,1736384012.536 [DockingStepper] No Fault, FailCount= 5
2025-01-09T00:53:32.593Z,1736384012.593 [DAT](INFO): DAT read: Rx Time:00:53:31.4151 

2025-01-09T00:53:32.593Z,1736384012.593 [DAT](INFO): Rx dataTimestamp_ set to:1736384012.592999
2025-01-09T00:53:32.595Z,1736384012.595 [DAT](INFO): DAT read: Bearing 127.7, -40.6 (Local)

2025-01-09T00:53:32.595Z,1736384012.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing 127.7, -40.6 (Local)

2025-01-09T00:53:32.597Z,1736384012.597 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:32.602Z,1736384012.602 [DAT](INFO): DAT read: 00:53:31.4151 LVL= 14240, 10689,  9202, 10819, AGC= 26, IDX= 509,-0.31,-2.776,-2.674, 2.244,-2.198, PHS=-0.490,-0.430,-1.845, RAW=  27.9,  35.2, CAL=  22.3,  40.6, ROT= 127.7, -40.6

2025-01-09T00:53:32.603Z,1736384012.603 [DAT](INFO): got valid direction response:
 00:53:31.4151 LVL= 14240, 10689,  9202, 10819, AGC= 26, IDX= 509,-0.31,-2.776,-2.674, 2.244,-2.198, PHS=-0.490,-0.430,-1.845, RAW=  27.9,  35.2, CAL=  22.3,  40.6, ROT= 127.7, -40.6

2025-01-09T00:53:32.603Z,1736384012.603 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-01-09T00:53:32.604Z,1736384012.604 [DAT](INFO): direction in FSK: [-0.464315,0.600753,0.650774]
2025-01-09T00:53:32.605Z,1736384012.605 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:32.608Z,1736384012.608 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.648609
2025-01-09T00:53:32.824Z,1736384012.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:32.847Z,1736384012.847 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.887070
2025-01-09T00:53:32.861Z,1736384012.861 [DockingStepper](INFO): Start
2025-01-09T00:53:32.861Z,1736384012.861 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-09T00:53:32.861Z,1736384012.861 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-09T00:53:33.101Z,1736384013.101 [DAT](INFO): DAT read: Rx Time:00:53:31.9152 

2025-01-09T00:53:33.101Z,1736384013.101 [DAT](INFO): Rx dataTimestamp_ set to:1736384013.100985
2025-01-09T00:53:33.103Z,1736384013.103 [DAT](INFO): DAT read: Bearing 125.2, -41.6 (Local)

2025-01-09T00:53:33.103Z,1736384013.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing 125.2, -41.6 (Local)

2025-01-09T00:53:33.105Z,1736384013.105 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:33.124Z,1736384013.124 [DAT](INFO): DAT read: 00:53:31.9152 LVL= 15184, 11169,  8850, 13235, AGC= 27, IDX= 510,-0.17,-2.224,-2.182, 2.833,-1.669, PHS=-0.467,-0.467,-1.785, RAW=  30.0,  36.1, CAL=  24.8,  41.6, ROT= 125.2, -41.6

2025-01-09T00:53:33.125Z,1736384013.125 [DAT](INFO): got valid direction response:
 00:53:31.9152 LVL= 15184, 11169,  8850, 13235, AGC= 27, IDX= 510,-0.17,-2.224,-2.182, 2.833,-1.669, PHS=-0.467,-0.467,-1.785, RAW=  30.0,  36.1, CAL=  24.8,  41.6, ROT= 125.2, -41.6

2025-01-09T00:53:33.125Z,1736384013.125 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-01-09T00:53:33.126Z,1736384013.126 [DAT](INFO): direction in FSK: [-0.431055,0.611059,0.663926]
2025-01-09T00:53:33.126Z,1736384013.126 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:33.143Z,1736384013.143 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.183189
2025-01-09T00:53:33.248Z,1736384013.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:33.280Z,1736384013.280 [DockingStepper](INFO): Starting
2025-01-09T00:53:33.348Z,1736384013.348 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.388752
2025-01-09T00:53:33.613Z,1736384013.613 [DAT](INFO): DAT read: Rx Time:00:53:32.4151 

2025-01-09T00:53:33.613Z,1736384013.613 [DAT](INFO): Rx dataTimestamp_ set to:1736384013.613152
2025-01-09T00:53:33.615Z,1736384013.615 [DAT](INFO): DAT read: Bearing 126.1, -41.7 (Local)

2025-01-09T00:53:33.615Z,1736384013.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing 126.1, -41.7 (Local)

2025-01-09T00:53:33.617Z,1736384013.617 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:33.623Z,1736384013.623 [DAT](INFO): DAT read: 00:53:32.4151 LVL= 15248, 11841,  8882, 14243, AGC= 27, IDX= 509,-0.13,-2.704,-2.640, 2.371,-2.134, PHS=-0.482,-0.459,-1.781, RAW=  29.1,  36.3, CAL=  23.9,  41.7, ROT= 126.1, -41.7

2025-01-09T00:53:33.624Z,1736384013.624 [DAT](INFO): got valid direction response:
 00:53:32.4151 LVL= 15248, 11841,  8882, 14243, AGC= 27, IDX= 509,-0.13,-2.704,-2.640, 2.371,-2.134, PHS=-0.482,-0.459,-1.781, RAW=  29.1,  36.3, CAL=  23.9,  41.7, ROT= 126.1, -41.7

2025-01-09T00:53:33.624Z,1736384013.624 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-01-09T00:53:33.625Z,1736384013.625 [DAT](INFO): direction in FSK: [-0.439917,0.603276,0.665230]
2025-01-09T00:53:33.625Z,1736384013.625 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:33.661Z,1736384013.661 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.701492
2025-01-09T00:53:33.716Z,1736384013.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:33.756Z,1736384013.756 [DockingStepper](INFO): Starting
2025-01-09T00:53:33.852Z,1736384013.852 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.892826
2025-01-09T00:53:34.082Z,1736384014.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:34.105Z,1736384014.105 [DAT](INFO): DAT read: Rx Time:00:53:32.9152 

2025-01-09T00:53:34.105Z,1736384014.105 [DAT](INFO): Rx dataTimestamp_ set to:1736384014.105151
2025-01-09T00:53:34.107Z,1736384014.107 [DAT](INFO): DAT read: Bearing 127.3, -43.7 (Local)

2025-01-09T00:53:34.107Z,1736384014.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 127.3, -43.7 (Local)

2025-01-09T00:53:34.109Z,1736384014.109 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:34.114Z,1736384014.114 [DAT](INFO): DAT read: 00:53:32.9152 LVL= 14288, 12625,  9666, 14995, AGC= 26, IDX= 510,-0.15,-1.282,-1.187,-2.433,-0.634, PHS=-0.560,-0.506,-1.802, RAW=  27.9,  38.6, CAL=  22.7,  43.7, ROT= 127.3, -43.7

2025-01-09T00:53:34.115Z,1736384014.115 [DAT](INFO): got valid direction response:
 00:53:32.9152 LVL= 14288, 12625,  9666, 14995, AGC= 26, IDX= 510,-0.15,-1.282,-1.187,-2.433,-0.634, PHS=-0.560,-0.506,-1.802, RAW=  27.9,  38.6, CAL=  22.7,  43.7, ROT= 127.3, -43.7

2025-01-09T00:53:34.115Z,1736384014.115 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-01-09T00:53:34.116Z,1736384014.116 [DAT](INFO): direction in FSK: [-0.438110,0.575101,0.690882]
2025-01-09T00:53:34.117Z,1736384014.117 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:34.121Z,1736384014.121 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-01-09T00:53:34.121Z,1736384014.121 [DefaultWithUndock:A.Wait] Stopped
2025-01-09T00:53:34.121Z,1736384014.121 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-09T00:53:34.121Z,1736384014.121 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-01-09T00:53:34.121Z,1736384014.121 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-01-09T00:53:34.121Z,1736384014.121 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-01-09T00:53:34.122Z,1736384014.122 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-01-09T00:53:34.122Z,1736384014.122 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-01-09T00:53:34.122Z,1736384014.122 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-01-09T00:53:34.122Z,1736384014.122 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-01-09T00:53:34.124Z,1736384014.124 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.164925
2025-01-09T00:53:34.161Z,1736384014.161 [DockingStepper](INFO): Starting
2025-01-09T00:53:34.212Z,1736384014.212 [DockingStepper](INFO): Init string: /1z14879aE13561N3m50
2025-01-09T00:53:34.357Z,1736384014.357 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.397099
2025-01-09T00:53:34.493Z,1736384014.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:34.497Z,1736384014.497 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-01-09T00:53:34.497Z,1736384014.497 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-01-09T00:53:34.498Z,1736384014.498 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock at depth 66.378960 m.
2025-01-09T00:53:34.500Z,1736384014.500 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-01-09T00:53:34.609Z,1736384014.609 [DAT](INFO): DAT read: Rx Time:00:53:33.4152 

2025-01-09T00:53:34.609Z,1736384014.609 [DAT](INFO): Rx dataTimestamp_ set to:1736384014.609018
2025-01-09T00:53:34.611Z,1736384014.611 [DAT](INFO): DAT read: Bearing 136.3, -42.8 (Local)

2025-01-09T00:53:34.611Z,1736384014.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.3, -42.8 (Local)

2025-01-09T00:53:34.613Z,1736384014.613 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:34.618Z,1736384014.618 [DAT](INFO): DAT read: 00:53:33.4152 LVL= 12864, 17137, 11010, 12531, AGC= 26, IDX= 509,-0.25,-0.834,-0.528,-1.880,-0.063, PHS=-0.683,-0.418,-1.820, RAW=  19.7,  38.7, CAL=  13.7,  42.8, ROT= 136.3, -42.8

2025-01-09T00:53:34.619Z,1736384014.619 [DAT](INFO): got valid direction response:
 00:53:33.4152 LVL= 12864, 17137, 11010, 12531, AGC= 26, IDX= 509,-0.25,-0.834,-0.528,-1.880,-0.063, PHS=-0.683,-0.418,-1.820, RAW=  19.7,  38.7, CAL=  13.7,  42.8, ROT= 136.3, -42.8

2025-01-09T00:53:34.619Z,1736384014.619 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-01-09T00:53:34.620Z,1736384014.620 [DAT](INFO): direction in FSK: [-0.530463,0.506921,0.679441]
2025-01-09T00:53:34.621Z,1736384014.621 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:34.624Z,1736384014.624 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.664822
2025-01-09T00:53:34.664Z,1736384014.664 [DockingStepper](INFO): Starting
2025-01-09T00:53:34.850Z,1736384014.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:34.855Z,1736384014.855 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-01-09T00:53:34.856Z,1736384014.856 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-01-09T00:53:34.860Z,1736384014.860 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.900867
2025-01-09T00:53:34.890Z,1736384014.890 [DockingStepper](INFO): Starting
2025-01-09T00:53:35.116Z,1736384015.116 [DAT](INFO): DAT read: Rx Time:00:53:33.9153 

2025-01-09T00:53:35.118Z,1736384015.118 [DAT](INFO): Rx dataTimestamp_ set to:1736384015.116884
2025-01-09T00:53:35.121Z,1736384015.121 [DAT](INFO): DAT read: Bearing 146.0, -40.3 (Local)

2025-01-09T00:53:35.123Z,1736384015.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.0, -40.3 (Local)

2025-01-09T00:53:35.130Z,1736384015.130 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:35.135Z,1736384015.135 [DAT](INFO): DAT read: 00:53:33.9153 LVL= 12192, 19377, 12626, 12275, AGC= 28, IDX= 510,-0.31, 0.445, 1.006,-0.479, 1.333, PHS=-0.801,-0.281,-1.815, RAW=  10.5,  37.1, CAL=   4.0,  40.3, ROT= 146.0, -40.3

2025-01-09T00:53:35.136Z,1736384015.136 [DAT](INFO): got valid direction response:
 00:53:33.9153 LVL= 12192, 19377, 12626, 12275, AGC= 28, IDX= 510,-0.31, 0.445, 1.006,-0.479, 1.333, PHS=-0.801,-0.281,-1.815, RAW=  10.5,  37.1, CAL=   4.0,  40.3, ROT= 146.0, -40.3

2025-01-09T00:53:35.137Z,1736384015.137 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-01-09T00:53:35.138Z,1736384015.138 [DAT](INFO): direction in FSK: [-0.632281,0.426479,0.646790]
2025-01-09T00:53:35.138Z,1736384015.138 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:35.141Z,1736384015.141 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.182018
2025-01-09T00:53:35.289Z,1736384015.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:35.294Z,1736384015.294 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-01-09T00:53:35.299Z,1736384015.299 [DockingStepper](INFO): Starting
2025-01-09T00:53:35.365Z,1736384015.365 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.405197
2025-01-09T00:53:35.617Z,1736384015.617 [DAT](INFO): DAT read: Rx Time:00:53:34.4152 

2025-01-09T00:53:35.617Z,1736384015.617 [DAT](INFO): Rx dataTimestamp_ set to:1736384015.617008
2025-01-09T00:53:35.619Z,1736384015.619 [DAT](INFO): DAT read: Bearing 149.2, -39.8 (Local)

2025-01-09T00:53:35.619Z,1736384015.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.2, -39.8 (Local)

2025-01-09T00:53:35.629Z,1736384015.629 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:35.638Z,1736384015.638 [DAT](INFO): DAT read: 00:53:34.4152 LVL= 12112, 20689, 15202, 13875, AGC= 29, IDX= 509,-0.31,-0.403, 0.253,-1.272, 0.549, PHS=-0.864,-0.249,-1.824, RAW=   7.2,  37.1, CAL=   0.8,  39.8, ROT= 149.2, -39.8

2025-01-09T00:53:35.639Z,1736384015.639 [DAT](INFO): got valid direction response:
 00:53:34.4152 LVL= 12112, 20689, 15202, 13875, AGC= 29, IDX= 509,-0.31,-0.403, 0.253,-1.272, 0.549, PHS=-0.864,-0.249,-1.824, RAW=   7.2,  37.1, CAL=   0.8,  39.8, ROT= 149.2, -39.8

2025-01-09T00:53:35.652Z,1736384015.652 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-01-09T00:53:35.653Z,1736384015.653 [DAT](INFO): direction in FSK: [-0.659925,0.393394,0.640110]
2025-01-09T00:53:35.653Z,1736384015.653 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:35.665Z,1736384015.665 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.705528
2025-01-09T00:53:35.703Z,1736384015.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:35.718Z,1736384015.718 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-01-09T00:53:35.804Z,1736384015.804 [DockingStepper](INFO): Starting
2025-01-09T00:53:35.828Z,1736384015.828 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-09T00:53:35.868Z,1736384015.868 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.908806
2025-01-09T00:53:36.069Z,1736384016.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:36.103Z,1736384016.103 [DockingStepper](INFO): Starting
2025-01-09T00:53:36.124Z,1736384016.124 [DAT](INFO): DAT read: Rx Time:00:53:34.9152 

2025-01-09T00:53:36.126Z,1736384016.126 [DAT](INFO): Rx dataTimestamp_ set to:1736384016.124732
2025-01-09T00:53:36.130Z,1736384016.130 [DAT](INFO): DAT read: Bearing 150.6, -40.5 (Local)

2025-01-09T00:53:36.131Z,1736384016.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.6, -40.5 (Local)

2025-01-09T00:53:36.133Z,1736384016.133 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:36.138Z,1736384016.138 [DAT](INFO): DAT read: 00:53:34.9152 LVL= 12544, 21889, 18082, 15523, AGC= 30, IDX= 509,-0.25,-0.512, 0.167,-1.327, 0.475, PHS=-0.899,-0.261,-1.805, RAW=   5.7,  38.0, CAL= 359.4,  40.5, ROT= 150.6, -40.5

2025-01-09T00:53:36.139Z,1736384016.139 [DAT](INFO): got valid direction response:
 00:53:34.9152 LVL= 12544, 21889, 18082, 15523, AGC= 30, IDX= 509,-0.25,-0.512, 0.167,-1.327, 0.475, PHS=-0.899,-0.261,-1.805, RAW=   5.7,  38.0, CAL= 359.4,  40.5, ROT= 150.6, -40.5

2025-01-09T00:53:36.140Z,1736384016.140 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-01-09T00:53:36.141Z,1736384016.141 [DAT](INFO): direction in FSK: [-0.662476,0.373286,0.649448]
2025-01-09T00:53:36.141Z,1736384016.141 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:36.144Z,1736384016.144 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.184814
2025-01-09T00:53:36.372Z,1736384016.372 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.412743
2025-01-09T00:53:36.491Z,1736384016.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:36.496Z,1736384016.496 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-01-09T00:53:36.501Z,1736384016.501 [DockingStepper](INFO): Changing to mode: 3
2025-01-09T00:53:36.501Z,1736384016.501 [DockingStepper](INFO): Detach mode.
2025-01-09T00:53:36.563Z,1736384016.563 [DockingStepper](INFO): Commanding negative:45333
2025-01-09T00:53:36.625Z,1736384016.625 [DAT](INFO): DAT read: Rx Time:00:53:35.4151 

2025-01-09T00:53:36.626Z,1736384016.626 [DAT](INFO): Rx dataTimestamp_ set to:1736384016.625383
2025-01-09T00:53:36.627Z,1736384016.627 [DAT](INFO): DAT read: Bearing 152.5, -41.4 (Local)

2025-01-09T00:53:36.627Z,1736384016.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.5, -41.4 (Local)

2025-01-09T00:53:36.629Z,1736384016.629 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:36.653Z,1736384016.653 [DAT](INFO): DAT read: 00:53:35.4151 LVL= 10656, 17713, 16850, 13427, AGC= 29, IDX= 508,-0.19,-1.154,-0.452,-1.879,-0.132, PHS=-0.934,-0.273,-1.750, RAW=   3.5,  39.2, CAL= 357.5,  41.4, ROT= 152.5, -41.4

2025-01-09T00:53:36.654Z,1736384016.654 [DAT](INFO): got valid direction response:
 00:53:35.4151 LVL= 10656, 17713, 16850, 13427, AGC= 29, IDX= 508,-0.19,-1.154,-0.452,-1.879,-0.132, PHS=-0.934,-0.273,-1.750, RAW=   3.5,  39.2, CAL= 357.5,  41.4, ROT= 152.5, -41.4

2025-01-09T00:53:36.654Z,1736384016.654 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-01-09T00:53:36.655Z,1736384016.655 [DAT](INFO): direction in FSK: [-0.665357,0.346363,0.661312]
2025-01-09T00:53:36.664Z,1736384016.664 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:36.676Z,1736384016.676 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.716312
2025-01-09T00:53:36.863Z,1736384016.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:36.869Z,1736384016.869 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-01-09T00:53:36.879Z,1736384016.879 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.919266
2025-01-09T00:53:37.132Z,1736384017.132 [DAT](INFO): DAT read: Rx Time:00:53:35.9152 

2025-01-09T00:53:37.134Z,1736384017.134 [DAT](INFO): Rx dataTimestamp_ set to:1736384017.133033
2025-01-09T00:53:37.138Z,1736384017.138 [DAT](INFO): DAT read: Bearing 150.4, -43.9 (Local)

2025-01-09T00:53:37.139Z,1736384017.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.4, -43.9 (Local)

2025-01-09T00:53:37.145Z,1736384017.145 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:37.161Z,1736384017.161 [DAT](INFO): DAT read: 00:53:35.9152 LVL= 11920, 19137, 19618, 14995, AGC= 27, IDX= 509,-0.14,-0.132, 0.491,-0.857, 0.894, PHS=-0.937,-0.355,-1.753, RAW=   5.5,  41.5, CAL= 359.6,  43.9, ROT= 150.4, -43.9

2025-01-09T00:53:37.162Z,1736384017.162 [DAT](INFO): got valid direction response:
 00:53:35.9152 LVL= 11920, 19137, 19618, 14995, AGC= 27, IDX= 509,-0.14,-0.132, 0.491,-0.857, 0.894, PHS=-0.937,-0.355,-1.753, RAW=   5.5,  41.5, CAL= 359.6,  43.9, ROT= 150.4, -43.9

2025-01-09T00:53:37.162Z,1736384017.162 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-01-09T00:53:37.192Z,1736384017.192 [DAT](INFO): direction in FSK: [-0.626516,0.355910,0.693402]
2025-01-09T00:53:37.192Z,1736384017.192 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:37.204Z,1736384017.204 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.244541
2025-01-09T00:53:37.305Z,1736384017.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:37.319Z,1736384017.319 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-01-09T00:53:37.381Z,1736384017.381 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.421410
2025-01-09T00:53:37.633Z,1736384017.633 [DAT](INFO): DAT read: Rx Time:00:53:36.4151 

2025-01-09T00:53:37.633Z,1736384017.633 [DAT](INFO): Rx dataTimestamp_ set to:1736384017.633080
2025-01-09T00:53:37.635Z,1736384017.635 [DAT](INFO): DAT read: Bearing 150.4, -48.9 (Local)

2025-01-09T00:53:37.635Z,1736384017.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.4, -48.9 (Local)

2025-01-09T00:53:37.637Z,1736384017.637 [DAT](INFO): DAT read: Range 10 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-01-09T00:53:37.646Z,1736384017.646 [DAT](INFO): DAT read: 00:53:36.4151 LVL= 11904, 18401, 19682, 16163, AGC= 27, IDX= 508,-0.06,-2.135,-1.592,-2.722,-1.076, PHS=-0.971,-0.469,-1.649, RAW=   4.9,  46.8, CAL= 359.6,  48.9, ROT= 150.4, -48.9

2025-01-09T00:53:37.647Z,1736384017.647 [DAT](INFO): got valid direction response:
 00:53:36.4151 LVL= 11904, 18401, 19682, 16163, AGC= 27, IDX= 508,-0.06,-2.135,-1.592,-2.722,-1.076, PHS=-0.971,-0.469,-1.649, RAW=   4.9,  46.8, CAL= 359.6,  48.9, ROT= 150.4, -48.9

2025-01-09T00:53:37.665Z,1736384017.665 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-01-09T00:53:37.666Z,1736384017.666 [DAT](INFO): direction in FSK: [-0.571584,0.324705,0.753563]
2025-01-09T00:53:37.666Z,1736384017.666 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:37.674Z,1736384017.674 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.714546
2025-01-09T00:53:37.704Z,1736384017.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:37.719Z,1736384017.719 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-01-09T00:53:37.761Z,1736384017.761 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-01-09T00:53:37.888Z,1736384017.888 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.927395
2025-01-09T00:53:38.073Z,1736384018.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:38.141Z,1736384018.141 [DAT](INFO): DAT read: Rx Time:00:53:36.9153 

2025-01-09T00:53:38.142Z,1736384018.142 [DAT](INFO): Rx dataTimestamp_ set to:1736384018.141432
2025-01-09T00:53:38.148Z,1736384018.148 [DAT](INFO): DAT read: Bearing 139.5, -62.4 (Local)

2025-01-09T00:53:38.149Z,1736384018.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.5, -62.4 (Local)

2025-01-09T00:53:38.162Z,1736384018.162 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:38.171Z,1736384018.171 [DAT](INFO): DAT read: 00:53:36.9153 LVL= 11344, 18657, 17058, 16211, AGC= 27, IDX= 509, 0.30,-2.413,-2.167,-2.848,-1.358, PHS=-0.967,-0.762,-1.492, RAW=  14.2,  60.2, CAL=  10.5,  62.4, ROT= 139.5, -62.4

2025-01-09T00:53:38.176Z,1736384018.176 [DAT](INFO): got valid direction response:
 00:53:36.9153 LVL= 11344, 18657, 17058, 16211, AGC= 27, IDX= 509, 0.30,-2.413,-2.167,-2.848,-1.358, PHS=-0.967,-0.762,-1.492, RAW=  14.2,  60.2, CAL=  10.5,  62.4, ROT= 139.5, -62.4

2025-01-09T00:53:38.177Z,1736384018.177 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-01-09T00:53:38.178Z,1736384018.178 [DAT](INFO): direction in FSK: [-0.352293,0.300887,0.886204]
2025-01-09T00:53:38.178Z,1736384018.178 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:38.192Z,1736384018.192 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.232975
2025-01-09T00:53:38.393Z,1736384018.393 [DAT](INFO): DAT read: Rx Time:00:53:37.4152 

2025-01-09T00:53:38.394Z,1736384018.394 [DAT](INFO): Rx dataTimestamp_ set to:1736384018.393590
2025-01-09T00:53:38.397Z,1736384018.397 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.436668
2025-01-09T00:53:38.490Z,1736384018.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:38.496Z,1736384018.496 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-01-09T00:53:38.641Z,1736384018.641 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:38.642Z,1736384018.642 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-01-09T00:53:38.643Z,1736384018.643 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.683128
2025-01-09T00:53:38.896Z,1736384018.896 [DAT](INFO): DAT read: Rx Time:00:53:37.9156 

2025-01-09T00:53:38.898Z,1736384018.898 [DAT](INFO): Rx dataTimestamp_ set to:1736384018.896843
2025-01-09T00:53:38.900Z,1736384018.900 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.939587
2025-01-09T00:53:38.905Z,1736384018.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:39.149Z,1736384019.149 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-01-09T00:53:39.152Z,1736384019.152 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-01-09T00:53:39.154Z,1736384019.154 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.194077
2025-01-09T00:53:39.312Z,1736384019.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:39.400Z,1736384019.400 [DAT](INFO): DAT read: Rx Time:00:53:38.4155 

2025-01-09T00:53:39.401Z,1736384019.401 [DAT](INFO): Rx dataTimestamp_ set to:1736384019.400443
2025-01-09T00:53:39.406Z,1736384019.406 [DAT](INFO): DAT read: Bearing  47.5, -53.3 (Local)

2025-01-09T00:53:39.407Z,1736384019.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.5, -53.3 (Local)

2025-01-09T00:53:39.410Z,1736384019.410 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:53:39.417Z,1736384019.417 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-01-09T00:53:39.425Z,1736384019.425 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.464638
2025-01-09T00:53:39.652Z,1736384019.652 [DAT](INFO): DAT read: 00:53:38.4155 LVL= 12512, 10513, 15618, 13923, AGC= 26, IDX= 512,-0.42,-0.064,-1.034,-0.785, 0.308, PHS=-0.284,-1.295,-1.096, RAW= 100.7,  45.5, CAL= 102.5,  53.3, ROT=  47.5, -53.3

2025-01-09T00:53:39.654Z,1736384019.654 [DAT](INFO): got valid direction response:
 00:53:38.4155 LVL= 12512, 10513, 15618, 13923, AGC= 26, IDX= 512,-0.42,-0.064,-1.034,-0.785, 0.308, PHS=-0.284,-1.295,-1.096, RAW= 100.7,  45.5, CAL= 102.5,  53.3, ROT=  47.5, -53.3

2025-01-09T00:53:39.654Z,1736384019.654 [DAT](INFO): #Rx 105: Read direction message, but no range.
2025-01-09T00:53:39.656Z,1736384019.656 [DAT](INFO): direction in FSK: [0.403750,0.440615,0.801776]
2025-01-09T00:53:39.668Z,1736384019.668 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.708752
2025-01-09T00:53:39.721Z,1736384019.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:39.901Z,1736384019.901 [DAT](INFO): DAT read: Rx Time:00:53:38.9153 

2025-01-09T00:53:39.901Z,1736384019.901 [DAT](INFO): Rx dataTimestamp_ set to:1736384019.901090
2025-01-09T00:53:39.903Z,1736384019.903 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:39.903Z,1736384019.903 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-01-09T00:53:39.904Z,1736384019.904 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.944729
2025-01-09T00:53:40.091Z,1736384020.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:40.156Z,1736384020.156 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.195568
2025-01-09T00:53:40.408Z,1736384020.408 [DAT](INFO): DAT read: Rx Time:00:53:39.4152 

2025-01-09T00:53:40.409Z,1736384020.409 [DAT](INFO): Rx dataTimestamp_ set to:1736384020.408606
2025-01-09T00:53:40.414Z,1736384020.414 [DAT](INFO): DAT read: Bearing 154.0, -17.4 (Local)

2025-01-09T00:53:40.416Z,1736384020.416 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.0, -17.4 (Local)

2025-01-09T00:53:40.420Z,1736384020.420 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:40.422Z,1736384020.422 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-01-09T00:53:40.426Z,1736384020.426 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.465767
2025-01-09T00:53:40.533Z,1736384020.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:40.663Z,1736384020.663 [DAT](INFO): DAT read: 00:53:39.4152 LVL= 15856, 17649, 18082, 19603, AGC= 30, IDX= 509,-0.29, 0.361, 1.546,-0.429, 0.878, PHS=-0.429, 0.716,-1.309, RAW= 355.7,  11.6, CAL= 356.0,  17.4, ROT= 154.0, -17.4

2025-01-09T00:53:40.664Z,1736384020.664 [DAT](INFO): got valid direction response:
 00:53:39.4152 LVL= 15856, 17649, 18082, 19603, AGC= 30, IDX= 509,-0.29, 0.361, 1.546,-0.429, 0.878, PHS=-0.429, 0.716,-1.309, RAW= 355.7,  11.6, CAL= 356.0,  17.4, ROT= 154.0, -17.4

2025-01-09T00:53:40.665Z,1736384020.665 [DAT](INFO): #Rx 108: Read direction message, but no range.
2025-01-09T00:53:40.666Z,1736384020.666 [DAT](INFO): direction in FSK: [-0.857666,0.418311,0.299041]
2025-01-09T00:53:40.670Z,1736384020.670 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.710903
2025-01-09T00:53:40.911Z,1736384020.911 [DAT](INFO): DAT read: Rx Time:00:53:39.9153 

2025-01-09T00:53:40.913Z,1736384020.913 [DAT](INFO): Rx dataTimestamp_ set to:1736384020.911898
2025-01-09T00:53:40.916Z,1736384020.916 [DAT](INFO): DAT read: Bearing  30.5, -54.3 (Local)

2025-01-09T00:53:40.917Z,1736384020.917 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.5, -54.3 (Local)

2025-01-09T00:53:40.921Z,1736384020.921 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:40.923Z,1736384020.923 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-01-09T00:53:40.934Z,1736384020.934 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.974262
2025-01-09T00:53:40.959Z,1736384020.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:41.174Z,1736384021.174 [DAT](INFO): DAT read: 00:53:39.9153 LVL= 17008, 18225, 21234, 19731, AGC= 29, IDX= 509, 0.43, 0.248,-1.269,-0.599, 0.801, PHS=-0.465,-2.023,-1.403, RAW= 113.3,  45.4, CAL= 119.5,  54.3, ROT=  30.5, -54.3

2025-01-09T00:53:41.179Z,1736384021.179 [DAT](INFO): got valid direction response:
 00:53:39.9153 LVL= 17008, 18225, 21234, 19731, AGC= 29, IDX= 509, 0.43, 0.248,-1.269,-0.599, 0.801, PHS=-0.465,-2.023,-1.403, RAW= 113.3,  45.4, CAL= 119.5,  54.3, ROT=  30.5, -54.3

2025-01-09T00:53:41.181Z,1736384021.181 [DAT](INFO): #Rx 110: Read direction message, but no range.
2025-01-09T00:53:41.222Z,1736384021.222 [DAT](INFO): direction in FSK: [0.502796,0.296170,0.812084]
2025-01-09T00:53:41.225Z,1736384021.225 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.265873
2025-01-09T00:53:41.330Z,1736384021.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:41.416Z,1736384021.416 [DAT](INFO): DAT read: Rx Time:00:53:40.4153 

2025-01-09T00:53:41.417Z,1736384021.417 [DAT](INFO): Rx dataTimestamp_ set to:1736384021.416441
2025-01-09T00:53:41.420Z,1736384021.420 [DAT](INFO): DAT read: Bearing 152.0, -18.6 (Local)

2025-01-09T00:53:41.421Z,1736384021.421 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.0, -18.6 (Local)

2025-01-09T00:53:41.426Z,1736384021.426 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:41.429Z,1736384021.429 [DockingStepper](INFO): Failure count cleared after critical for DockingStepper
2025-01-09T00:53:41.446Z,1736384021.446 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-01-09T00:53:41.476Z,1736384021.476 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.516048
2025-01-09T00:53:41.669Z,1736384021.669 [DAT](INFO): DAT read: 00:53:40.4153 LVL= 15344, 14241, 20274, 18579, AGC= 29, IDX= 509,-0.29, 2.748,-2.354, 1.831,-3.019, PHS=-0.428, 0.712,-1.436, RAW= 358.0,  12.4, CAL= 358.0,  18.6, ROT= 152.0, -18.6

2025-01-09T00:53:41.671Z,1736384021.671 [DAT](INFO): got valid direction response:
 00:53:40.4153 LVL= 15344, 14241, 20274, 18579, AGC= 29, IDX= 509,-0.29, 2.748,-2.354, 1.831,-3.019, PHS=-0.428, 0.712,-1.436, RAW= 358.0,  12.4, CAL= 358.0,  18.6, ROT= 152.0, -18.6

2025-01-09T00:53:41.671Z,1736384021.671 [DAT](INFO): #Rx 112: Read direction message, but no range.
2025-01-09T00:53:41.673Z,1736384021.673 [DAT](INFO): direction in FSK: [-0.836830,0.444950,0.318959]
2025-01-09T00:53:41.677Z,1736384021.677 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.717995
2025-01-09T00:53:41.708Z,1736384021.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:41.721Z,1736384021.721 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-01-09T00:53:41.917Z,1736384021.917 [DAT](INFO): DAT read: Rx Time:00:53:40.9154 

2025-01-09T00:53:41.917Z,1736384021.917 [DAT](INFO): Rx dataTimestamp_ set to:1736384021.916827
2025-01-09T00:53:41.919Z,1736384021.919 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed -0.1

2025-01-09T00:53:41.922Z,1736384021.922 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-01-09T00:53:41.925Z,1736384021.925 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.965271
2025-01-09T00:53:42.111Z,1736384022.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:42.172Z,1736384022.172 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.211277
2025-01-09T00:53:42.420Z,1736384022.420 [DAT](INFO): DAT read: Rx Time:00:53:41.4154 

2025-01-09T00:53:42.421Z,1736384022.421 [DAT](INFO): Rx dataTimestamp_ set to:1736384022.420536
2025-01-09T00:53:42.422Z,1736384022.422 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed -0.1

2025-01-09T00:53:42.423Z,1736384022.423 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-01-09T00:53:42.424Z,1736384022.424 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.464207
2025-01-09T00:53:42.533Z,1736384022.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:42.673Z,1736384022.673 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.713184
2025-01-09T00:53:42.929Z,1736384022.929 [DAT](INFO): DAT read: Rx Time:00:53:41.9155 

2025-01-09T00:53:42.931Z,1736384022.931 [DAT](INFO): Rx dataTimestamp_ set to:1736384022.929580
2025-01-09T00:53:42.935Z,1736384022.935 [DAT](INFO): DAT read: Bearing  69.9, -26.3 (Local)

2025-01-09T00:53:42.936Z,1736384022.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.9, -26.3 (Local)

2025-01-09T00:53:42.946Z,1736384022.946 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-01-09T00:53:42.959Z,1736384022.959 [DAT](INFO): DAT read: 00:53:41.9155 LVL= 16544, 32753, 18114, 25827, AGC= 24, IDX= 511,-0.08, 0.105,-1.441,-1.832,-0.435, PHS= 0.628,-0.959,-1.400, RAW=  78.1,  18.3, CAL=  80.1,  26.3, ROT=  69.9, -26.3

2025-01-09T00:53:42.961Z,1736384022.961 [DAT](INFO): got valid direction response:
 00:53:41.9155 LVL= 16544, 32753, 18114, 25827, AGC= 24, IDX= 511,-0.08, 0.105,-1.441,-1.832,-0.435, PHS= 0.628,-0.959,-1.400, RAW=  78.1,  18.3, CAL=  80.1,  26.3, ROT=  69.9, -26.3

2025-01-09T00:53:42.961Z,1736384022.961 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-01-09T00:53:42.962Z,1736384022.962 [DAT](INFO): direction in FSK: [0.308086,0.841885,0.443071]
2025-01-09T00:53:42.962Z,1736384022.962 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:42.982Z,1736384022.982 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.022259
2025-01-09T00:53:42.986Z,1736384022.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:43.181Z,1736384023.181 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.220825
2025-01-09T00:53:43.341Z,1736384023.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:43.437Z,1736384023.437 [DAT](INFO): DAT read: Rx Time:00:53:42.4153 

2025-01-09T00:53:43.439Z,1736384023.439 [DAT](INFO): Rx dataTimestamp_ set to:1736384023.437904
2025-01-09T00:53:43.443Z,1736384023.443 [DAT](INFO): DAT read: Bearing  60.1, -32.7 (Local)

2025-01-09T00:53:43.450Z,1736384023.450 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.1, -32.7 (Local)

2025-01-09T00:53:43.454Z,1736384023.454 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:43.459Z,1736384023.459 [DAT](INFO): DAT read: 00:53:42.4153 LVL= 18288, 24129, 14450, 20003, AGC= 21, IDX= 509,-0.15, 0.721,-1.119,-1.162, 0.358, PHS= 0.451,-1.430,-1.523, RAW=  87.6,  24.6, CAL=  89.9,  32.7, ROT=  60.1, -32.7

2025-01-09T00:53:43.488Z,1736384023.488 [DAT](INFO): got valid direction response:
 00:53:42.4153 LVL= 18288, 24129, 14450, 20003, AGC= 21, IDX= 509,-0.15, 0.721,-1.119,-1.162, 0.358, PHS= 0.451,-1.430,-1.523, RAW=  87.6,  24.6, CAL=  89.9,  32.7, ROT=  60.1, -32.7

2025-01-09T00:53:43.488Z,1736384023.488 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-01-09T00:53:43.489Z,1736384023.489 [DAT](INFO): direction in FSK: [0.419483,0.729503,0.540240]
2025-01-09T00:53:43.489Z,1736384023.489 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:43.504Z,1736384023.504 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.539173
2025-01-09T00:53:43.685Z,1736384023.685 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.725414
2025-01-09T00:53:43.756Z,1736384023.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:43.941Z,1736384023.941 [DAT](INFO): DAT read: Rx Time:00:53:42.9153 

2025-01-09T00:53:43.942Z,1736384023.942 [DAT](INFO): Rx dataTimestamp_ set to:1736384023.941362
2025-01-09T00:53:43.946Z,1736384023.946 [DAT](INFO): DAT read: Bearing  59.0, -28.6 (Local)

2025-01-09T00:53:43.947Z,1736384023.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.0, -28.6 (Local)

2025-01-09T00:53:43.949Z,1736384023.949 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:43.954Z,1736384023.954 [DAT](INFO): DAT read: 00:53:42.9153 LVL= 16608, 22193, 17954, 18915, AGC= 22, IDX= 509,-0.45,-0.448,-2.373,-2.438,-0.970, PHS= 0.610,-1.356,-1.471, RAW=  87.2,  21.1, CAL=  91.0,  28.6, ROT=  59.0, -28.6

2025-01-09T00:53:43.955Z,1736384023.955 [DAT](INFO): got valid direction response:
 00:53:42.9153 LVL= 16608, 22193, 17954, 18915, AGC= 22, IDX= 509,-0.45,-0.448,-2.373,-2.438,-0.970, PHS= 0.610,-1.356,-1.471, RAW=  87.2,  21.1, CAL=  91.0,  28.6, ROT=  59.0, -28.6

2025-01-09T00:53:43.955Z,1736384023.955 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-01-09T00:53:43.956Z,1736384023.956 [DAT](INFO): direction in FSK: [0.452195,0.752578,0.478692]
2025-01-09T00:53:43.957Z,1736384023.957 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:43.960Z,1736384023.960 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.000713
2025-01-09T00:53:44.132Z,1736384024.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:44.191Z,1736384024.191 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.231010
2025-01-09T00:53:44.448Z,1736384024.448 [DAT](INFO): DAT read: Rx Time:00:53:43.4152 

2025-01-09T00:53:44.448Z,1736384024.448 [DAT](INFO): Rx dataTimestamp_ set to:1736384024.447808
2025-01-09T00:53:44.449Z,1736384024.449 [DAT](INFO): DAT read: Bearing  56.5, -24.8 (Local)

2025-01-09T00:53:44.450Z,1736384024.450 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.5, -24.8 (Local)

2025-01-09T00:53:44.452Z,1736384024.452 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:44.466Z,1736384024.466 [DAT](INFO): DAT read: 00:53:43.4152 LVL= 14224, 19361, 20002, 21459, AGC= 23, IDX= 508,-0.31,-1.941, 2.377, 2.343,-2.576, PHS= 0.723,-1.283,-1.368, RAW=  88.0,  18.4, CAL=  93.5,  24.8, ROT=  56.5, -24.8

2025-01-09T00:53:44.475Z,1736384024.475 [DAT](INFO): got valid direction response:
 00:53:43.4152 LVL= 14224, 19361, 20002, 21459, AGC= 23, IDX= 508,-0.31,-1.941, 2.377, 2.343,-2.576, PHS= 0.723,-1.283,-1.368, RAW=  88.0,  18.4, CAL=  93.5,  24.8, ROT=  56.5, -24.8

2025-01-09T00:53:44.476Z,1736384024.476 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-01-09T00:53:44.477Z,1736384024.477 [DAT](INFO): direction in FSK: [0.501036,0.756983,0.419452]
2025-01-09T00:53:44.477Z,1736384024.477 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:44.489Z,1736384024.489 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.529152
2025-01-09T00:53:44.577Z,1736384024.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:44.692Z,1736384024.692 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.732681
2025-01-09T00:53:44.947Z,1736384024.947 [DAT](INFO): DAT read: Rx Time:00:53:43.9153 

2025-01-09T00:53:44.948Z,1736384024.948 [DAT](INFO): Rx dataTimestamp_ set to:1736384024.947509
2025-01-09T00:53:44.949Z,1736384024.949 [DAT](INFO): DAT read: Bearing  53.6, -25.9 (Local)

2025-01-09T00:53:44.949Z,1736384024.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.6, -25.9 (Local)

2025-01-09T00:53:44.969Z,1736384024.969 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:44.973Z,1736384024.973 [DAT](INFO): DAT read: 00:53:43.9153 LVL= 16336, 22129, 16034, 17091, AGC= 22, IDX= 509,-0.00,-1.610, 2.752, 2.829,-2.163, PHS= 0.642,-1.321,-1.294, RAW=  90.7,  19.7, CAL=  96.4,  25.9, ROT=  53.6, -25.9

2025-01-09T00:53:44.974Z,1736384024.974 [DAT](INFO): got valid direction response:
 00:53:43.9153 LVL= 16336, 22129, 16034, 17091, AGC= 22, IDX= 509,-0.00,-1.610, 2.752, 2.829,-2.163, PHS= 0.642,-1.321,-1.294, RAW=  90.7,  19.7, CAL=  96.4,  25.9, ROT=  53.6, -25.9

2025-01-09T00:53:44.975Z,1736384024.975 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-01-09T00:53:45.004Z,1736384025.004 [DAT](INFO): direction in FSK: [0.533815,0.724048,0.436802]
2025-01-09T00:53:45.005Z,1736384025.005 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:45.016Z,1736384025.016 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.056805
2025-01-09T00:53:45.036Z,1736384025.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:45.200Z,1736384025.200 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.240910
2025-01-09T00:53:45.358Z,1736384025.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:45.380Z,1736384025.380 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-01-09T00:53:45.453Z,1736384025.453 [DAT](INFO): DAT read: Rx Time:00:53:44.4152 

2025-01-09T00:53:45.454Z,1736384025.454 [DAT](INFO): Rx dataTimestamp_ set to:1736384025.453248
2025-01-09T00:53:45.455Z,1736384025.455 [DAT](INFO): DAT read: Bearing  47.3, -23.7 (Local)

2025-01-09T00:53:45.455Z,1736384025.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.3, -23.7 (Local)

2025-01-09T00:53:45.457Z,1736384025.457 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:45.462Z,1736384025.462 [DAT](INFO): DAT read: 00:53:44.4152 LVL= 14784, 21233, 17714, 19779, AGC= 21, IDX= 508, 0.19, 2.906, 0.910, 1.180, 2.349, PHS= 0.645,-1.393,-1.173, RAW=  95.6,  19.3, CAL= 102.7,  23.7, ROT=  47.3, -23.7

2025-01-09T00:53:45.464Z,1736384025.464 [DAT](INFO): got valid direction response:
 00:53:44.4152 LVL= 14784, 21233, 17714, 19779, AGC= 21, IDX= 508, 0.19, 2.906, 0.910, 1.180, 2.349, PHS= 0.645,-1.393,-1.173, RAW=  95.6,  19.3, CAL= 102.7,  23.7, ROT=  47.3, -23.7

2025-01-09T00:53:45.464Z,1736384025.464 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-01-09T00:53:45.465Z,1736384025.465 [DAT](INFO): direction in FSK: [0.620965,0.672934,0.401948]
2025-01-09T00:53:45.465Z,1736384025.465 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:45.468Z,1736384025.468 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:53:45.469Z,1736384025.469 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:53:45.469Z,1736384025.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:45.704Z,1736384025.704 [DAT](INFO): Reached modem response timeout
2025-01-09T00:53:45.704Z,1736384025.704 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:45.704Z,1736384025.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:45.758Z,1736384025.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:45.957Z,1736384025.957 [DAT](INFO): DAT read: Rx Time:00:53:44.9153 

2025-01-09T00:53:45.957Z,1736384025.957 [DAT](INFO): Rx dataTimestamp_ set to:1736384025.957079
2025-01-09T00:53:45.959Z,1736384025.959 [DAT](INFO): DAT read: Bearing  42.7, -19.1 (Local)

2025-01-09T00:53:45.959Z,1736384025.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing  42.7, -19.1 (Local)

2025-01-09T00:53:45.961Z,1736384025.961 [DAT](INFO): DAT read: Range 10 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-01-09T00:53:45.966Z,1736384025.966 [DAT](INFO): DAT read: 00:53:44.9153 LVL= 13856, 19649, 17394, 18515, AGC= 20, IDX= 509, 0.27,-2.099, 2.102, 2.513,-2.717, PHS= 0.707,-1.417,-1.056, RAW=  99.1,  17.6, CAL= 107.3,  19.1, ROT=  42.7, -19.1

2025-01-09T00:53:45.982Z,1736384025.982 [DAT](INFO): got valid direction response:
 00:53:44.9153 LVL= 13856, 19649, 17394, 18515, AGC= 20, IDX= 509, 0.27,-2.099, 2.102, 2.513,-2.717, PHS= 0.707,-1.417,-1.056, RAW=  99.1,  17.6, CAL= 107.3,  19.1, ROT=  42.7, -19.1

2025-01-09T00:53:45.982Z,1736384025.982 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:53:45.983Z,1736384025.983 [DAT](INFO): direction in FSK: [0.694457,0.640826,0.327218]
2025-01-09T00:53:45.983Z,1736384025.983 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:45.987Z,1736384025.987 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:45.987Z,1736384025.987 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:46.153Z,1736384026.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:46.208Z,1736384026.208 [DAT](INFO): Reached modem response timeout
2025-01-09T00:53:46.209Z,1736384026.209 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:46.209Z,1736384026.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:46.461Z,1736384026.461 [DAT](INFO): DAT read: Rx Time:00:53:45.4152 

2025-01-09T00:53:46.461Z,1736384026.461 [DAT](INFO): Rx dataTimestamp_ set to:1736384026.461047
2025-01-09T00:53:46.463Z,1736384026.463 [DAT](INFO): DAT read: Bearing  40.9, -16.6 (Local)

2025-01-09T00:53:46.463Z,1736384026.463 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.9, -16.6 (Local)

2025-01-09T00:53:46.469Z,1736384026.469 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-01-09T00:53:46.475Z,1736384026.475 [DAT](INFO): DAT read: 00:53:45.4152 LVL= 13040, 15857, 17554, 16243, AGC= 23, IDX= 508, 0.38, 2.481, 0.296, 0.784, 1.787, PHS= 0.783,-1.444,-1.005, RAW= 100.7,  16.1, CAL= 109.1,  16.6, ROT=  40.9, -16.6

2025-01-09T00:53:46.476Z,1736384026.476 [DAT](INFO): got valid direction response:
 00:53:45.4152 LVL= 13040, 15857, 17554, 16243, AGC= 23, IDX= 508, 0.38, 2.481, 0.296, 0.784, 1.787, PHS= 0.783,-1.444,-1.005, RAW= 100.7,  16.1, CAL= 109.1,  16.6, ROT=  40.9, -16.6

2025-01-09T00:53:46.476Z,1736384026.476 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:53:46.477Z,1736384026.477 [DAT](INFO): direction in FSK: [0.724351,0.627453,0.285688]
2025-01-09T00:53:46.478Z,1736384026.478 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:46.481Z,1736384026.481 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:46.481Z,1736384026.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:46.610Z,1736384026.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:46.712Z,1736384026.712 [DAT](INFO): Reached modem response timeout
2025-01-09T00:53:46.713Z,1736384026.713 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:46.713Z,1736384026.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:46.965Z,1736384026.965 [DAT](INFO): DAT read: Rx Time:00:53:45.9154 

2025-01-09T00:53:46.965Z,1736384026.965 [DAT](INFO): Rx dataTimestamp_ set to:1736384026.964985
2025-01-09T00:53:46.967Z,1736384026.967 [DAT](INFO): DAT read: Bearing  37.4, -14.0 (Local)

2025-01-09T00:53:46.967Z,1736384026.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.4, -14.0 (Local)

2025-01-09T00:53:46.969Z,1736384026.969 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed -0.1

2025-01-09T00:53:46.974Z,1736384026.974 [DAT](INFO): DAT read: 00:53:45.9154 LVL= 11888, 15745, 22882, 19443, AGC= 24, IDX= 508, 0.37,-1.521, 2.540,-3.119,-2.248, PHS= 0.815,-1.448,-0.874, RAW= 104.1,  14.7, CAL= 112.6,  14.0, ROT=  37.4, -14.0

2025-01-09T00:53:46.975Z,1736384026.975 [DAT](INFO): got valid direction response:
 00:53:45.9154 LVL= 11888, 15745, 22882, 19443, AGC= 24, IDX= 508, 0.37,-1.521, 2.540,-3.119,-2.248, PHS= 0.815,-1.448,-0.874, RAW= 104.1,  14.7, CAL= 112.6,  14.0, ROT=  37.4, -14.0

2025-01-09T00:53:46.975Z,1736384026.975 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:53:46.976Z,1736384026.976 [DAT](INFO): direction in FSK: [0.770817,0.589334,0.241922]
2025-01-09T00:53:46.977Z,1736384026.977 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:46.980Z,1736384026.980 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:46.980Z,1736384026.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:47.048Z,1736384027.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:47.216Z,1736384027.216 [DAT](INFO): Reached modem response timeout
2025-01-09T00:53:47.216Z,1736384027.216 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:47.216Z,1736384027.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:47.442Z,1736384027.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:47.469Z,1736384027.469 [DAT](INFO): DAT read: Rx Time:00:53:46.4152 

2025-01-09T00:53:47.469Z,1736384027.469 [DAT](INFO): Rx dataTimestamp_ set to:1736384027.469192
2025-01-09T00:53:47.471Z,1736384027.471 [DAT](INFO): DAT read: Bearing  27.1, -10.2 (Local)

2025-01-09T00:53:47.471Z,1736384027.471 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.1, -10.2 (Local)

2025-01-09T00:53:47.473Z,1736384027.473 [DAT](INFO): DAT read: Range 10 to 50 :     0.5 m (trip time 0.3 ms) speed -0.1

2025-01-09T00:53:47.478Z,1736384027.478 [DAT](INFO): DAT read: 00:53:46.4152 LVL= 21568, 32497, 21554, 27939, AGC= 31, IDX= 508,-0.42, 2.682, 0.357, 1.405, 1.979, PHS= 0.792,-1.574,-0.577, RAW= 114.8,  13.1, CAL= 122.9,  10.2, ROT=  27.1, -10.2

2025-01-09T00:53:47.479Z,1736384027.479 [DAT](INFO): got valid direction response:
 00:53:46.4152 LVL= 21568, 32497, 21554, 27939, AGC= 31, IDX= 508,-0.42, 2.682, 0.357, 1.405, 1.979, PHS= 0.792,-1.574,-0.577, RAW= 114.8,  13.1, CAL= 122.9,  10.2, ROT=  27.1, -10.2

2025-01-09T00:53:47.479Z,1736384027.479 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:53:47.480Z,1736384027.480 [DAT](INFO): direction in FSK: [0.876144,0.448345,0.177085]
2025-01-09T00:53:47.481Z,1736384027.481 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:47.485Z,1736384027.485 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:47.485Z,1736384027.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:47.720Z,1736384027.720 [DAT](INFO): Reached modem response timeout
2025-01-09T00:53:47.720Z,1736384027.720 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:47.720Z,1736384027.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:47.776Z,1736384027.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:47.973Z,1736384027.973 [DAT](INFO): DAT read: Rx Time:00:53:46.9154 

2025-01-09T00:53:47.974Z,1736384027.974 [DAT](INFO): Rx dataTimestamp_ set to:1736384027.973301
2025-01-09T00:53:47.975Z,1736384027.975 [DAT](INFO): DAT read: Bearing  28.9, -12.3 (Local)

2025-01-09T00:53:47.975Z,1736384027.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.9, -12.3 (Local)

2025-01-09T00:53:47.977Z,1736384027.977 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed -0.1

2025-01-09T00:53:47.982Z,1736384027.982 [DAT](INFO): DAT read: 00:53:46.9154 LVL= 10912, 24033, 16562, 19139, AGC= 28, IDX= 509, 0.15, 2.118, 0.026, 0.923, 1.531, PHS= 0.675,-1.458,-0.611, RAW= 113.2,  14.8, CAL= 121.1,  12.3, ROT=  28.9, -12.3

2025-01-09T00:53:47.983Z,1736384027.983 [DAT](INFO): got valid direction response:
 00:53:46.9154 LVL= 10912, 24033, 16562, 19139, AGC= 28, IDX= 509, 0.15, 2.118, 0.026, 0.923, 1.531, PHS= 0.675,-1.458,-0.611, RAW= 113.2,  14.8, CAL= 121.1,  12.3, ROT=  28.9, -12.3

2025-01-09T00:53:47.984Z,1736384027.984 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:53:47.984Z,1736384027.984 [DAT](INFO): direction in FSK: [0.855369,0.472189,0.213030]
2025-01-09T00:53:47.985Z,1736384027.985 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:47.988Z,1736384027.988 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:47.988Z,1736384027.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:48.182Z,1736384028.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:48.229Z,1736384028.229 [DAT](INFO): Reached modem response timeout
2025-01-09T00:53:48.230Z,1736384028.230 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:48.230Z,1736384028.230 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:48.481Z,1736384028.481 [DAT](INFO): DAT read: Rx Time:00:53:47.4154 

2025-01-09T00:53:48.481Z,1736384028.481 [DAT](INFO): Rx dataTimestamp_ set to:1736384028.480962
2025-01-09T00:53:48.483Z,1736384028.483 [DAT](INFO): DAT read: Bearing  37.0,  -5.1 (Local)

2025-01-09T00:53:48.483Z,1736384028.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.0,  -5.1 (Local)

2025-01-09T00:53:48.487Z,1736384028.487 [DAT](INFO): DAT read: Range 10 to 50 :     0.8 m (trip time 0.5 ms) speed -0.1

2025-01-09T00:53:48.492Z,1736384028.492 [DAT](INFO): DAT read: 00:53:47.4154 LVL= 14048, 24817, 18018, 21299, AGC= 33, IDX= 509,-0.07,-2.280, 1.641, 2.258, 2.925, PHS= 1.166,-1.238,-0.671, RAW= 103.0,   6.9, CAL= 113.0,   5.1, ROT=  37.0,  -5.1

2025-01-09T00:53:48.493Z,1736384028.493 [DAT](INFO): got valid direction response:
 00:53:47.4154 LVL= 14048, 24817, 18018, 21299, AGC= 33, IDX= 509,-0.07,-2.280, 1.641, 2.258, 2.925, PHS= 1.166,-1.238,-0.671, RAW= 103.0,   6.9, CAL= 113.0,   5.1, ROT=  37.0,  -5.1

2025-01-09T00:53:48.493Z,1736384028.493 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:53:48.494Z,1736384028.494 [DAT](INFO): direction in FSK: [0.795474,0.599432,0.088894]
2025-01-09T00:53:48.495Z,1736384028.495 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:48.510Z,1736384028.510 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:48.510Z,1736384028.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:48.610Z,1736384028.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:48.732Z,1736384028.732 [DAT](INFO): Reached modem response timeout
2025-01-09T00:53:48.732Z,1736384028.732 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:48.732Z,1736384028.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:48.976Z,1736384028.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:48.985Z,1736384028.985 [DAT](INFO): DAT read: Rx Time:00:53:47.9155 

2025-01-09T00:53:48.985Z,1736384028.985 [DAT](INFO): Rx dataTimestamp_ set to:1736384028.984777
2025-01-09T00:53:48.986Z,1736384028.986 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed -0.2

2025-01-09T00:53:48.987Z,1736384028.987 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T00:53:48.988Z,1736384028.988 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:48.988Z,1736384028.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:49.236Z,1736384029.236 [DAT](INFO): Reached modem response timeout
2025-01-09T00:53:49.236Z,1736384029.236 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:49.236Z,1736384029.236 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:49.460Z,1736384029.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:49.489Z,1736384029.489 [DAT](INFO): DAT read: Rx Time:00:53:48.4155 

2025-01-09T00:53:49.489Z,1736384029.489 [DAT](INFO): Rx dataTimestamp_ set to:1736384029.489105
2025-01-09T00:53:49.491Z,1736384029.491 [DAT](INFO): DAT read: Bearing  24.4, -29.8 (Local)

2025-01-09T00:53:49.491Z,1736384029.491 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.4, -29.8 (Local)

2025-01-09T00:53:49.493Z,1736384029.493 [DAT](INFO): DAT read: Range 10 to 50 :     0.9 m (trip time 0.6 ms) speed -0.2

2025-01-09T00:53:49.500Z,1736384029.500 [DAT](INFO): DAT read: 00:53:48.4155 LVL= 19664, 26673, 16114, 19027, AGC= 36, IDX= 509, 0.40,-0.404,-2.127,-1.245,-0.529, PHS= 0.214,-1.550,-0.719, RAW= 118.1,  25.4, CAL= 125.6,  29.8, ROT=  24.4, -29.8

2025-01-09T00:53:49.501Z,1736384029.501 [DAT](INFO): got valid direction response:
 00:53:48.4155 LVL= 19664, 26673, 16114, 19027, AGC= 36, IDX= 509, 0.40,-0.404,-2.127,-1.245,-0.529, PHS= 0.214,-1.550,-0.719, RAW= 118.1,  25.4, CAL= 125.6,  29.8, ROT=  24.4, -29.8

2025-01-09T00:53:49.502Z,1736384029.502 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:53:49.508Z,1736384029.508 [DAT](INFO): direction in FSK: [0.790260,0.358478,0.496974]
2025-01-09T00:53:49.509Z,1736384029.509 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:49.518Z,1736384029.518 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:49.518Z,1736384029.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:49.740Z,1736384029.740 [DAT](INFO): Reached modem response timeout
2025-01-09T00:53:49.740Z,1736384029.740 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:49.740Z,1736384029.740 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:49.793Z,1736384029.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:49.993Z,1736384029.993 [DAT](INFO): DAT read: Rx Time:00:53:48.9156 

2025-01-09T00:53:49.993Z,1736384029.993 [DAT](INFO): Rx dataTimestamp_ set to:1736384029.993075
2025-01-09T00:53:49.995Z,1736384029.995 [DAT](INFO): DAT read: Bearing  24.9, -38.2 (Local)

2025-01-09T00:53:49.995Z,1736384029.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.9, -38.2 (Local)

2025-01-09T00:53:49.997Z,1736384029.997 [DAT](INFO): DAT read: Range 10 to 50 :     1.1 m (trip time 0.7 ms) speed -0.2

2025-01-09T00:53:50.002Z,1736384030.002 [DAT](INFO): DAT read: 00:53:48.9156 LVL= 16144, 18801, 17218, 26915, AGC= 38, IDX= 512,-0.19,-2.838, 1.578, 2.438,-2.942, PHS= 0.193,-1.716,-0.906, RAW= 115.0,  27.4, CAL= 125.1,  38.2, ROT=  24.9, -38.2

2025-01-09T00:53:50.003Z,1736384030.003 [DAT](INFO): got valid direction response:
 00:53:48.9156 LVL= 16144, 18801, 17218, 26915, AGC= 38, IDX= 512,-0.19,-2.838, 1.578, 2.438,-2.942, PHS= 0.193,-1.716,-0.906, RAW= 115.0,  27.4, CAL= 125.1,  38.2, ROT=  24.9, -38.2

2025-01-09T00:53:50.003Z,1736384030.003 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:53:50.004Z,1736384030.004 [DAT](INFO): direction in FSK: [0.712807,0.330874,0.618408]
2025-01-09T00:53:50.004Z,1736384030.004 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:50.008Z,1736384030.008 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:50.008Z,1736384030.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:50.206Z,1736384030.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:50.244Z,1736384030.244 [DAT](INFO): Reached modem response timeout
2025-01-09T00:53:50.245Z,1736384030.245 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:50.245Z,1736384030.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:50.496Z,1736384030.496 [DAT](INFO): DAT read: user:3793>

2025-01-09T00:53:50.497Z,1736384030.497 [DAT](INFO): Reached modem response timeout
2025-01-09T00:53:50.497Z,1736384030.497 [DAT](DEBUG): Acoustic response timeout
2025-01-09T00:53:50.497Z,1736384030.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:50.614Z,1736384030.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:50.749Z,1736384030.749 [DAT](INFO): DAT read: Command 'tr50' not found

2025-01-09T00:53:50.749Z,1736384030.749 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found

2025-01-09T00:53:50.749Z,1736384030.749 [DAT](INFO): DAT read: Error

2025-01-09T00:53:50.750Z,1736384030.750 [DAT](INFO): unknown deviceResponse_: Error

2025-01-09T00:53:50.750Z,1736384030.750 [DAT](INFO): DAT read: user:3794>

2025-01-09T00:53:50.751Z,1736384030.751 [DAT](INFO): DAT read: Tx time:00:53:49.9362

2025-01-09T00:53:50.751Z,1736384030.751 [DAT](INFO): Ping request sent.
2025-01-09T00:53:50.751Z,1736384030.751 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:53:50.752Z,1736384030.752 [DAT](INFO): DAT read: TxSync time:00:53:49.9354

2025-01-09T00:53:50.752Z,1736384030.752 [DAT](INFO): publishing transmit ping time
2025-01-09T00:53:50.753Z,1736384030.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001553
2025-01-09T00:53:51.003Z,1736384031.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252082
2025-01-09T00:53:51.010Z,1736384031.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:51.252Z,1736384031.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500992
2025-01-09T00:53:51.428Z,1736384031.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:51.505Z,1736384031.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753277
2025-01-09T00:53:51.756Z,1736384031.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004915
2025-01-09T00:53:51.808Z,1736384031.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:51.812Z,1736384031.812 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2025-01-09T00:53:52.008Z,1736384032.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256958
2025-01-09T00:53:52.209Z,1736384032.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:52.261Z,1736384032.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509550
2025-01-09T00:53:52.512Z,1736384032.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761184
2025-01-09T00:53:52.634Z,1736384032.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:52.764Z,1736384032.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012961
2025-01-09T00:53:53.022Z,1736384033.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270692
2025-01-09T00:53:53.026Z,1736384033.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:53.269Z,1736384033.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517211
2025-01-09T00:53:53.452Z,1736384033.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:53.520Z,1736384033.520 [DAT](INFO): DAT read: Rx Time:00:53:52.3428

2025-01-09T00:53:53.521Z,1736384033.521 [DAT](INFO): Rx dataTimestamp_ set to:1736384033.520663
2025-01-09T00:53:53.521Z,1736384033.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770191
2025-01-09T00:53:53.772Z,1736384033.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020920
2025-01-09T00:53:53.828Z,1736384033.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:54.027Z,1736384034.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275741
2025-01-09T00:53:54.231Z,1736384034.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:54.285Z,1736384034.285 [DAT](INFO): DAT read: 00:53:52.3428 LVL= 30256, 32753, 16034, 32755, AGC= 41, IDX= 246, 0.37,-0.363,-1.427, 0.922, 0.040, PHS=-0.314,-1.419, 0.879, RAW= 181.3,   8.6, CAL= 180.8,  -1.0, ROT= 329.2,   1.0

2025-01-09T00:53:54.286Z,1736384034.286 [DAT](INFO): got valid direction response:
 00:53:52.3428 LVL= 30256, 32753, 16034, 32755, AGC= 41, IDX= 246, 0.37,-0.363,-1.427, 0.922, 0.040, PHS=-0.314,-1.419, 0.879, RAW= 181.3,   8.6, CAL= 180.8,  -1.0, ROT= 329.2,   1.0

2025-01-09T00:53:54.288Z,1736384034.288 [DAT](INFO): DAT read: Bearing 329.2,   1.0 (Local)

2025-01-09T00:53:54.288Z,1736384034.288 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.2,   1.0 (Local)

2025-01-09T00:53:54.289Z,1736384034.289 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed -0.3 m/s

2025-01-09T00:53:54.290Z,1736384034.290 [DAT](INFO): DAT read: user:3795>

2025-01-09T00:53:54.309Z,1736384034.309 [DAT](INFO): DAT read: Tx time:00:53:53.4362

2025-01-09T00:53:54.309Z,1736384034.309 [DAT](INFO): Ping request sent.
2025-01-09T00:53:54.309Z,1736384034.309 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:53:54.310Z,1736384034.310 [DAT](INFO): DAT read: TxSync time:00:53:53.4354

2025-01-09T00:53:54.310Z,1736384034.310 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:53:54.311Z,1736384034.311 [DAT](INFO): direction in FSK: [0.858829,-0.511965,-0.017452]
2025-01-09T00:53:54.312Z,1736384034.312 [DAT](INFO): publishing transmit ping time
2025-01-09T00:53:54.313Z,1736384034.313 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:54.322Z,1736384034.322 [DAT](INFO): publishing transmit ping time
2025-01-09T00:53:54.322Z,1736384034.322 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:54.683Z,1736384034.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:55.042Z,1736384035.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:55.474Z,1736384035.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:55.479Z,1736384035.479 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-01-09T00:53:55.536Z,1736384035.536 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:53:55.536Z,1736384035.536 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:53:55.536Z,1736384035.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:53:55.788Z,1736384035.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478920
2025-01-09T00:53:55.848Z,1736384035.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:56.040Z,1736384036.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730908
2025-01-09T00:53:56.251Z,1736384036.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:56.293Z,1736384036.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983834
2025-01-09T00:53:56.544Z,1736384036.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235154
2025-01-09T00:53:56.676Z,1736384036.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:56.796Z,1736384036.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486933
2025-01-09T00:53:57.049Z,1736384037.049 [DAT](INFO): DAT read: Rx Time:00:53:55.8439

2025-01-09T00:53:57.049Z,1736384037.049 [DAT](INFO): Rx dataTimestamp_ set to:1736384037.048696
2025-01-09T00:53:57.049Z,1736384037.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740235
2025-01-09T00:53:57.058Z,1736384037.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:57.300Z,1736384037.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990912
2025-01-09T00:53:57.510Z,1736384037.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:57.567Z,1736384037.567 [DAT](INFO): DAT read: 00:53:55.8439 LVL= 31344, 32753, 14834, 32755, AGC= 44, IDX= 433,-0.10, 2.868, 1.762,-2.488, 3.051, PHS=-0.095,-1.243, 0.741, RAW= 174.8,   7.0, CAL= 174.4,  -2.5, ROT= 335.6,   2.5

2025-01-09T00:53:57.568Z,1736384037.568 [DAT](INFO): got valid direction response:
 00:53:55.8439 LVL= 31344, 32753, 14834, 32755, AGC= 44, IDX= 433,-0.10, 2.868, 1.762,-2.488, 3.051, PHS=-0.095,-1.243, 0.741, RAW= 174.8,   7.0, CAL= 174.4,  -2.5, ROT= 335.6,   2.5

2025-01-09T00:53:57.569Z,1736384037.569 [DAT](INFO): DAT read: Bearing 335.6,   2.5 (Local)

2025-01-09T00:53:57.569Z,1736384037.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.6,   2.5 (Local)

2025-01-09T00:53:57.571Z,1736384037.571 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.6 ms) speed -0.3 m/s

2025-01-09T00:53:57.582Z,1736384037.582 [DAT](INFO): DAT read: user:3796>

2025-01-09T00:53:57.588Z,1736384037.588 [DAT](INFO): DAT read: Tx time:00:53:56.9362

2025-01-09T00:53:57.588Z,1736384037.588 [DAT](INFO): Ping request sent.
2025-01-09T00:53:57.588Z,1736384037.588 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:53:57.589Z,1736384037.589 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:53:57.589Z,1736384037.589 [DAT](INFO): direction in FSK: [0.909817,-0.412711,-0.043619]
2025-01-09T00:53:57.590Z,1736384037.590 [DAT](INFO): publishing transmit ping time
2025-01-09T00:53:57.590Z,1736384037.590 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:57.598Z,1736384037.598 [DAT](INFO): publishing transmit ping time
2025-01-09T00:53:57.598Z,1736384037.598 [DAT](INFO): publishing direction and range info
2025-01-09T00:53:57.805Z,1736384037.805 [DAT](INFO): DAT read: TxSync time:00:53:56.9354

2025-01-09T00:53:57.890Z,1736384037.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:58.271Z,1736384038.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:58.698Z,1736384038.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:59.077Z,1736384039.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:59.524Z,1736384039.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:53:59.890Z,1736384039.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:00.290Z,1736384040.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:00.576Z,1736384040.576 [DAT](INFO): DAT read: Rx Time:00:53:59.3456

2025-01-09T00:54:00.577Z,1736384040.577 [DAT](INFO): Rx dataTimestamp_ set to:1736384040.576464
2025-01-09T00:54:00.719Z,1736384040.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:01.094Z,1736384041.094 [DAT](INFO): DAT read: 00:53:59.3456 LVL= 32752, 32753, 22482, 32755, AGC= 43, IDX= 449,-0.28, 1.134,-0.099, 1.740, 1.193, PHS= 0.030,-1.245, 0.545, RAW= 166.2,   8.5, CAL= 165.5,  -1.4, ROT= 344.5,   1.4

2025-01-09T00:54:01.095Z,1736384041.095 [DAT](INFO): got valid direction response:
 00:53:59.3456 LVL= 32752, 32753, 22482, 32755, AGC= 43, IDX= 449,-0.28, 1.134,-0.099, 1.740, 1.193, PHS= 0.030,-1.245, 0.545, RAW= 166.2,   8.5, CAL= 165.5,  -1.4, ROT= 344.5,   1.4

2025-01-09T00:54:01.096Z,1736384041.096 [DAT](INFO): DAT read: Bearing 344.5,   1.4 (Local)

2025-01-09T00:54:01.097Z,1736384041.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.5,   1.4 (Local)

2025-01-09T00:54:01.098Z,1736384041.098 [DAT](INFO): DAT read: Range 10 to 50 : 3.8 m  (Round-trip  5.1 ms) speed -0.3 m/s

2025-01-09T00:54:01.099Z,1736384041.099 [DAT](INFO): DAT read: user:3797>

2025-01-09T00:54:01.099Z,1736384041.099 [DAT](INFO): DAT read: Tx time:00:54:00.4363

2025-01-09T00:54:01.100Z,1736384041.100 [DAT](INFO): Ping request sent.
2025-01-09T00:54:01.100Z,1736384041.100 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:01.100Z,1736384041.100 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-09T00:54:01.101Z,1736384041.101 [DAT](INFO): direction in FSK: [0.963343,-0.267159,-0.024432]
2025-01-09T00:54:01.101Z,1736384041.101 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:01.102Z,1736384041.102 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:01.135Z,1736384041.135 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:01.147Z,1736384041.147 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:01.159Z,1736384041.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:01.332Z,1736384041.332 [DAT](INFO): DAT read: TxSync time:00:54:00.4355

2025-01-09T00:54:01.556Z,1736384041.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:01.916Z,1736384041.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:02.310Z,1736384042.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:02.748Z,1736384042.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:03.128Z,1736384043.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:03.584Z,1736384043.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:03.944Z,1736384043.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:04.112Z,1736384044.112 [DAT](INFO): DAT read: Rx Time:00:54:02.8469

2025-01-09T00:54:04.113Z,1736384044.113 [DAT](INFO): Rx dataTimestamp_ set to:1736384044.112513
2025-01-09T00:54:04.331Z,1736384044.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:04.623Z,1736384044.623 [DAT](INFO): DAT read: 00:54:02.8469 LVL= 20688, 30673, 15314, 28467, AGC= 45, IDX= 447, 0.17,-3.079, 1.897,-2.663, 3.061, PHS= 0.232,-1.117, 0.556, RAW= 160.5,   4.3, CAL= 161.2,  -4.8, ROT= 348.8,   4.8

2025-01-09T00:54:04.624Z,1736384044.624 [DAT](INFO): got valid direction response:
 00:54:02.8469 LVL= 20688, 30673, 15314, 28467, AGC= 45, IDX= 447, 0.17,-3.079, 1.897,-2.663, 3.061, PHS= 0.232,-1.117, 0.556, RAW= 160.5,   4.3, CAL= 161.2,  -4.8, ROT= 348.8,   4.8

2025-01-09T00:54:04.625Z,1736384044.625 [DAT](INFO): DAT read: Bearing 348.8,   4.8 (Local)

2025-01-09T00:54:04.625Z,1736384044.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.8,   4.8 (Local)

2025-01-09T00:54:04.627Z,1736384044.627 [DAT](INFO): DAT read: Range 10 to 50 : 4.8 m  (Round-trip  6.5 ms) speed -0.3 m/s

2025-01-09T00:54:04.628Z,1736384044.628 [DAT](INFO): DAT read: user:3798>

2025-01-09T00:54:04.628Z,1736384044.628 [DAT](INFO): DAT read: Tx time:00:54:03.9363

2025-01-09T00:54:04.629Z,1736384044.629 [DAT](INFO): Ping request sent.
2025-01-09T00:54:04.629Z,1736384044.629 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:04.629Z,1736384044.629 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-09T00:54:04.630Z,1736384044.630 [DAT](INFO): direction in FSK: [0.977515,-0.193554,-0.083678]
2025-01-09T00:54:04.630Z,1736384044.630 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:04.630Z,1736384044.630 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:04.633Z,1736384044.633 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:04.634Z,1736384044.634 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:04.805Z,1736384044.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:04.869Z,1736384044.869 [DAT](INFO): DAT read: TxSync time:00:54:03.9355

2025-01-09T00:54:05.146Z,1736384045.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:05.622Z,1736384045.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:05.628Z,1736384045.628 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-01-09T00:54:05.876Z,1736384045.876 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:54:05.876Z,1736384045.876 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:54:05.876Z,1736384045.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:54:05.955Z,1736384045.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:06.128Z,1736384046.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499507
2025-01-09T00:54:06.355Z,1736384046.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:06.381Z,1736384046.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751864
2025-01-09T00:54:06.632Z,1736384046.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003551
2025-01-09T00:54:06.781Z,1736384046.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:06.884Z,1736384046.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255523
2025-01-09T00:54:07.136Z,1736384047.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507497
2025-01-09T00:54:07.167Z,1736384047.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:07.388Z,1736384047.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759446
2025-01-09T00:54:07.635Z,1736384047.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:07.640Z,1736384047.640 [DAT](INFO): DAT read: Rx Time:00:54:06.3480

2025-01-09T00:54:07.641Z,1736384047.641 [DAT](INFO): Rx dataTimestamp_ set to:1736384047.640522
2025-01-09T00:54:07.641Z,1736384047.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012624
2025-01-09T00:54:07.892Z,1736384047.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263583
2025-01-09T00:54:07.985Z,1736384047.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:08.150Z,1736384048.150 [DAT](INFO): DAT read: 00:54:06.3480 LVL= 24768, 30865, 16562, 30147, AGC= 48, IDX= 442,-0.08,-2.346, 2.737,-1.811,-2.393, PHS= 0.135,-1.107, 0.579, RAW= 164.7,   5.2, CAL= 164.9,  -4.0, ROT= 345.1,   4.0

2025-01-09T00:54:08.151Z,1736384048.151 [DAT](INFO): got valid direction response:
 00:54:06.3480 LVL= 24768, 30865, 16562, 30147, AGC= 48, IDX= 442,-0.08,-2.346, 2.737,-1.811,-2.393, PHS= 0.135,-1.107, 0.579, RAW= 164.7,   5.2, CAL= 164.9,  -4.0, ROT= 345.1,   4.0

2025-01-09T00:54:08.152Z,1736384048.152 [DAT](INFO): DAT read: Bearing 345.1,   4.0 (Local)

2025-01-09T00:54:08.152Z,1736384048.152 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.1,   4.0 (Local)

2025-01-09T00:54:08.154Z,1736384048.154 [DAT](INFO): DAT read: Range 10 to 50 : 5.7 m  (Round-trip  7.6 ms) speed -0.1 m/s

2025-01-09T00:54:08.155Z,1736384048.155 [DAT](INFO): DAT read: user:3799>

2025-01-09T00:54:08.155Z,1736384048.155 [DAT](INFO): DAT read: Tx time:00:54:07.4363

2025-01-09T00:54:08.156Z,1736384048.156 [DAT](INFO): Ping request sent.
2025-01-09T00:54:08.156Z,1736384048.156 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:08.156Z,1736384048.156 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:54:08.157Z,1736384048.157 [DAT](INFO): direction in FSK: [0.964022,-0.256506,-0.069756]
2025-01-09T00:54:08.157Z,1736384048.157 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:08.157Z,1736384048.157 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:08.161Z,1736384048.161 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:08.161Z,1736384048.161 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:08.390Z,1736384048.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:08.397Z,1736384048.397 [DAT](INFO): DAT read: TxSync time:00:54:07.4355

2025-01-09T00:54:08.817Z,1736384048.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:09.184Z,1736384049.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:09.641Z,1736384049.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:10.011Z,1736384050.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:10.397Z,1736384050.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:10.813Z,1736384050.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:11.168Z,1736384051.168 [DAT](INFO): DAT read: Rx Time:00:54:09.8486

2025-01-09T00:54:11.169Z,1736384051.169 [DAT](INFO): Rx dataTimestamp_ set to:1736384051.168448
2025-01-09T00:54:11.198Z,1736384051.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:11.643Z,1736384051.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:11.681Z,1736384051.681 [DAT](INFO): DAT read: 00:54:09.8486 LVL= 23472, 32753, 16226, 32755, AGC= 45, IDX= 432, 0.15,-1.841,-2.995,-1.135,-1.839, PHS= 0.086,-1.109, 0.701, RAW= 169.5,   4.1, CAL= 169.8,  -4.9, ROT= 340.2,   4.9

2025-01-09T00:54:11.682Z,1736384051.682 [DAT](INFO): got valid direction response:
 00:54:09.8486 LVL= 23472, 32753, 16226, 32755, AGC= 45, IDX= 432, 0.15,-1.841,-2.995,-1.135,-1.839, PHS= 0.086,-1.109, 0.701, RAW= 169.5,   4.1, CAL= 169.8,  -4.9, ROT= 340.2,   4.9

2025-01-09T00:54:11.684Z,1736384051.684 [DAT](INFO): DAT read: Bearing 340.2,   4.9 (Local)

2025-01-09T00:54:11.684Z,1736384051.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.2,   4.9 (Local)

2025-01-09T00:54:11.686Z,1736384051.686 [DAT](INFO): DAT read: Range 10 to 50 : 6.1 m  (Round-trip  8.2 ms) speed -0.2 m/s

2025-01-09T00:54:11.687Z,1736384051.687 [DAT](INFO): DAT read: user:3800>

2025-01-09T00:54:11.689Z,1736384051.689 [DAT](INFO): DAT read: Tx time:00:54:10.9363

2025-01-09T00:54:11.689Z,1736384051.689 [DAT](INFO): Ping request sent.
2025-01-09T00:54:11.689Z,1736384051.689 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:11.689Z,1736384051.689 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-09T00:54:11.691Z,1736384051.691 [DAT](INFO): direction in FSK: [0.937442,-0.337500,-0.085417]
2025-01-09T00:54:11.691Z,1736384051.691 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:11.692Z,1736384051.692 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:11.694Z,1736384051.694 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:11.695Z,1736384051.695 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:11.925Z,1736384051.925 [DAT](INFO): DAT read: TxSync time:00:54:10.9355

2025-01-09T00:54:12.031Z,1736384052.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:12.416Z,1736384052.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:12.833Z,1736384052.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:13.223Z,1736384053.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:13.644Z,1736384053.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:14.048Z,1736384054.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:14.437Z,1736384054.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:14.720Z,1736384054.720 [DAT](INFO): DAT read: Rx Time:00:54:13.3498

2025-01-09T00:54:14.721Z,1736384054.721 [DAT](INFO): Rx dataTimestamp_ set to:1736384054.720546
2025-01-09T00:54:14.857Z,1736384054.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:15.234Z,1736384055.234 [DAT](INFO): DAT read: 00:54:13.3498 LVL= 24944, 32753, 16466, 32755, AGC= 47, IDX= 443, 0.38, 1.861, 0.716, 2.600, 1.884, PHS= 0.064,-1.121, 0.712, RAW= 170.4,   4.3, CAL= 170.6,  -4.7, ROT= 339.4,   4.7

2025-01-09T00:54:15.236Z,1736384055.236 [DAT](INFO): got valid direction response:
 00:54:13.3498 LVL= 24944, 32753, 16466, 32755, AGC= 47, IDX= 443, 0.38, 1.861, 0.716, 2.600, 1.884, PHS= 0.064,-1.121, 0.712, RAW= 170.4,   4.3, CAL= 170.6,  -4.7, ROT= 339.4,   4.7

2025-01-09T00:54:15.237Z,1736384055.237 [DAT](INFO): DAT read: Bearing 339.4,   4.7 (Local)

2025-01-09T00:54:15.237Z,1736384055.237 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.4,   4.7 (Local)

2025-01-09T00:54:15.238Z,1736384055.238 [DAT](INFO): DAT read: Range 10 to 50 : 6.9 m  (Round-trip  9.2 ms) speed -0.3 m/s

2025-01-09T00:54:15.239Z,1736384055.239 [DAT](INFO): DAT read: user:3801>

2025-01-09T00:54:15.240Z,1736384055.240 [DAT](INFO): DAT read: Tx time:00:54:14.4364

2025-01-09T00:54:15.240Z,1736384055.240 [DAT](INFO): Ping request sent.
2025-01-09T00:54:15.240Z,1736384055.240 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:15.241Z,1736384055.241 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-09T00:54:15.241Z,1736384055.241 [DAT](INFO): direction in FSK: [0.932912,-0.350659,-0.081939]
2025-01-09T00:54:15.242Z,1736384055.242 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:15.242Z,1736384055.242 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:15.250Z,1736384055.250 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:15.251Z,1736384055.251 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:15.284Z,1736384055.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:15.480Z,1736384055.480 [DAT](INFO): DAT read: TxSync time:00:54:14.4356

2025-01-09T00:54:15.654Z,1736384055.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:15.662Z,1736384055.662 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-01-09T00:54:15.732Z,1736384055.732 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:54:15.732Z,1736384055.732 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:54:15.733Z,1736384055.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:54:15.985Z,1736384055.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744226
2025-01-09T00:54:16.070Z,1736384056.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:16.236Z,1736384056.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995981
2025-01-09T00:54:16.456Z,1736384056.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:16.489Z,1736384056.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248605
2025-01-09T00:54:16.741Z,1736384056.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500238
2025-01-09T00:54:16.877Z,1736384056.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:16.992Z,1736384056.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751927
2025-01-09T00:54:17.244Z,1736384057.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004018
2025-01-09T00:54:17.275Z,1736384057.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:17.496Z,1736384057.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255946
2025-01-09T00:54:17.672Z,1736384057.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:17.752Z,1736384057.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511061
2025-01-09T00:54:18.000Z,1736384058.000 [DAT](INFO): DAT read: Rx Time:00:54:16.8511

2025-01-09T00:54:18.001Z,1736384058.001 [DAT](INFO): Rx dataTimestamp_ set to:1736384058.000536
2025-01-09T00:54:18.001Z,1736384058.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761065
2025-01-09T00:54:18.089Z,1736384058.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:18.252Z,1736384058.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011934
2025-01-09T00:54:18.483Z,1736384058.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:18.504Z,1736384058.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263988
2025-01-09T00:54:18.766Z,1736384058.766 [DAT](INFO): DAT read: 00:54:16.8511 LVL= 28272, 29489, 16754, 32755, AGC= 50, IDX= 441,-0.16, 2.311, 1.145, 2.977, 2.335, PHS= 0.064,-1.142, 0.639, RAW= 168.4,   5.6, CAL= 168.4,  -3.7, ROT= 341.6,   3.7

2025-01-09T00:54:18.768Z,1736384058.768 [DAT](INFO): got valid direction response:
 00:54:16.8511 LVL= 28272, 29489, 16754, 32755, AGC= 50, IDX= 441,-0.16, 2.311, 1.145, 2.977, 2.335, PHS= 0.064,-1.142, 0.639, RAW= 168.4,   5.6, CAL= 168.4,  -3.7, ROT= 341.6,   3.7

2025-01-09T00:54:18.769Z,1736384058.769 [DAT](INFO): DAT read: Bearing 341.6,   3.7 (Local)

2025-01-09T00:54:18.769Z,1736384058.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.6,   3.7 (Local)

2025-01-09T00:54:18.771Z,1736384058.771 [DAT](INFO): DAT read: Range 10 to 50 : 7.9 m  (Round-trip  10.6 ms) speed -0.3 m/s

2025-01-09T00:54:18.772Z,1736384058.772 [DAT](INFO): DAT read: user:3802>

2025-01-09T00:54:18.772Z,1736384058.772 [DAT](INFO): DAT read: Tx time:00:54:17.9364

2025-01-09T00:54:18.773Z,1736384058.773 [DAT](INFO): Ping request sent.
2025-01-09T00:54:18.773Z,1736384058.773 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:18.773Z,1736384058.773 [DAT](INFO): DAT read: TxSync time:00:54:17.9356

2025-01-09T00:54:18.774Z,1736384058.774 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:54:18.775Z,1736384058.775 [DAT](INFO): direction in FSK: [0.946898,-0.314991,-0.064532]
2025-01-09T00:54:18.780Z,1736384058.780 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:18.780Z,1736384058.780 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:18.797Z,1736384058.797 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:18.798Z,1736384058.798 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:18.901Z,1736384058.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:18.906Z,1736384058.906 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-01-09T00:54:19.284Z,1736384059.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:19.690Z,1736384059.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:20.111Z,1736384060.111 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +90,  -154, 
2025-01-09T00:54:20.118Z,1736384060.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:54:20.118Z,1736384060.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:20.499Z,1736384060.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:54:20.499Z,1736384060.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:20.918Z,1736384060.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:21.303Z,1736384061.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:21.536Z,1736384061.536 [DAT](INFO): DAT read: Rx Time:00:54:20.3523

2025-01-09T00:54:21.537Z,1736384061.537 [DAT](INFO): Rx dataTimestamp_ set to:1736384061.536452
2025-01-09T00:54:21.711Z,1736384061.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:22.130Z,1736384062.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:22.298Z,1736384062.298 [DAT](INFO): DAT read: 00:54:20.3523 LVL= 30864, 32753, 19298, 32755, AGC= 52, IDX= 437,-0.23, 1.852, 0.734, 2.523, 1.879, PHS= 0.061,-1.098, 0.641, RAW= 169.1,   5.2, CAL= 169.2,  -4.0, ROT= 340.8,   4.0

2025-01-09T00:54:22.300Z,1736384062.300 [DAT](INFO): got valid direction response:
 00:54:20.3523 LVL= 30864, 32753, 19298, 32755, AGC= 52, IDX= 437,-0.23, 1.852, 0.734, 2.523, 1.879, PHS= 0.061,-1.098, 0.641, RAW= 169.1,   5.2, CAL= 169.2,  -4.0, ROT= 340.8,   4.0

2025-01-09T00:54:22.301Z,1736384062.301 [DAT](INFO): DAT read: Bearing 340.8,   4.0 (Local)

2025-01-09T00:54:22.301Z,1736384062.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.8,   4.0 (Local)

2025-01-09T00:54:22.303Z,1736384062.303 [DAT](INFO): DAT read: Range 10 to 50 : 8.8 m  (Round-trip  11.8 ms) speed -0.1 m/s

2025-01-09T00:54:22.304Z,1736384062.304 [DAT](INFO): DAT read: user:3803>

2025-01-09T00:54:22.304Z,1736384062.304 [DAT](INFO): DAT read: Tx time:00:54:21.4364

2025-01-09T00:54:22.305Z,1736384062.305 [DAT](INFO): Ping request sent.
2025-01-09T00:54:22.305Z,1736384062.305 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:22.305Z,1736384062.305 [DAT](INFO): DAT read: TxSync time:00:54:21.4356

2025-01-09T00:54:22.306Z,1736384062.306 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-09T00:54:22.307Z,1736384062.307 [DAT](INFO): direction in FSK: [0.942076,-0.328066,-0.069756]
2025-01-09T00:54:22.307Z,1736384062.307 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:22.307Z,1736384062.307 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:22.310Z,1736384062.310 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:22.310Z,1736384062.310 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:22.519Z,1736384062.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:22.932Z,1736384062.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:23.320Z,1736384063.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:23.755Z,1736384063.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:24.161Z,1736384064.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:24.530Z,1736384064.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:24.958Z,1736384064.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:25.068Z,1736384065.068 [DAT](INFO): DAT read: Rx Time:00:54:23.8530

2025-01-09T00:54:25.069Z,1736384065.069 [DAT](INFO): Rx dataTimestamp_ set to:1736384065.068485
2025-01-09T00:54:25.353Z,1736384065.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:25.580Z,1736384065.580 [DAT](INFO): DAT read: 00:54:23.8530 LVL= 28144, 31905, 18322, 32755, AGC= 50, IDX= 427,-0.31,-0.321,-1.351, 0.394,-0.236, PHS= 0.003,-1.068, 0.627, RAW= 171.4,   6.0, CAL= 171.1,  -3.4, ROT= 338.9,   3.4

2025-01-09T00:54:25.581Z,1736384065.581 [DAT](INFO): got valid direction response:
 00:54:23.8530 LVL= 28144, 31905, 18322, 32755, AGC= 50, IDX= 427,-0.31,-0.321,-1.351, 0.394,-0.236, PHS= 0.003,-1.068, 0.627, RAW= 171.4,   6.0, CAL= 171.1,  -3.4, ROT= 338.9,   3.4

2025-01-09T00:54:25.582Z,1736384065.582 [DAT](INFO): DAT read: Bearing 338.9,   3.4 (Local)

2025-01-09T00:54:25.582Z,1736384065.582 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.9,   3.4 (Local)

2025-01-09T00:54:25.584Z,1736384065.584 [DAT](INFO): DAT read: Range 10 to 50 : 9.3 m  (Round-trip  12.4 ms) speed -0.1 m/s

2025-01-09T00:54:25.585Z,1736384065.585 [DAT](INFO): DAT read: user:3804>

2025-01-09T00:54:25.585Z,1736384065.585 [DAT](INFO): DAT read: Tx time:00:54:24.9365

2025-01-09T00:54:25.586Z,1736384065.586 [DAT](INFO): Ping request sent.
2025-01-09T00:54:25.586Z,1736384065.586 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:25.586Z,1736384065.586 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-09T00:54:25.588Z,1736384065.588 [DAT](INFO): direction in FSK: [0.931311,-0.359363,-0.059306]
2025-01-09T00:54:25.588Z,1736384065.588 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:25.588Z,1736384065.588 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:25.592Z,1736384065.592 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:25.592Z,1736384065.592 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:25.756Z,1736384065.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:25.827Z,1736384065.827 [DAT](INFO): DAT read: TxSync time:00:54:24.9357

2025-01-09T00:54:26.186Z,1736384066.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:26.191Z,1736384066.191 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-01-09T00:54:26.328Z,1736384066.328 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:54:26.328Z,1736384066.328 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:54:26.328Z,1736384066.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:54:26.568Z,1736384066.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:26.583Z,1736384066.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997056
2025-01-09T00:54:26.836Z,1736384066.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249792
2025-01-09T00:54:26.973Z,1736384066.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:27.084Z,1736384067.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498403
2025-01-09T00:54:27.341Z,1736384067.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755332
2025-01-09T00:54:27.366Z,1736384067.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:27.588Z,1736384067.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002588
2025-01-09T00:54:27.771Z,1736384067.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:27.841Z,1736384067.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254484
2025-01-09T00:54:28.092Z,1736384068.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506345
2025-01-09T00:54:28.190Z,1736384068.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:28.344Z,1736384068.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758307
2025-01-09T00:54:28.575Z,1736384068.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:28.596Z,1736384068.596 [DAT](INFO): DAT read: Rx Time:00:54:27.3536

2025-01-09T00:54:28.597Z,1736384068.597 [DAT](INFO): Rx dataTimestamp_ set to:1736384068.596603
2025-01-09T00:54:28.597Z,1736384068.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011535
2025-01-09T00:54:28.851Z,1736384068.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264137
2025-01-09T00:54:29.051Z,1736384069.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:29.108Z,1736384069.108 [DAT](INFO): DAT read: 00:54:27.3536 LVL= 28144, 31345, 14962, 32755, AGC= 47, IDX= 433, 0.24, 1.078, 0.010, 1.847, 1.127, PHS= 0.038,-1.070, 0.716, RAW= 172.1,   4.1, CAL= 172.3,  -4.9, ROT= 337.7,   4.9

2025-01-09T00:54:29.109Z,1736384069.109 [DAT](INFO): got valid direction response:
 00:54:27.3536 LVL= 28144, 31345, 14962, 32755, AGC= 47, IDX= 433, 0.24, 1.078, 0.010, 1.847, 1.127, PHS= 0.038,-1.070, 0.716, RAW= 172.1,   4.1, CAL= 172.3,  -4.9, ROT= 337.7,   4.9

2025-01-09T00:54:29.110Z,1736384069.110 [DAT](INFO): DAT read: Bearing 337.7,   4.9 (Local)

2025-01-09T00:54:29.111Z,1736384069.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.7,   4.9 (Local)

2025-01-09T00:54:29.113Z,1736384069.113 [DAT](INFO): DAT read: Range 10 to 50 : 9.6 m  (Round-trip  12.9 ms) speed -0.2 m/s

2025-01-09T00:54:29.114Z,1736384069.114 [DAT](INFO): DAT read: user:3805>

2025-01-09T00:54:29.115Z,1736384069.115 [DAT](INFO): DAT read: Tx time:00:54:28.4365

2025-01-09T00:54:29.128Z,1736384069.128 [DAT](INFO): Ping request sent.
2025-01-09T00:54:29.129Z,1736384069.129 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:29.129Z,1736384069.129 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:54:29.130Z,1736384069.130 [DAT](INFO): direction in FSK: [0.921828,-0.378069,-0.085417]
2025-01-09T00:54:29.131Z,1736384069.131 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:29.135Z,1736384069.135 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:29.138Z,1736384069.138 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:29.138Z,1736384069.138 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:29.352Z,1736384069.352 [DAT](INFO): DAT read: TxSync time:00:54:28.4357

2025-01-09T00:54:29.396Z,1736384069.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:29.787Z,1736384069.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:30.204Z,1736384070.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:30.599Z,1736384070.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:31.025Z,1736384071.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:31.398Z,1736384071.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:31.801Z,1736384071.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:32.124Z,1736384072.124 [DAT](INFO): DAT read: Rx Time:00:54:30.8547

2025-01-09T00:54:32.125Z,1736384072.125 [DAT](INFO): Rx dataTimestamp_ set to:1736384072.124420
2025-01-09T00:54:32.225Z,1736384072.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:32.615Z,1736384072.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:32.637Z,1736384072.637 [DAT](INFO): DAT read: 00:54:30.8547 LVL= 25744, 32753, 17698, 32755, AGC= 47, IDX= 445,-0.14, 0.595,-0.440, 1.331, 0.689, PHS=-0.005,-1.081, 0.639, RAW= 171.8,   6.0, CAL= 171.5,  -3.4, ROT= 338.5,   3.4

2025-01-09T00:54:32.638Z,1736384072.638 [DAT](INFO): got valid direction response:
 00:54:30.8547 LVL= 25744, 32753, 17698, 32755, AGC= 47, IDX= 445,-0.14, 0.595,-0.440, 1.331, 0.689, PHS=-0.005,-1.081, 0.639, RAW= 171.8,   6.0, CAL= 171.5,  -3.4, ROT= 338.5,   3.4

2025-01-09T00:54:32.639Z,1736384072.639 [DAT](INFO): DAT read: Bearing 338.5,   3.4 (Local)

2025-01-09T00:54:32.639Z,1736384072.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.5,   3.4 (Local)

2025-01-09T00:54:32.641Z,1736384072.641 [DAT](INFO): DAT read: Range 10 to 50 : 10.5 m  (Round-trip  14.1 ms) speed -0.2 m/s

2025-01-09T00:54:32.642Z,1736384072.642 [DAT](INFO): DAT read: user:3806>

2025-01-09T00:54:32.643Z,1736384072.643 [DAT](INFO): DAT read: Tx time:00:54:31.9365

2025-01-09T00:54:32.644Z,1736384072.644 [DAT](INFO): Ping request sent.
2025-01-09T00:54:32.644Z,1736384072.644 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:32.644Z,1736384072.644 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-09T00:54:32.646Z,1736384072.646 [DAT](INFO): direction in FSK: [0.928780,-0.365856,-0.059306]
2025-01-09T00:54:32.646Z,1736384072.646 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:32.646Z,1736384072.646 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:32.651Z,1736384072.651 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:32.651Z,1736384072.651 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:32.880Z,1736384072.880 [DAT](INFO): DAT read: TxSync time:00:54:31.9357

2025-01-09T00:54:33.048Z,1736384073.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:33.427Z,1736384073.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:33.834Z,1736384073.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:34.255Z,1736384074.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:34.635Z,1736384074.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:35.066Z,1736384075.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:35.439Z,1736384075.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:35.653Z,1736384075.653 [DAT](INFO): DAT read: Rx Time:00:54:34.3557

2025-01-09T00:54:35.653Z,1736384075.653 [DAT](INFO): Rx dataTimestamp_ set to:1736384075.653135
2025-01-09T00:54:35.842Z,1736384075.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:36.162Z,1736384076.162 [DAT](INFO): DAT read: 00:54:34.3557 LVL= 25968, 32753, 15138, 32755, AGC= 50, IDX= 438, 0.46,-2.836, 2.324,-2.100,-2.806, PHS= 0.058,-1.106, 0.703, RAW= 170.6,   4.4, CAL= 170.8,  -4.7, ROT= 339.2,   4.7

2025-01-09T00:54:36.164Z,1736384076.164 [DAT](INFO): got valid direction response:
 00:54:34.3557 LVL= 25968, 32753, 15138, 32755, AGC= 50, IDX= 438, 0.46,-2.836, 2.324,-2.100,-2.806, PHS= 0.058,-1.106, 0.703, RAW= 170.6,   4.4, CAL= 170.8,  -4.7, ROT= 339.2,   4.7

2025-01-09T00:54:36.165Z,1736384076.165 [DAT](INFO): DAT read: Bearing 339.2,   4.7 (Local)

2025-01-09T00:54:36.165Z,1736384076.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.2,   4.7 (Local)

2025-01-09T00:54:36.166Z,1736384076.166 [DAT](INFO): DAT read: Range 10 to 50 : 11.2 m  (Round-trip  15.0 ms) speed -0.2 m/s

2025-01-09T00:54:36.169Z,1736384076.169 [DAT](INFO): DAT read: user:3807>

2025-01-09T00:54:36.170Z,1736384076.170 [DAT](INFO): DAT read: Tx time:00:54:35.4866

2025-01-09T00:54:36.170Z,1736384076.170 [DAT](INFO): Ping request sent.
2025-01-09T00:54:36.170Z,1736384076.170 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:36.171Z,1736384076.171 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-09T00:54:36.184Z,1736384076.184 [DAT](INFO): direction in FSK: [0.931682,-0.353913,-0.081939]
2025-01-09T00:54:36.185Z,1736384076.185 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:36.185Z,1736384076.185 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:36.188Z,1736384076.188 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:36.188Z,1736384076.188 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:36.308Z,1736384076.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:36.408Z,1736384076.408 [DAT](INFO): DAT read: TxSync time:00:54:35.4858

2025-01-09T00:54:36.656Z,1736384076.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:36.684Z,1736384076.684 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-01-09T00:54:36.912Z,1736384076.912 [DAT](INFO): ****** received valid address query ******
2025-01-09T00:54:36.912Z,1736384076.912 [DAT](INFO): ****** received valid ping request ******
2025-01-09T00:54:36.912Z,1736384076.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T00:54:37.095Z,1736384077.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:37.164Z,1736384077.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993716
2025-01-09T00:54:37.416Z,1736384077.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245813
2025-01-09T00:54:37.468Z,1736384077.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:37.669Z,1736384077.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498280
2025-01-09T00:54:37.888Z,1736384077.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:37.920Z,1736384077.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749789
2025-01-09T00:54:38.172Z,1736384078.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001765
2025-01-09T00:54:38.295Z,1736384078.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:38.424Z,1736384078.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253816
2025-01-09T00:54:38.677Z,1736384078.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506383
2025-01-09T00:54:38.686Z,1736384078.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:38.928Z,1736384078.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757819
2025-01-09T00:54:39.132Z,1736384079.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:39.137Z,1736384079.137 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 11.20 m. Transitioning docking module to standby.
2025-01-09T00:54:39.181Z,1736384079.181 [DAT](INFO): DAT read: Rx Time:00:54:37.9067

2025-01-09T00:54:39.182Z,1736384079.182 [DAT](INFO): Rx dataTimestamp_ set to:1736384079.181268
2025-01-09T00:54:39.182Z,1736384079.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011973
2025-01-09T00:54:39.432Z,1736384079.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261758
2025-01-09T00:54:39.494Z,1736384079.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:39.505Z,1736384079.505 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T00:54:39.505Z,1736384079.505 [DockingStepper](INFO): Standby mode.
2025-01-09T00:54:39.572Z,1736384079.572 [DockingStepper](INFO): Commanding positive:54679
2025-01-09T00:54:39.692Z,1736384079.692 [DAT](INFO): DAT read: 00:54:37.9067 LVL= 28896, 28849, 14402, 32755, AGC= 52, IDX= 432,-0.31, 0.638,-0.387, 1.458, 0.729, PHS=-0.003,-1.070, 0.725, RAW= 173.8,   4.5, CAL= 173.9,  -4.5, ROT= 336.1,   4.5

2025-01-09T00:54:39.693Z,1736384079.693 [DAT](INFO): got valid direction response:
 00:54:37.9067 LVL= 28896, 28849, 14402, 32755, AGC= 52, IDX= 432,-0.31, 0.638,-0.387, 1.458, 0.729, PHS=-0.003,-1.070, 0.725, RAW= 173.8,   4.5, CAL= 173.9,  -4.5, ROT= 336.1,   4.5

2025-01-09T00:54:39.694Z,1736384079.694 [DAT](INFO): DAT read: Bearing 336.1,   4.5 (Local)

2025-01-09T00:54:39.695Z,1736384079.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.1,   4.5 (Local)

2025-01-09T00:54:39.696Z,1736384079.696 [DAT](INFO): DAT read: Range 10 to 50 : 12.0 m  (Round-trip  16.0 ms) speed  0.0 m/s

2025-01-09T00:54:39.697Z,1736384079.697 [DAT](INFO): DAT read: user:3808>

2025-01-09T00:54:39.698Z,1736384079.698 [DAT](INFO): DAT read: Tx time:00:54:38.9866

2025-01-09T00:54:39.698Z,1736384079.698 [DAT](INFO): Ping request sent.
2025-01-09T00:54:39.698Z,1736384079.698 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:39.698Z,1736384079.698 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T00:54:39.737Z,1736384079.737 [DAT](INFO): direction in FSK: [0.911436,-0.403893,-0.078459]
2025-01-09T00:54:39.737Z,1736384079.737 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:39.737Z,1736384079.737 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:39.740Z,1736384079.740 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:39.740Z,1736384079.740 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:39.895Z,1736384079.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:39.936Z,1736384079.936 [DAT](INFO): DAT read: TxSync time:00:54:38.9858

2025-01-09T00:54:40.314Z,1736384080.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:40.709Z,1736384080.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:41.140Z,1736384081.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:41.517Z,1736384081.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:41.922Z,1736384081.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:42.343Z,1736384082.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:42.712Z,1736384082.712 [DAT](INFO): DAT read: Rx Time:00:54:41.4071

2025-01-09T00:54:42.712Z,1736384082.712 [DAT](INFO): Rx dataTimestamp_ set to:1736384082.711895
2025-01-09T00:54:42.727Z,1736384082.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:43.189Z,1736384083.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:43.220Z,1736384083.220 [DAT](INFO): DAT read: 00:54:41.4071 LVL= 23536, 30577, 15058, 29491, AGC= 50, IDX= 452,-0.15,-2.867, 2.396,-1.954,-2.749, PHS=-0.030,-1.091, 0.792, RAW= 175.8,   4.1, CAL= 175.9,  -4.8, ROT= 334.1,   4.8

2025-01-09T00:54:43.222Z,1736384083.222 [DAT](INFO): got valid direction response:
 00:54:41.4071 LVL= 23536, 30577, 15058, 29491, AGC= 50, IDX= 452,-0.15,-2.867, 2.396,-1.954,-2.749, PHS=-0.030,-1.091, 0.792, RAW= 175.8,   4.1, CAL= 175.9,  -4.8, ROT= 334.1,   4.8

2025-01-09T00:54:43.223Z,1736384083.223 [DAT](INFO): DAT read: Bearing 334.1,   4.8 (Local)

2025-01-09T00:54:43.224Z,1736384083.224 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.1,   4.8 (Local)

2025-01-09T00:54:43.226Z,1736384083.226 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m  (Round-trip  16.4 ms) speed -0.1 m/s

2025-01-09T00:54:43.227Z,1736384083.227 [DAT](INFO): DAT read: user:3809>

2025-01-09T00:54:43.228Z,1736384083.228 [DAT](INFO): DAT read: Tx time:00:54:42.5366

2025-01-09T00:54:43.229Z,1736384083.229 [DAT](INFO): Ping request sent.
2025-01-09T00:54:43.229Z,1736384083.229 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:43.229Z,1736384083.229 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-09T00:54:43.230Z,1736384083.230 [DAT](INFO): direction in FSK: [0.896403,-0.435270,-0.083678]
2025-01-09T00:54:43.231Z,1736384083.231 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:43.232Z,1736384083.232 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:43.236Z,1736384083.236 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:43.237Z,1736384083.237 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:43.465Z,1736384083.465 [DAT](INFO): DAT read: TxSync time:00:54:42.5358

2025-01-09T00:54:43.534Z,1736384083.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:43.931Z,1736384083.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:44.368Z,1736384084.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:44.736Z,1736384084.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:45.182Z,1736384085.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:45.542Z,1736384085.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:45.547Z,1736384085.547 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-01-09T00:54:45.948Z,1736384085.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:45.952Z,1736384085.952 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-01-09T00:54:45.952Z,1736384085.952 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-01-09T00:54:45.953Z,1736384085.953 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-01-09T00:54:45.953Z,1736384085.953 [DefaultWithUndock:LeaveDock] Stopped
2025-01-09T00:54:45.953Z,1736384085.953 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-01-09T00:54:45.953Z,1736384085.953 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-01-09T00:54:45.953Z,1736384085.953 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-01-09T00:54:45.953Z,1736384085.953 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-01-09T00:54:45.953Z,1736384085.953 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-01-09T00:54:45.953Z,1736384085.953 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-01-09T00:54:45.953Z,1736384085.953 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-09T00:54:45.954Z,1736384085.954 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-09T00:54:45.954Z,1736384085.954 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-09T00:54:45.954Z,1736384085.954 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-09T00:54:45.955Z,1736384085.955 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-09T00:54:45.955Z,1736384085.955 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-09T00:54:45.955Z,1736384085.955 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-09T00:54:46.236Z,1736384086.236 [DAT](INFO): DAT read: Rx Time:00:54:44.9580

2025-01-09T00:54:46.237Z,1736384086.237 [DAT](INFO): Rx dataTimestamp_ set to:1736384086.236483
2025-01-09T00:54:46.374Z,1736384086.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:46.385Z,1736384086.385 [DockingStepper](INFO): Pause
2025-01-09T00:54:46.750Z,1736384086.750 [DAT](INFO): DAT read: 00:54:44.9580 LVL= 24560, 30065, 14034, 32755, AGC= 49, IDX= 428,-0.09,-1.157,-2.131,-0.273,-1.038, PHS=-0.030,-1.046, 0.763, RAW= 175.9,   4.0, CAL= 176.0,  -4.8, ROT= 334.0,   4.8

2025-01-09T00:54:46.752Z,1736384086.752 [DAT](INFO): got valid direction response:
 00:54:44.9580 LVL= 24560, 30065, 14034, 32755, AGC= 49, IDX= 428,-0.09,-1.157,-2.131,-0.273,-1.038, PHS=-0.030,-1.046, 0.763, RAW= 175.9,   4.0, CAL= 176.0,  -4.8, ROT= 334.0,   4.8

2025-01-09T00:54:46.753Z,1736384086.753 [DAT](INFO): DAT read: Bearing 334.0,   4.8 (Local)

2025-01-09T00:54:46.753Z,1736384086.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.0,   4.8 (Local)

2025-01-09T00:54:46.754Z,1736384086.754 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m  (Round-trip  17.1 ms) speed -0.2 m/s

2025-01-09T00:54:46.755Z,1736384086.755 [DAT](INFO): DAT read: user:3810>

2025-01-09T00:54:46.756Z,1736384086.756 [DAT](INFO): DAT read: Tx time:00:54:46.0867

2025-01-09T00:54:46.756Z,1736384086.756 [DAT](INFO): Ping request sent.
2025-01-09T00:54:46.756Z,1736384086.756 [DAT](INFO): transmitted an acoustic signal
2025-01-09T00:54:46.756Z,1736384086.756 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-09T00:54:46.757Z,1736384086.757 [DAT](INFO): direction in FSK: [0.895642,-0.436834,-0.083678]
2025-01-09T00:54:46.758Z,1736384086.758 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:46.758Z,1736384086.758 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:46.793Z,1736384086.793 [DAT](INFO): publishing transmit ping time
2025-01-09T00:54:46.793Z,1736384086.793 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:46.797Z,1736384086.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:46.996Z,1736384086.996 [DAT](INFO): DAT read: TxSync time:00:54:46.0859

2025-01-09T00:54:47.071Z,1736384087.071 [Radio_Surface](INFO): Powering up
2025-01-09T00:54:47.220Z,1736384087.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:47.567Z,1736384087.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:48.074Z,1736384088.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:48.498Z,1736384088.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:48.883Z,1736384088.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:49.302Z,1736384089.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:49.688Z,1736384089.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:49.768Z,1736384089.768 [DAT](INFO): DAT read: Rx Time:00:54:48.5088

2025-01-09T00:54:49.769Z,1736384089.769 [DAT](INFO): Rx dataTimestamp_ set to:1736384089.768546
2025-01-09T00:54:50.096Z,1736384090.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:50.278Z,1736384090.278 [DAT](INFO): DAT read: 00:54:48.5088 LVL= 29680, 32241, 17026, 32755, AGC= 49, IDX= 437,-0.28,-1.424,-2.394,-0.552,-1.311, PHS=-0.025,-1.036, 0.757, RAW= 175.8,   3.9, CAL= 175.9,  -4.9, ROT= 334.1,   4.9

2025-01-09T00:54:50.279Z,1736384090.279 [DAT](INFO): got valid direction response:
 00:54:48.5088 LVL= 29680, 32241, 17026, 32755, AGC= 49, IDX= 437,-0.28,-1.424,-2.394,-0.552,-1.311, PHS=-0.025,-1.036, 0.757, RAW= 175.8,   3.9, CAL= 175.9,  -4.9, ROT= 334.1,   4.9

2025-01-09T00:54:50.280Z,1736384090.280 [DAT](INFO): DAT read: Bearing 334.1,   4.9 (Local)

2025-01-09T00:54:50.280Z,1736384090.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.1,   4.9 (Local)

2025-01-09T00:54:50.282Z,1736384090.282 [DAT](INFO): DAT read: Range 10 to 50 : 13.5 m  (Round-trip  18.0 ms) speed -0.1 m/s

2025-01-09T00:54:50.282Z,1736384090.282 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-01-09T00:54:50.283Z,1736384090.283 [DAT](INFO): direction in FSK: [0.896270,-0.435205,-0.085417]
2025-01-09T00:54:50.284Z,1736384090.284 [DAT](INFO): publishing direction and range info
2025-01-09T00:54:50.531Z,1736384090.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:50.898Z,1736384090.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:51.322Z,1736384091.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:51.712Z,1736384091.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:52.111Z,1736384092.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:52.324Z,1736384092.324 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-01-09T00:54:52.324Z,1736384092.324 [Radio_Surface](INFO): No local IP found
2025-01-09T00:54:52.549Z,1736384092.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:52.919Z,1736384092.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:53.346Z,1736384093.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:53.726Z,1736384093.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:54.147Z,1736384094.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:54.561Z,1736384094.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:54.948Z,1736384094.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:55.374Z,1736384095.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:55.753Z,1736384095.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:56.156Z,1736384096.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:56.580Z,1736384096.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:56.958Z,1736384096.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:57.423Z,1736384097.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:57.771Z,1736384097.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:58.171Z,1736384098.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:58.605Z,1736384098.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:58.979Z,1736384098.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:59.404Z,1736384099.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:54:59.793Z,1736384099.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:00.191Z,1736384100.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:00.614Z,1736384100.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:01.002Z,1736384101.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:01.430Z,1736384101.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:01.824Z,1736384101.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:02.210Z,1736384102.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:02.636Z,1736384102.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:03.025Z,1736384103.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:03.458Z,1736384103.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:03.826Z,1736384103.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:04.230Z,1736384104.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:04.650Z,1736384104.650 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +9.38,       +      +1.78,  20.00,871.92
2025-01-09T00:55:04.657Z,1736384104.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:55:04.657Z,1736384104.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:05.039Z,1736384105.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:55:05.039Z,1736384105.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:05.489Z,1736384105.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:05.852Z,1736384105.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:06.257Z,1736384106.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:06.679Z,1736384106.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:07.063Z,1736384107.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:07.520Z,1736384107.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:07.872Z,1736384107.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:08.270Z,1736384108.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:08.707Z,1736384108.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:09.096Z,1736384109.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:09.549Z,1736384109.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:09.904Z,1736384109.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:10.290Z,1736384110.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:10.737Z,1736384110.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:11.108Z,1736384111.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:11.574Z,1736384111.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:11.929Z,1736384111.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:12.320Z,1736384112.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:12.749Z,1736384112.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:13.128Z,1736384113.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:13.600Z,1736384113.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:13.926Z,1736384113.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:14.331Z,1736384114.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:14.769Z,1736384114.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:15.138Z,1736384115.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:15.605Z,1736384115.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:15.965Z,1736384115.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:16.352Z,1736384116.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:16.780Z,1736384116.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:17.158Z,1736384117.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:17.606Z,1736384117.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:17.993Z,1736384117.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:18.370Z,1736384118.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:18.836Z,1736384118.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:19.179Z,1736384119.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:19.649Z,1736384119.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:20.010Z,1736384120.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:20.392Z,1736384120.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:20.814Z,1736384120.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:21.200Z,1736384121.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:21.622Z,1736384121.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:22.042Z,1736384122.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:22.411Z,1736384122.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:22.835Z,1736384122.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:23.221Z,1736384123.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:23.623Z,1736384123.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:24.059Z,1736384124.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:24.430Z,1736384124.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:24.854Z,1736384124.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:25.247Z,1736384125.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:25.648Z,1736384125.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:26.066Z,1736384126.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:26.459Z,1736384126.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:26.879Z,1736384126.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:27.258Z,1736384127.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:27.671Z,1736384127.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:28.088Z,1736384128.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:28.481Z,1736384128.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:28.905Z,1736384128.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:55:28.906Z,1736384128.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:29.289Z,1736384129.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:55:29.290Z,1736384129.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:29.693Z,1736384129.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:55:29.693Z,1736384129.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:30.120Z,1736384130.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:30.495Z,1736384130.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:30.912Z,1736384130.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:31.300Z,1736384131.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:31.710Z,1736384131.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:32.135Z,1736384132.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:32.511Z,1736384132.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:32.934Z,1736384132.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:33.324Z,1736384133.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:33.722Z,1736384133.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:34.160Z,1736384134.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:34.531Z,1736384134.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:34.954Z,1736384134.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:35.338Z,1736384135.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:35.762Z,1736384135.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:36.170Z,1736384136.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:36.556Z,1736384136.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:36.979Z,1736384136.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:37.358Z,1736384137.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:37.767Z,1736384137.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:38.187Z,1736384138.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:38.587Z,1736384138.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:39.006Z,1736384139.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:39.379Z,1736384139.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:39.822Z,1736384139.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:40.222Z,1736384140.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:40.590Z,1736384140.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:41.032Z,1736384141.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:41.399Z,1736384141.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:41.807Z,1736384141.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:42.231Z,1736384142.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:42.611Z,1736384142.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:43.062Z,1736384143.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:43.419Z,1736384143.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:43.840Z,1736384143.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:44.252Z,1736384144.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:44.647Z,1736384144.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:45.093Z,1736384145.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:45.447Z,1736384145.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:45.853Z,1736384145.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:46.280Z,1736384146.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:46.653Z,1736384146.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:47.137Z,1736384147.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:47.468Z,1736384147.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:47.863Z,1736384147.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:48.304Z,1736384148.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:48.672Z,1736384148.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:49.149Z,1736384149.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:49.478Z,1736384149.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:49.882Z,1736384149.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:50.314Z,1736384150.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:50.692Z,1736384150.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:51.094Z,1736384151.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:51.532Z,1736384151.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:51.902Z,1736384151.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:52.309Z,1736384152.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:52.717Z,1736384152.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:53.121Z,1736384153.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:53.538Z,1736384153.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:53.924Z,1736384153.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:54.332Z,1736384154.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:54.730Z,1736384154.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:55.134Z,1736384155.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:55.564Z,1736384155.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:55.951Z,1736384155.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:56.347Z,1736384156.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:56.755Z,1736384156.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:57.155Z,1736384157.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:57.581Z,1736384157.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:57.969Z,1736384157.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:58.367Z,1736384158.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:58.771Z,1736384158.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:59.176Z,1736384159.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:59.612Z,1736384159.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:55:59.982Z,1736384159.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:00.387Z,1736384160.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:00.800Z,1736384160.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:01.214Z,1736384161.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:01.631Z,1736384161.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:02.003Z,1736384162.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:02.408Z,1736384162.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:02.822Z,1736384162.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:03.219Z,1736384163.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:03.645Z,1736384163.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:04.028Z,1736384164.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:04.438Z,1736384164.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:04.853Z,1736384164.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:05.282Z,1736384165.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:05.660Z,1736384165.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:06.050Z,1736384166.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:06.447Z,1736384166.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:06.850Z,1736384166.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:07.320Z,1736384167.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:07.665Z,1736384167.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:08.064Z,1736384168.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:08.466Z,1736384168.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:08.874Z,1736384168.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:09.335Z,1736384169.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:09.696Z,1736384169.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:10.084Z,1736384170.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:10.495Z,1736384170.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:10.896Z,1736384170.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:11.329Z,1736384171.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:11.699Z,1736384171.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:12.104Z,1736384172.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:12.512Z,1736384172.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:12.910Z,1736384172.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:13.348Z,1736384173.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:13.720Z,1736384173.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:14.128Z,1736384174.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:14.526Z,1736384174.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:14.930Z,1736384174.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:15.354Z,1736384175.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:56:15.354Z,1736384175.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:15.742Z,1736384175.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:56:15.742Z,1736384175.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:16.154Z,1736384176.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:56:16.154Z,1736384176.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:16.556Z,1736384176.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:56:16.556Z,1736384176.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:16.951Z,1736384176.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T00:56:16.951Z,1736384176.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:17.378Z,1736384177.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:17.766Z,1736384177.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:18.168Z,1736384178.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:18.568Z,1736384178.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:18.979Z,1736384178.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:19.399Z,1736384179.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:19.779Z,1736384179.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:20.182Z,1736384180.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:20.588Z,1736384180.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:20.990Z,1736384180.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:21.424Z,1736384181.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:21.806Z,1736384181.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:22.205Z,1736384182.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:22.614Z,1736384182.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:23.016Z,1736384183.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:23.434Z,1736384183.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:56:23.434Z,1736384183.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:23.821Z,1736384183.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:56:23.821Z,1736384183.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:24.228Z,1736384184.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:56:24.228Z,1736384184.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:24.627Z,1736384184.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:56:24.627Z,1736384184.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:25.031Z,1736384185.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T00:56:25.031Z,1736384185.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:25.453Z,1736384185.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:25.847Z,1736384185.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:26.255Z,1736384186.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:26.647Z,1736384186.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:27.050Z,1736384187.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:27.482Z,1736384187.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:56:27.483Z,1736384187.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:27.880Z,1736384187.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:56:27.880Z,1736384187.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:28.267Z,1736384188.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:56:28.268Z,1736384188.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:28.667Z,1736384188.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:56:28.667Z,1736384188.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:29.092Z,1736384189.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T00:56:29.092Z,1736384189.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:29.498Z,1736384189.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:29.879Z,1736384189.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:30.282Z,1736384190.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:30.695Z,1736384190.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:31.098Z,1736384191.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:31.519Z,1736384191.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:56:31.519Z,1736384191.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:31.900Z,1736384191.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:56:31.900Z,1736384191.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:32.313Z,1736384192.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:56:32.313Z,1736384192.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:32.707Z,1736384192.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:56:32.707Z,1736384192.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:33.110Z,1736384193.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T00:56:33.111Z,1736384193.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:33.534Z,1736384193.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T00:56:33.534Z,1736384193.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:33.941Z,1736384193.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T00:56:33.941Z,1736384193.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:34.322Z,1736384194.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T00:56:34.323Z,1736384194.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:34.727Z,1736384194.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T00:56:34.727Z,1736384194.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:35.140Z,1736384195.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T00:56:35.140Z,1736384195.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:35.557Z,1736384195.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T00:56:35.557Z,1736384195.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:35.949Z,1736384195.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T00:56:35.949Z,1736384195.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:36.343Z,1736384196.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T00:56:36.343Z,1736384196.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:36.746Z,1736384196.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s.
2025-01-09T00:56:36.747Z,1736384196.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:37.152Z,1736384197.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T00:56:37.152Z,1736384197.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:37.591Z,1736384197.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T00:56:37.591Z,1736384197.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:37.964Z,1736384197.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T00:56:37.965Z,1736384197.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:38.373Z,1736384198.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T00:56:38.374Z,1736384198.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:38.775Z,1736384198.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T00:56:38.775Z,1736384198.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:39.188Z,1736384199.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T00:56:39.188Z,1736384199.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:39.618Z,1736384199.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T00:56:39.618Z,1736384199.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:39.988Z,1736384199.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T00:56:39.988Z,1736384199.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:40.393Z,1736384200.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T00:56:40.394Z,1736384200.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:40.792Z,1736384200.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T00:56:40.792Z,1736384200.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:41.191Z,1736384201.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T00:56:41.191Z,1736384201.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:41.624Z,1736384201.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:42.003Z,1736384202.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:42.402Z,1736384202.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:42.815Z,1736384202.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:43.221Z,1736384203.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:43.638Z,1736384203.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:44.024Z,1736384204.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:44.431Z,1736384204.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:44.833Z,1736384204.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:45.284Z,1736384205.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:45.672Z,1736384205.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:46.039Z,1736384206.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:46.447Z,1736384206.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:46.846Z,1736384206.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:47.316Z,1736384207.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:47.654Z,1736384207.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:48.072Z,1736384208.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:48.485Z,1736384208.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:48.901Z,1736384208.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:49.327Z,1736384209.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:49.680Z,1736384209.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:50.080Z,1736384210.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:50.482Z,1736384210.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:50.891Z,1736384210.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:51.328Z,1736384211.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:51.695Z,1736384211.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:52.099Z,1736384212.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:52.502Z,1736384212.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:52.908Z,1736384212.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:53.338Z,1736384213.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:53.732Z,1736384213.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:54.119Z,1736384214.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:54.524Z,1736384214.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:54.933Z,1736384214.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:55.367Z,1736384215.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:55.740Z,1736384215.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:56.145Z,1736384216.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:56.546Z,1736384216.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:56.946Z,1736384216.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:57.381Z,1736384217.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:57.763Z,1736384217.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:58.160Z,1736384218.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:58.571Z,1736384218.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:58.969Z,1736384218.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:59.390Z,1736384219.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:59.776Z,1736384219.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:56:59.781Z,1736384219.781 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-01-09T00:56:59.781Z,1736384219.781 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-01-09T00:56:59.781Z,1736384219.781 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-01-09T00:57:00.179Z,1736384220.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:00.584Z,1736384220.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:00.991Z,1736384220.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:01.443Z,1736384221.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:01.816Z,1736384221.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:02.223Z,1736384222.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:02.603Z,1736384222.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:03.016Z,1736384223.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:03.434Z,1736384223.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:03.828Z,1736384223.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:04.244Z,1736384224.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:04.623Z,1736384224.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:05.027Z,1736384225.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:05.450Z,1736384225.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:57:05.450Z,1736384225.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:05.837Z,1736384225.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:57:05.837Z,1736384225.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:06.249Z,1736384226.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:57:06.250Z,1736384226.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:06.665Z,1736384226.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:57:06.665Z,1736384226.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:07.047Z,1736384227.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T00:57:07.047Z,1736384227.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:07.475Z,1736384227.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T00:57:07.476Z,1736384227.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:07.880Z,1736384227.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s.
2025-01-09T00:57:07.880Z,1736384227.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:08.259Z,1736384228.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T00:57:08.259Z,1736384228.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:08.665Z,1736384228.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T00:57:08.665Z,1736384228.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:09.070Z,1736384229.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T00:57:09.071Z,1736384229.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:09.503Z,1736384229.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T00:57:09.503Z,1736384229.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:09.876Z,1736384229.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T00:57:09.877Z,1736384229.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:10.280Z,1736384230.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T00:57:10.280Z,1736384230.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:10.686Z,1736384230.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T00:57:10.686Z,1736384230.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:11.094Z,1736384231.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T00:57:11.094Z,1736384231.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:11.526Z,1736384231.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T00:57:11.526Z,1736384231.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:11.900Z,1736384231.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T00:57:11.900Z,1736384231.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:12.301Z,1736384232.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T00:57:12.301Z,1736384232.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:12.717Z,1736384232.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T00:57:12.717Z,1736384232.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:13.122Z,1736384233.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T00:57:13.123Z,1736384233.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:13.550Z,1736384233.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T00:57:13.550Z,1736384233.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:13.919Z,1736384233.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T00:57:13.919Z,1736384233.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:14.324Z,1736384234.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T00:57:14.324Z,1736384234.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:14.725Z,1736384234.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T00:57:14.725Z,1736384234.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:15.128Z,1736384235.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T00:57:15.128Z,1736384235.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:15.550Z,1736384235.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:15.936Z,1736384235.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:16.350Z,1736384236.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:16.744Z,1736384236.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:17.141Z,1736384237.141 [NAL9602](INFO): SBD MO Status=0, MOMSN=46758, MT Status=0, MTMSN=0
2025-01-09T00:57:17.141Z,1736384237.141 [NAL9602](INFO): No messages in MT queue
2025-01-09T00:57:17.148Z,1736384237.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:17.578Z,1736384237.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:17.983Z,1736384237.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:18.354Z,1736384238.354 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,005717.00,A,3654.26566,N,12207.13206,W,0.739,357.53,090125,,,A*78
2025-01-09T00:57:18.356Z,1736384238.356 [NAL9602](INFO): GPS fix at 20250109T005717: (36.904428, -122.118868)
2025-01-09T00:57:18.364Z,1736384238.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:18.365Z,1736384238.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07
2025-01-09T00:57:18.365Z,1736384238.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): horizontalPathLengthSinceLastFix_ = 557.657, recording fix residuals...
2025-01-09T00:57:18.370Z,1736384238.370 [UniversalFixResidualReporter](INFO): Fix residual: 4.3 %DT, over the last 557.7 m. Residual distance 24.2 m at bearing -10.1 degrees. Fix at (36.9044, -122.1189) with 373.5 m made good.
2025-01-09T00:57:18.370Z,1736384238.370 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-01-09T00:57:18.371Z,1736384238.371 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-01-09T00:57:18.791Z,1736384238.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:19.182Z,1736384239.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:19.620Z,1736384239.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:20.015Z,1736384240.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:20.388Z,1736384240.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:20.796Z,1736384240.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:21.196Z,1736384241.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:21.640Z,1736384241.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:57:21.640Z,1736384241.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:23.298Z,1736384243.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s.
2025-01-09T00:57:23.298Z,1736384243.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:25.483Z,1736384245.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.3 s old, using for 20.0 s.
2025-01-09T00:57:25.483Z,1736384245.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:25.602Z,1736384245.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s.
2025-01-09T00:57:25.602Z,1736384245.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:26.002Z,1736384246.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T00:57:26.002Z,1736384246.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:26.404Z,1736384246.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T00:57:26.404Z,1736384246.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:26.822Z,1736384246.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s.
2025-01-09T00:57:26.822Z,1736384246.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:27.221Z,1736384247.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s.
2025-01-09T00:57:27.221Z,1736384247.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:27.640Z,1736384247.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.4 s old, using for 20.0 s.
2025-01-09T00:57:27.640Z,1736384247.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:28.024Z,1736384248.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s.
2025-01-09T00:57:28.024Z,1736384248.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:28.440Z,1736384248.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s.
2025-01-09T00:57:28.440Z,1736384248.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:28.851Z,1736384248.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T00:57:28.851Z,1736384248.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:29.340Z,1736384249.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T00:57:29.340Z,1736384249.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:29.649Z,1736384249.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T00:57:29.649Z,1736384249.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:30.052Z,1736384250.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T00:57:30.052Z,1736384250.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:30.468Z,1736384250.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T00:57:30.468Z,1736384250.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:30.872Z,1736384250.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T00:57:30.872Z,1736384250.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:31.322Z,1736384251.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:31.667Z,1736384251.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:32.060Z,1736384252.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:32.480Z,1736384252.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:32.872Z,1736384252.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:33.320Z,1736384253.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:33.671Z,1736384253.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:34.076Z,1736384254.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:34.484Z,1736384254.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:34.877Z,1736384254.877 [NAL9602](INFO): SBD MO Status=1, MOMSN=46759, MT Status=0, MTMSN=0
2025-01-09T00:57:34.935Z,1736384254.935 [NAL9602](INFO): Sent 75 bytes from file Logs/20250109T001009/Courier0009.lzma
2025-01-09T00:57:34.936Z,1736384254.936 [NAL9602](INFO): Packets left to send: 0
2025-01-09T00:57:34.957Z,1736384254.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:36.574Z,1736384256.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:36.678Z,1736384256.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:39.116Z,1736384259.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:39.293Z,1736384259.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:39.651Z,1736384259.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:57:39.651Z,1736384259.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:40.025Z,1736384260.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.7 s old, using for 20.0 s.
2025-01-09T00:57:40.025Z,1736384260.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:40.437Z,1736384260.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.1 s old, using for 20.0 s.
2025-01-09T00:57:40.437Z,1736384260.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:40.836Z,1736384260.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.5 s old, using for 20.0 s.
2025-01-09T00:57:40.837Z,1736384260.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:41.300Z,1736384261.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T00:57:41.300Z,1736384261.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:41.679Z,1736384261.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:42.046Z,1736384262.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:42.450Z,1736384262.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:42.892Z,1736384262.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:43.322Z,1736384263.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:57:43.322Z,1736384263.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:43.668Z,1736384263.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:57:43.669Z,1736384263.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:44.073Z,1736384264.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:57:44.073Z,1736384264.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:44.487Z,1736384264.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:57:44.487Z,1736384264.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:44.873Z,1736384264.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T00:57:44.873Z,1736384264.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:45.332Z,1736384265.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T00:57:45.332Z,1736384265.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:45.692Z,1736384265.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T00:57:45.692Z,1736384265.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:46.115Z,1736384266.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T00:57:46.115Z,1736384266.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:46.525Z,1736384266.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T00:57:46.525Z,1736384266.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:46.950Z,1736384266.950 [NAL9602](INFO): SBD MO Status=1, MOMSN=46760, MT Status=0, MTMSN=0
2025-01-09T00:57:46.000Z,1736384267.000 [NAL9602](INFO): Sent 151 bytes from file Logs/20250109T003751/Courier0000.lzma
2025-01-09T00:57:46.000Z,1736384267.000 [NAL9602](INFO): Packets left to send: 0
2025-01-09T00:57:47.012Z,1736384267.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T00:57:47.012Z,1736384267.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:48.863Z,1736384268.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s.
2025-01-09T00:57:48.863Z,1736384268.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:51.066Z,1736384271.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.2 s old, using for 20.0 s.
2025-01-09T00:57:51.066Z,1736384271.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:51.326Z,1736384271.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:51.601Z,1736384271.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:52.020Z,1736384272.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:52.504Z,1736384272.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:52.826Z,1736384272.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:53.219Z,1736384273.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:53.639Z,1736384273.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:57:53.639Z,1736384273.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:54.029Z,1736384274.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:57:54.029Z,1736384274.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:54.427Z,1736384274.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:57:54.427Z,1736384274.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:54.856Z,1736384274.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:57:54.856Z,1736384274.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:55.282Z,1736384275.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s.
2025-01-09T00:57:55.283Z,1736384275.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:55.665Z,1736384275.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T00:57:55.665Z,1736384275.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:56.061Z,1736384276.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T00:57:56.061Z,1736384276.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:56.452Z,1736384276.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T00:57:56.452Z,1736384276.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:56.853Z,1736384276.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T00:57:56.853Z,1736384276.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:57.327Z,1736384277.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:57.673Z,1736384277.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:57.880Z,1736384277.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:57:58.063Z,1736384278.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:58.466Z,1736384278.466 [NAL9602](INFO): SBD MO Status=1, MOMSN=46761, MT Status=0, MTMSN=0
2025-01-09T00:57:58.516Z,1736384278.516 [NAL9602](INFO): Sent 39 bytes from file Logs/20250109T003751/Courier0006.lzma
2025-01-09T00:57:58.516Z,1736384278.516 [NAL9602](INFO): Packets left to send: 0
2025-01-09T00:57:58.532Z,1736384278.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:57:58.886Z,1736384278.886 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-09T00:57:58.886Z,1736384278.886 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:58:00.218Z,1736384280.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:00.300Z,1736384280.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:02.731Z,1736384282.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T00:58:02.731Z,1736384282.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:02.800Z,1736384282.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T00:58:02.800Z,1736384282.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:03.176Z,1736384283.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s.
2025-01-09T00:58:03.176Z,1736384283.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:03.626Z,1736384283.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s.
2025-01-09T00:58:03.626Z,1736384283.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:03.993Z,1736384283.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s.
2025-01-09T00:58:03.993Z,1736384283.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:04.400Z,1736384284.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T00:58:04.400Z,1736384284.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:04.787Z,1736384284.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T00:58:04.787Z,1736384284.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:05.201Z,1736384285.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T00:58:05.201Z,1736384285.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:05.629Z,1736384285.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T00:58:05.629Z,1736384285.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:06.004Z,1736384286.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T00:58:06.004Z,1736384286.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:06.408Z,1736384286.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T00:58:06.408Z,1736384286.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:06.815Z,1736384286.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T00:58:06.815Z,1736384286.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:07.238Z,1736384287.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T00:58:07.239Z,1736384287.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:07.656Z,1736384287.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.4 s old, using for 20.0 s.
2025-01-09T00:58:07.656Z,1736384287.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:08.019Z,1736384288.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T00:58:08.019Z,1736384288.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:08.429Z,1736384288.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T00:58:08.429Z,1736384288.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:08.838Z,1736384288.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T00:58:08.838Z,1736384288.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:09.290Z,1736384289.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.0 s old, using for 20.0 s.
2025-01-09T00:58:09.291Z,1736384289.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:09.675Z,1736384289.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.4 s old, using for 20.0 s.
2025-01-09T00:58:09.676Z,1736384289.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:10.041Z,1736384290.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T00:58:10.041Z,1736384290.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:10.452Z,1736384290.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.2 s old, using for 20.0 s.
2025-01-09T00:58:10.452Z,1736384290.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:10.852Z,1736384290.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.6 s old, using for 20.0 s.
2025-01-09T00:58:10.852Z,1736384290.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:11.295Z,1736384291.295 [NAL9602](INFO): SBD MO Status=1, MOMSN=46762, MT Status=0, MTMSN=0
2025-01-09T00:58:11.344Z,1736384291.344 [NAL9602](INFO): Sent 332 bytes from file Logs/20250109T003751/Courier0009.lzma
2025-01-09T00:58:11.344Z,1736384291.344 [NAL9602](INFO): Packets left to send: 1
2025-01-09T00:58:11.372Z,1736384291.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:12.912Z,1736384292.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:15.037Z,1736384295.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:15.124Z,1736384295.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:15.510Z,1736384295.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:58:15.510Z,1736384295.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:15.888Z,1736384295.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:58:15.888Z,1736384295.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:16.296Z,1736384296.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:58:16.297Z,1736384296.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:16.700Z,1736384296.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:58:16.700Z,1736384296.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:17.101Z,1736384297.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T00:58:17.101Z,1736384297.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:17.518Z,1736384297.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T00:58:17.519Z,1736384297.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:17.898Z,1736384297.898 [NAL9602](INFO): SBD MO Status=1, MOMSN=46763, MT Status=0, MTMSN=0
2025-01-09T00:58:17.949Z,1736384297.949 [NAL9602](INFO): Sent 16 bytes from file Logs/20250109T003751/Courier0009.lzma
2025-01-09T00:58:17.949Z,1736384297.949 [NAL9602](INFO): Packets left to send: 0
2025-01-09T00:58:17.965Z,1736384297.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T00:58:17.965Z,1736384297.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:20.921Z,1736384300.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.8 s old, using for 20.0 s.
2025-01-09T00:58:20.921Z,1736384300.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:21.015Z,1736384301.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.9 s old, using for 20.0 s.
2025-01-09T00:58:21.016Z,1736384301.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:23.425Z,1736384303.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.3 s old, using for 20.0 s.
2025-01-09T00:58:23.425Z,1736384303.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:23.511Z,1736384303.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.4 s old, using for 20.0 s.
2025-01-09T00:58:23.511Z,1736384303.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:23.878Z,1736384303.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.8 s old, using for 20.0 s.
2025-01-09T00:58:23.878Z,1736384303.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:24.276Z,1736384304.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.2 s old, using for 20.0 s.
2025-01-09T00:58:24.276Z,1736384304.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:24.675Z,1736384304.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.6 s old, using for 20.0 s.
2025-01-09T00:58:24.675Z,1736384304.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:25.081Z,1736384305.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.0 s old, using for 20.0 s.
2025-01-09T00:58:25.081Z,1736384305.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:25.508Z,1736384305.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:25.892Z,1736384305.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:26.320Z,1736384306.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:26.696Z,1736384306.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:27.105Z,1736384307.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:27.521Z,1736384307.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:27.929Z,1736384307.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:28.372Z,1736384308.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:28.717Z,1736384308.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:29.023Z,1736384309.023 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T00:58:29.162Z,1736384309.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:29.542Z,1736384309.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:29.934Z,1736384309.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:30.028Z,1736384310.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T00:58:30.337Z,1736384310.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:30.741Z,1736384310.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:31.142Z,1736384311.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:31.571Z,1736384311.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:58:31.571Z,1736384311.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:31.952Z,1736384311.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:58:31.952Z,1736384311.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:32.364Z,1736384312.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:58:32.364Z,1736384312.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:32.769Z,1736384312.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:58:32.769Z,1736384312.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:33.181Z,1736384313.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T00:58:33.181Z,1736384313.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:33.600Z,1736384313.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T00:58:33.601Z,1736384313.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:34.021Z,1736384314.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s.
2025-01-09T00:58:34.021Z,1736384314.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:34.388Z,1736384314.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T00:58:34.388Z,1736384314.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:34.797Z,1736384314.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s.
2025-01-09T00:58:34.798Z,1736384314.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:35.174Z,1736384315.174 [NAL9602](INFO): SBD MO Status=1, MOMSN=46764, MT Status=0, MTMSN=0
2025-01-09T00:58:35.225Z,1736384315.225 [NAL9602](INFO): Sent 332 bytes from file Logs/20250109T003751/Express0001.lzma
2025-01-09T00:58:35.226Z,1736384315.226 [NAL9602](INFO): Packets left to send: 1
2025-01-09T00:58:35.304Z,1736384315.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.2 s old, using for 20.0 s.
2025-01-09T00:58:35.304Z,1736384315.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:37.965Z,1736384317.965 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.008379
2025-01-09T00:58:38.281Z,1736384318.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.1 s old, using for 20.0 s.
2025-01-09T00:58:38.281Z,1736384318.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:38.325Z,1736384318.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s.
2025-01-09T00:58:38.325Z,1736384318.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:40.796Z,1736384320.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T00:58:40.796Z,1736384320.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:40.901Z,1736384320.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s.
2025-01-09T00:58:40.901Z,1736384320.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:41.369Z,1736384321.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.2 s old, using for 20.0 s.
2025-01-09T00:58:41.370Z,1736384321.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:41.651Z,1736384321.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s.
2025-01-09T00:58:41.651Z,1736384321.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:42.057Z,1736384322.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s.
2025-01-09T00:58:42.057Z,1736384322.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:42.469Z,1736384322.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s.
2025-01-09T00:58:42.469Z,1736384322.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:42.863Z,1736384322.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s.
2025-01-09T00:58:42.863Z,1736384322.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:43.322Z,1736384323.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.2 s old, using for 20.0 s.
2025-01-09T00:58:43.322Z,1736384323.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:43.681Z,1736384323.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.5 s old, using for 20.0 s.
2025-01-09T00:58:43.681Z,1736384323.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:44.077Z,1736384324.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.9 s old, using for 20.0 s.
2025-01-09T00:58:44.077Z,1736384324.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:44.497Z,1736384324.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.4 s old, using for 20.0 s.
2025-01-09T00:58:44.497Z,1736384324.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:44.892Z,1736384324.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.7 s old, using for 20.0 s.
2025-01-09T00:58:44.892Z,1736384324.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:45.379Z,1736384325.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.2 s old, using for 20.0 s.
2025-01-09T00:58:45.379Z,1736384325.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:45.702Z,1736384325.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.6 s old, using for 20.0 s.
2025-01-09T00:58:45.702Z,1736384325.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:46.116Z,1736384326.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.0 s old, using for 20.0 s.
2025-01-09T00:58:46.116Z,1736384326.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:46.521Z,1736384326.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.4 s old, using for 20.0 s.
2025-01-09T00:58:46.522Z,1736384326.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:46.919Z,1736384326.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.8 s old, using for 20.0 s.
2025-01-09T00:58:46.920Z,1736384326.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:47.368Z,1736384327.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.2 s old, using for 20.0 s.
2025-01-09T00:58:47.368Z,1736384327.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:47.728Z,1736384327.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.6 s old, using for 20.0 s.
2025-01-09T00:58:47.728Z,1736384327.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:48.120Z,1736384328.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.0 s old, using for 20.0 s.
2025-01-09T00:58:48.120Z,1736384328.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:48.520Z,1736384328.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.4 s old, using for 20.0 s.
2025-01-09T00:58:48.521Z,1736384328.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:48.924Z,1736384328.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.8 s old, using for 20.0 s.
2025-01-09T00:58:48.924Z,1736384328.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:49.093Z,1736384329.093 [DataOverHttps](INFO): Sending 557 bytes from file Logs/20250109T003751/Express0001.lzma
2025-01-09T00:58:49.353Z,1736384329.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:49.736Z,1736384329.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:50.093Z,1736384330.093 [DataOverHttps](INFO): Moved sent file to Logs/20250109T003751/Express0001.lzma.bak
2025-01-09T00:58:50.093Z,1736384330.093 [DataOverHttps](INFO): SBD MOMSN=23886771
2025-01-09T00:58:50.137Z,1736384330.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:50.541Z,1736384330.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:50.955Z,1736384330.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:51.393Z,1736384331.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:51.763Z,1736384331.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:52.176Z,1736384332.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:52.572Z,1736384332.572 [NAL9602](INFO): SBD MO Status=1, MOMSN=46765, MT Status=0, MTMSN=0
2025-01-09T00:58:52.620Z,1736384332.620 [NAL9602](INFO): Sent 225 bytes from file Logs/20250109T003751/Express0001.lzma
2025-01-09T00:58:52.620Z,1736384332.620 [NAL9602](INFO): Packets left to send: 0
2025-01-09T00:58:52.651Z,1736384332.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:52.990Z,1736384332.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:53.418Z,1736384333.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:53.792Z,1736384333.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:54.184Z,1736384334.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:54.598Z,1736384334.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:54.983Z,1736384334.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:55.448Z,1736384335.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:55.795Z,1736384335.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:56.194Z,1736384336.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:56.603Z,1736384336.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:57.026Z,1736384337.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:57.458Z,1736384337.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:57.824Z,1736384337.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:58.231Z,1736384338.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:58.629Z,1736384338.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:59.031Z,1736384339.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:59.466Z,1736384339.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:58:59.848Z,1736384339.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:00.244Z,1736384340.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:00.648Z,1736384340.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:01.043Z,1736384341.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:01.521Z,1736384341.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T00:59:01.521Z,1736384341.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:01.896Z,1736384341.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T00:59:01.896Z,1736384341.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:02.266Z,1736384342.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:59:02.266Z,1736384342.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:02.672Z,1736384342.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:59:02.672Z,1736384342.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:03.067Z,1736384343.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T00:59:03.067Z,1736384343.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:03.485Z,1736384343.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T00:59:03.485Z,1736384343.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:03.876Z,1736384343.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T00:59:03.876Z,1736384343.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:04.285Z,1736384344.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T00:59:04.286Z,1736384344.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:04.680Z,1736384344.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T00:59:04.680Z,1736384344.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:05.084Z,1736384345.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T00:59:05.084Z,1736384345.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:05.511Z,1736384345.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T00:59:05.511Z,1736384345.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:05.909Z,1736384345.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T00:59:05.909Z,1736384345.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:06.329Z,1736384346.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T00:59:06.330Z,1736384346.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:06.717Z,1736384346.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T00:59:06.717Z,1736384346.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:07.116Z,1736384347.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T00:59:07.117Z,1736384347.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:07.575Z,1736384347.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T00:59:07.579Z,1736384347.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:07.926Z,1736384347.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T00:59:07.926Z,1736384347.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:08.324Z,1736384348.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T00:59:08.324Z,1736384348.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:08.728Z,1736384348.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T00:59:08.729Z,1736384348.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:09.148Z,1736384349.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T00:59:09.148Z,1736384349.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:09.577Z,1736384349.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T00:59:09.578Z,1736384349.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:09.943Z,1736384349.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T00:59:09.955Z,1736384349.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:10.343Z,1736384350.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T00:59:10.343Z,1736384350.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:10.747Z,1736384350.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T00:59:10.747Z,1736384350.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:11.031Z,1736384351.031 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250109T003751/Express0004.lzma
2025-01-09T00:59:11.150Z,1736384351.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T00:59:11.151Z,1736384351.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:11.575Z,1736384351.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:11.956Z,1736384351.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:12.033Z,1736384352.033 [DataOverHttps](INFO): Moved sent file to Logs/20250109T003751/Express0004.lzma.bak
2025-01-09T00:59:12.034Z,1736384352.034 [DataOverHttps](INFO): SBD MOMSN=23886777
2025-01-09T00:59:12.365Z,1736384352.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:12.763Z,1736384352.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:13.179Z,1736384353.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:13.605Z,1736384353.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:13.980Z,1736384353.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:14.393Z,1736384354.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:14.798Z,1736384354.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:15.196Z,1736384355.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:15.642Z,1736384355.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:16.004Z,1736384356.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:16.395Z,1736384356.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:16.799Z,1736384356.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:17.216Z,1736384357.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:17.644Z,1736384357.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:59:17.644Z,1736384357.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:18.020Z,1736384358.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:59:18.020Z,1736384358.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:18.428Z,1736384358.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:59:18.428Z,1736384358.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:18.837Z,1736384358.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:59:18.837Z,1736384358.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:19.270Z,1736384359.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s.
2025-01-09T00:59:19.270Z,1736384359.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:19.626Z,1736384359.626 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 718
Device respsone is::TS,25010817002437,35.0, 0.00, 640.21,   0.00, 718.51
2025-01-09T00:59:19.666Z,1736384359.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T00:59:19.666Z,1736384359.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:20.044Z,1736384360.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T00:59:20.044Z,1736384360.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:20.453Z,1736384360.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T00:59:20.453Z,1736384360.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:20.865Z,1736384360.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T00:59:20.865Z,1736384360.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:21.351Z,1736384361.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T00:59:21.351Z,1736384361.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:21.661Z,1736384361.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s.
2025-01-09T00:59:21.661Z,1736384361.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:22.056Z,1736384362.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T00:59:22.056Z,1736384362.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:22.465Z,1736384362.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T00:59:22.466Z,1736384362.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:22.859Z,1736384362.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s.
2025-01-09T00:59:22.859Z,1736384362.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:23.298Z,1736384363.298 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-09T00:59:23.327Z,1736384363.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T00:59:23.328Z,1736384363.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:23.672Z,1736384363.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T00:59:23.672Z,1736384363.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:24.087Z,1736384364.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T00:59:24.087Z,1736384364.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:24.481Z,1736384364.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T00:59:24.481Z,1736384364.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:24.878Z,1736384364.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T00:59:24.878Z,1736384364.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:25.348Z,1736384365.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T00:59:25.348Z,1736384365.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:25.696Z,1736384365.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T00:59:25.696Z,1736384365.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:26.097Z,1736384366.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T00:59:26.097Z,1736384366.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:26.494Z,1736384366.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T00:59:26.494Z,1736384366.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:26.921Z,1736384366.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T00:59:26.921Z,1736384366.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:27.381Z,1736384367.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:27.730Z,1736384367.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:28.132Z,1736384368.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:28.532Z,1736384368.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:28.935Z,1736384368.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:29.364Z,1736384369.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:29.739Z,1736384369.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:30.144Z,1736384370.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:30.545Z,1736384370.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:30.938Z,1736384370.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:31.214Z,1736384371.214 [DataOverHttps](INFO): Sending 466 bytes from file Logs/20250109T003751/Express0007.lzma
2025-01-09T00:59:31.377Z,1736384371.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:31.746Z,1736384371.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:32.150Z,1736384372.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:32.213Z,1736384372.213 [DataOverHttps](INFO): Moved sent file to Logs/20250109T003751/Express0007.lzma.bak
2025-01-09T00:59:32.213Z,1736384372.213 [DataOverHttps](INFO): SBD MOMSN=23886779
2025-01-09T00:59:32.554Z,1736384372.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:32.964Z,1736384372.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:33.408Z,1736384373.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:59:33.408Z,1736384373.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:33.780Z,1736384373.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:59:33.780Z,1736384373.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:34.181Z,1736384374.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:59:34.181Z,1736384374.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:34.589Z,1736384374.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:59:34.589Z,1736384374.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:34.996Z,1736384374.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T00:59:34.996Z,1736384374.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:35.434Z,1736384375.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T00:59:35.435Z,1736384375.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:35.800Z,1736384375.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T00:59:35.800Z,1736384375.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:36.201Z,1736384376.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T00:59:36.201Z,1736384376.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:36.610Z,1736384376.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T00:59:36.610Z,1736384376.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:36.998Z,1736384376.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T00:59:36.998Z,1736384376.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:37.458Z,1736384377.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T00:59:37.458Z,1736384377.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:37.817Z,1736384377.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T00:59:37.817Z,1736384377.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:38.235Z,1736384378.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T00:59:38.235Z,1736384378.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:38.629Z,1736384378.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T00:59:38.629Z,1736384378.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:39.037Z,1736384379.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T00:59:39.037Z,1736384379.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:39.487Z,1736384379.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T00:59:39.487Z,1736384379.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:39.844Z,1736384379.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T00:59:39.844Z,1736384379.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:40.231Z,1736384380.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T00:59:40.231Z,1736384380.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:40.644Z,1736384380.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T00:59:40.644Z,1736384380.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:41.052Z,1736384381.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T00:59:41.052Z,1736384381.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:41.485Z,1736384381.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T00:59:41.485Z,1736384381.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:41.890Z,1736384381.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T00:59:41.890Z,1736384381.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:42.272Z,1736384382.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T00:59:42.272Z,1736384382.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:42.657Z,1736384382.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T00:59:42.657Z,1736384382.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:43.069Z,1736384383.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T00:59:43.069Z,1736384383.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:43.498Z,1736384383.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:43.866Z,1736384383.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:44.279Z,1736384384.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:44.685Z,1736384384.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:45.097Z,1736384385.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:45.517Z,1736384385.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:45.891Z,1736384385.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:46.304Z,1736384386.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:46.738Z,1736384386.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:47.101Z,1736384387.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:47.528Z,1736384387.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T00:59:47.528Z,1736384387.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:47.926Z,1736384387.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T00:59:47.926Z,1736384387.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:48.325Z,1736384388.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T00:59:48.325Z,1736384388.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:48.725Z,1736384388.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T00:59:48.725Z,1736384388.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:49.140Z,1736384389.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T00:59:49.140Z,1736384389.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:49.572Z,1736384389.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T00:59:49.572Z,1736384389.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:49.941Z,1736384389.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T00:59:49.941Z,1736384389.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:50.345Z,1736384390.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T00:59:50.345Z,1736384390.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:50.749Z,1736384390.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T00:59:50.749Z,1736384390.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:51.159Z,1736384391.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T00:59:51.160Z,1736384391.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:51.578Z,1736384391.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T00:59:51.579Z,1736384391.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:51.951Z,1736384391.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T00:59:51.952Z,1736384391.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:52.356Z,1736384392.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T00:59:52.356Z,1736384392.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:52.436Z,1736384392.436 [DataOverHttps](INFO): Sending 761 bytes from file Logs/20250109T003751/Express0010.lzma
2025-01-09T00:59:52.754Z,1736384392.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T00:59:52.754Z,1736384392.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:53.158Z,1736384393.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T00:59:53.158Z,1736384393.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:53.437Z,1736384393.437 [DataOverHttps](INFO): Moved sent file to Logs/20250109T003751/Express0010.lzma.bak
2025-01-09T00:59:53.437Z,1736384393.437 [DataOverHttps](INFO): SBD MOMSN=23886784
2025-01-09T00:59:53.584Z,1736384393.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T00:59:53.584Z,1736384393.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:53.972Z,1736384393.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T00:59:53.972Z,1736384393.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:54.382Z,1736384394.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T00:59:54.383Z,1736384394.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:54.798Z,1736384394.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T00:59:54.798Z,1736384394.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:55.192Z,1736384395.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T00:59:55.192Z,1736384395.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:55.656Z,1736384395.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T00:59:55.656Z,1736384395.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:56.006Z,1736384396.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T00:59:56.007Z,1736384396.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:56.413Z,1736384396.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T00:59:56.413Z,1736384396.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:56.809Z,1736384396.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T00:59:56.809Z,1736384396.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:57.217Z,1736384397.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T00:59:57.217Z,1736384397.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:57.648Z,1736384397.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:57.657Z,1736384397.657 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-01-09T00:59:57.658Z,1736384397.658 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-01-09T00:59:57.658Z,1736384397.658 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-09T00:59:58.020Z,1736384398.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:58.421Z,1736384398.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:58.832Z,1736384398.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:59.257Z,1736384399.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T00:59:59.649Z,1736384399.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:00.044Z,1736384400.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:00.447Z,1736384400.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:00.839Z,1736384400.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:01.449Z,1736384401.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:01.667Z,1736384401.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:02.076Z,1736384402.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:02.460Z,1736384402.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:02.868Z,1736384402.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:03.353Z,1736384403.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:03.686Z,1736384403.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:04.119Z,1736384404.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:04.483Z,1736384404.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:04.891Z,1736384404.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:05.325Z,1736384405.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:05.691Z,1736384405.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:06.108Z,1736384406.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:06.498Z,1736384406.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:06.899Z,1736384406.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:07.336Z,1736384407.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:00:07.336Z,1736384407.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:07.705Z,1736384407.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:00:07.705Z,1736384407.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:08.115Z,1736384408.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:00:08.115Z,1736384408.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:08.510Z,1736384408.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:00:08.511Z,1736384408.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:08.915Z,1736384408.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:00:08.915Z,1736384408.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:09.343Z,1736384409.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T01:00:09.343Z,1736384409.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:09.738Z,1736384409.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:00:09.738Z,1736384409.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:10.153Z,1736384410.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s.
2025-01-09T01:00:10.153Z,1736384410.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:10.584Z,1736384410.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s.
2025-01-09T01:00:10.584Z,1736384410.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:10.976Z,1736384410.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T01:00:10.976Z,1736384410.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:11.502Z,1736384411.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s.
2025-01-09T01:00:11.502Z,1736384411.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:11.769Z,1736384411.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T01:00:11.769Z,1736384411.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:12.217Z,1736384412.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T01:00:12.217Z,1736384412.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:12.601Z,1736384412.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:00:12.601Z,1736384412.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:13.032Z,1736384413.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:00:13.032Z,1736384413.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:13.486Z,1736384413.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s.
2025-01-09T01:00:13.486Z,1736384413.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:13.830Z,1736384413.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:00:13.830Z,1736384413.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:14.237Z,1736384414.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:00:14.237Z,1736384414.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:14.670Z,1736384414.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.8 s old, using for 20.0 s.
2025-01-09T01:00:14.670Z,1736384414.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:15.053Z,1736384415.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.2 s old, using for 20.0 s.
2025-01-09T01:00:15.053Z,1736384415.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:15.537Z,1736384415.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.6 s old, using for 20.0 s.
2025-01-09T01:00:15.538Z,1736384415.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:15.885Z,1736384415.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.0 s old, using for 20.0 s.
2025-01-09T01:00:15.885Z,1736384415.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:16.304Z,1736384416.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.4 s old, using for 20.0 s.
2025-01-09T01:00:16.304Z,1736384416.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:16.689Z,1736384416.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s.
2025-01-09T01:00:16.689Z,1736384416.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:17.078Z,1736384417.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.2 s old, using for 20.0 s.
2025-01-09T01:00:17.078Z,1736384417.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:17.526Z,1736384417.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.6 s old, using for 20.0 s.
2025-01-09T01:00:17.526Z,1736384417.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:17.877Z,1736384417.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.0 s old, using for 20.0 s.
2025-01-09T01:00:17.877Z,1736384417.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:18.266Z,1736384418.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.4 s old, using for 20.0 s.
2025-01-09T01:00:18.266Z,1736384418.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:18.680Z,1736384418.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.8 s old, using for 20.0 s.
2025-01-09T01:00:18.681Z,1736384418.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:19.137Z,1736384419.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.2 s old, using for 20.0 s.
2025-01-09T01:00:19.137Z,1736384419.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:19.518Z,1736384419.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:19.801Z,1736384419.801 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T01:00:19.891Z,1736384419.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:20.287Z,1736384420.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:20.705Z,1736384420.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:21.120Z,1736384421.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:21.542Z,1736384421.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:21.952Z,1736384421.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:22.389Z,1736384422.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:22.732Z,1736384422.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:23.124Z,1736384423.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:23.675Z,1736384423.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T01:00:23.676Z,1736384423.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:23.930Z,1736384423.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:00:23.930Z,1736384423.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:24.344Z,1736384424.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:00:24.344Z,1736384424.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:24.753Z,1736384424.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:00:24.754Z,1736384424.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:25.144Z,1736384425.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:00:25.144Z,1736384425.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:25.575Z,1736384425.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:00:25.603Z,1736384425.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:25.956Z,1736384425.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:00:25.956Z,1736384425.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:26.366Z,1736384426.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:00:26.366Z,1736384426.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:26.753Z,1736384426.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:00:26.753Z,1736384426.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:27.274Z,1736384427.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T01:00:27.274Z,1736384427.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:27.622Z,1736384427.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:00:27.622Z,1736384427.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:27.962Z,1736384427.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T01:00:27.963Z,1736384427.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:28.369Z,1736384428.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T01:00:28.369Z,1736384428.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:28.782Z,1736384428.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:00:28.782Z,1736384428.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:29.176Z,1736384429.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:00:29.176Z,1736384429.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:29.641Z,1736384429.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:00:29.641Z,1736384429.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:29.991Z,1736384429.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:00:29.992Z,1736384429.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:30.396Z,1736384430.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:00:30.397Z,1736384430.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:30.796Z,1736384430.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T01:00:30.796Z,1736384430.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:31.194Z,1736384431.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T01:00:31.194Z,1736384431.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:31.625Z,1736384431.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T01:00:31.625Z,1736384431.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:31.864Z,1736384431.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T01:00:32.017Z,1736384432.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T01:00:32.017Z,1736384432.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:32.408Z,1736384432.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T01:00:32.408Z,1736384432.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:32.815Z,1736384432.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T01:00:32.816Z,1736384432.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:33.245Z,1736384433.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T01:00:33.246Z,1736384433.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:33.653Z,1736384433.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:34.035Z,1736384434.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:34.437Z,1736384434.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:34.848Z,1736384434.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:35.299Z,1736384435.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:35.675Z,1736384435.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:36.055Z,1736384436.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:36.460Z,1736384436.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:36.875Z,1736384436.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:37.362Z,1736384437.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:37.668Z,1736384437.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:38.067Z,1736384438.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:38.475Z,1736384438.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:38.870Z,1736384438.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:39.327Z,1736384439.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:39.687Z,1736384439.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:40.094Z,1736384440.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:40.491Z,1736384440.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:40.890Z,1736384440.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:41.330Z,1736384441.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:00:41.330Z,1736384441.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:41.706Z,1736384441.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:00:41.707Z,1736384441.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:42.102Z,1736384442.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:00:42.102Z,1736384442.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:42.512Z,1736384442.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:00:42.512Z,1736384442.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:42.912Z,1736384442.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:00:42.912Z,1736384442.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:43.340Z,1736384443.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:43.608Z,1736384443.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T01:00:43.723Z,1736384443.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:44.142Z,1736384444.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:44.527Z,1736384444.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:44.939Z,1736384444.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:45.358Z,1736384445.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:00:45.358Z,1736384445.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:45.739Z,1736384445.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:00:45.739Z,1736384445.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:46.162Z,1736384446.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:00:46.162Z,1736384446.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:46.561Z,1736384446.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:00:46.561Z,1736384446.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:46.970Z,1736384446.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:00:46.971Z,1736384446.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:47.416Z,1736384447.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:00:47.416Z,1736384447.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:47.772Z,1736384447.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:00:47.772Z,1736384447.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:48.177Z,1736384448.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:00:48.177Z,1736384448.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:48.584Z,1736384448.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:00:48.584Z,1736384448.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:48.994Z,1736384448.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T01:00:48.994Z,1736384448.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:49.395Z,1736384449.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:00:49.395Z,1736384449.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:49.788Z,1736384449.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T01:00:49.789Z,1736384449.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:50.196Z,1736384450.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T01:00:50.196Z,1736384450.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:50.606Z,1736384450.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:00:50.606Z,1736384450.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:50.996Z,1736384450.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:00:50.996Z,1736384450.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:51.254Z,1736384451.254 [DataOverHttps](IMPORTANT): SBD MTMSN=20250109T010050
2025-01-09T01:00:51.418Z,1736384451.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:51.813Z,1736384451.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:52.202Z,1736384452.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:52.615Z,1736384452.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:53.016Z,1736384453.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:53.444Z,1736384453.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:00:53.444Z,1736384453.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:53.826Z,1736384453.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:00:53.826Z,1736384453.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:54.223Z,1736384454.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:00:54.223Z,1736384454.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:54.645Z,1736384454.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:00:54.645Z,1736384454.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:55.052Z,1736384455.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:00:55.052Z,1736384455.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:55.478Z,1736384455.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:00:55.478Z,1736384455.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:55.856Z,1736384455.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:00:55.856Z,1736384455.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:56.261Z,1736384456.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:00:56.261Z,1736384456.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:56.669Z,1736384456.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s.
2025-01-09T01:00:56.669Z,1736384456.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:57.064Z,1736384457.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T01:00:57.064Z,1736384457.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:57.509Z,1736384457.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:00:57.510Z,1736384457.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:57.864Z,1736384457.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T01:00:57.864Z,1736384457.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:58.273Z,1736384458.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T01:00:58.274Z,1736384458.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:58.668Z,1736384458.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:00:58.668Z,1736384458.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:58.835Z,1736384458.835 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 8 min;set lineCaptureHoming.StayOnDock 1 bool" 4zph7 1 4
2025-01-09T01:00:58.844Z,1736384458.844 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 8 min;set lineCaptureHoming.StayOnDock 1 bool" 4zph7 1 4.000000
2025-01-09T01:00:58.845Z,1736384458.845 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=4zph7
2025-01-09T01:00:58.846Z,1736384458.846 [CommandExec](IMPORTANT): Scheduled #31 (#1 of 4 with id='4zph7'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 8 min;set lineCaptureHoming.StayOnDock 1 bool", ASAP
2025-01-09T01:00:59.073Z,1736384459.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:00:59.073Z,1736384459.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:59.499Z,1736384459.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:00:59.499Z,1736384459.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:00:59.837Z,1736384459.837 [DataOverHttps](IMPORTANT): SBD MTMSN=20250109T010059
2025-01-09T01:00:59.903Z,1736384459.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:00:59.903Z,1736384459.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:00.288Z,1736384460.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:01:00.288Z,1736384460.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:00.689Z,1736384460.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T01:01:00.689Z,1736384460.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:01.093Z,1736384461.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T01:01:01.093Z,1736384461.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:01.520Z,1736384461.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T01:01:01.520Z,1736384461.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:01.904Z,1736384461.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T01:01:01.904Z,1736384461.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:02.302Z,1736384462.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T01:01:02.303Z,1736384462.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:02.717Z,1736384462.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T01:01:02.717Z,1736384462.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:03.128Z,1736384463.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T01:01:03.128Z,1736384463.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:03.566Z,1736384463.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:03.927Z,1736384463.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:04.339Z,1736384464.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:04.744Z,1736384464.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:05.148Z,1736384465.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:05.578Z,1736384465.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:01:05.578Z,1736384465.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:05.953Z,1736384465.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:01:05.953Z,1736384465.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:06.357Z,1736384466.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:01:06.357Z,1736384466.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:06.757Z,1736384466.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:01:06.757Z,1736384466.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:07.150Z,1736384467.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:01:07.150Z,1736384467.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:07.601Z,1736384467.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:01:07.601Z,1736384467.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:07.727Z,1736384467.727 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.RetryIncompleteDock 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1.5 min;set lineCaptureHoming.SlideCloseDuration 1.5 min" 4zph7 2 4
2025-01-09T01:01:07.808Z,1736384467.808 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.RetryIncompleteDock 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1.5 min;set lineCaptureHoming.SlideCloseDuration 1.5 min" 4zph7 2 4.000000
2025-01-09T01:01:07.809Z,1736384467.809 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=4zph7
2025-01-09T01:01:07.810Z,1736384467.810 [CommandExec](IMPORTANT): Scheduled #32 (#2 of 4 with id='4zph7'): "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.RetryIncompleteDock 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1.5 min;set lineCaptureHoming.SlideCloseDuration 1.5 min", ASAP
2025-01-09T01:01:07.975Z,1736384467.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:01:07.976Z,1736384467.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:08.376Z,1736384468.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:01:08.376Z,1736384468.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:08.730Z,1736384468.730 [DataOverHttps](IMPORTANT): SBD MTMSN=20250109T010107
2025-01-09T01:01:08.772Z,1736384468.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:01:08.772Z,1736384468.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:09.172Z,1736384469.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T01:01:09.173Z,1736384469.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:09.595Z,1736384469.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s.
2025-01-09T01:01:09.595Z,1736384469.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:09.990Z,1736384469.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T01:01:09.990Z,1736384469.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:10.387Z,1736384470.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T01:01:10.387Z,1736384470.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:10.792Z,1736384470.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s.
2025-01-09T01:01:10.792Z,1736384470.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:11.192Z,1736384471.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s.
2025-01-09T01:01:11.192Z,1736384471.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:11.620Z,1736384471.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:01:11.620Z,1736384471.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:12.012Z,1736384472.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:01:12.012Z,1736384472.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:12.416Z,1736384472.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:01:12.416Z,1736384472.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:12.821Z,1736384472.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T01:01:12.821Z,1736384472.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:13.256Z,1736384473.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T01:01:13.256Z,1736384473.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:13.658Z,1736384473.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:14.032Z,1736384474.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:14.439Z,1736384474.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:14.843Z,1736384474.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:15.305Z,1736384475.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:15.658Z,1736384475.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:16.040Z,1736384476.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:16.351Z,1736384476.351 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m" 4zph7 3 4
2025-01-09T01:01:16.452Z,1736384476.452 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m" 4zph7 3 4.000000
2025-01-09T01:01:16.453Z,1736384476.453 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=4zph7
2025-01-09T01:01:16.454Z,1736384476.454 [CommandExec](IMPORTANT): Scheduled #33 (#3 of 4 with id='4zph7'): "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m", ASAP
2025-01-09T01:01:16.458Z,1736384476.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:16.851Z,1736384476.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:17.320Z,1736384477.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T01:01:17.321Z,1736384477.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:17.353Z,1736384477.353 [DataOverHttps](IMPORTANT): SBD MTMSN=20250109T010116
2025-01-09T01:01:17.657Z,1736384477.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:01:17.657Z,1736384477.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:18.070Z,1736384478.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:01:18.070Z,1736384478.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:18.468Z,1736384478.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:01:18.468Z,1736384478.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:18.867Z,1736384478.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:01:18.867Z,1736384478.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:19.331Z,1736384479.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:01:19.331Z,1736384479.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:19.689Z,1736384479.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:01:19.689Z,1736384479.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:20.084Z,1736384480.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:01:20.084Z,1736384480.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:20.489Z,1736384480.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:01:20.489Z,1736384480.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:20.904Z,1736384480.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T01:01:20.904Z,1736384480.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:21.362Z,1736384481.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:01:21.363Z,1736384481.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:21.718Z,1736384481.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T01:01:21.718Z,1736384481.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:22.112Z,1736384482.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T01:01:22.112Z,1736384482.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:22.520Z,1736384482.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:01:22.520Z,1736384482.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:22.924Z,1736384482.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:01:22.924Z,1736384482.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:23.361Z,1736384483.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:23.724Z,1736384483.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:24.124Z,1736384484.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:24.537Z,1736384484.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:24.931Z,1736384484.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:25.087Z,1736384485.087 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;run" 4zph7 4 4
2025-01-09T01:01:25.100Z,1736384485.100 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;run" 4zph7 4 4.000000
2025-01-09T01:01:25.100Z,1736384485.100 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=4zph7
2025-01-09T01:01:25.101Z,1736384485.101 [CommandExec](IMPORTANT): Scheduled #34 (#4 of 4 with id='4zph7'): "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;run", ASAP
2025-01-09T01:01:25.297Z,1736384485.297 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2025-01-09T01:01:25.298Z,1736384485.298 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl
2025-01-09T01:01:25.298Z,1736384485.298 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl
2025-01-09T01:01:25.356Z,1736384485.356 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl
2025-01-09T01:01:25.394Z,1736384485.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T01:01:25.394Z,1736384485.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:25.745Z,1736384485.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:01:25.745Z,1736384485.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:26.161Z,1736384486.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:01:26.162Z,1736384486.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:26.552Z,1736384486.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:01:26.552Z,1736384486.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:26.960Z,1736384486.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:01:26.960Z,1736384486.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:27.421Z,1736384487.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:01:27.422Z,1736384487.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:27.770Z,1736384487.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:01:27.770Z,1736384487.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:28.173Z,1736384488.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:01:28.173Z,1736384488.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:28.576Z,1736384488.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:01:28.576Z,1736384488.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:28.981Z,1736384488.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T01:01:28.981Z,1736384488.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:29.407Z,1736384489.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:01:29.407Z,1736384489.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:29.784Z,1736384489.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T01:01:29.784Z,1736384489.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:30.197Z,1736384490.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T01:01:30.197Z,1736384490.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:30.398Z,1736384490.398 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="lineCaptureHoming">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>240</Value>
    </DefineArg>
    <DefineArg Name="MicromodemCommsInterval">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitOnDockTimeout">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="TrySlide">
        <False />
    </DefineArg>
    <DefineArg Name="RetryIncompleteDock">
        <False />
    </DefineArg>
    <DefineArg Name="SlideRetries">
        <Units:count />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="SlideSinkDuration">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="SlideCloseDuration">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodMidcourse">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodTerminal">
        <Units:second />
        <Value>2.5</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodDocked">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilter">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="NumPingsUSBL">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="RangeUSBL">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilterUSBL">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CorrectForSoundSpeed">
        <False />
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="TrackingPeriod">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineOutput Name="Mode">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="NumPings">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinSize">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinOverlap">
        <True />
    </DefineOutput>
    <DefineOutput Name="EndDockingSequence">
        <Arg Name="StayOnDock" />
    </DefineOutput>
    <DefineOutput Name="LastDockSuccessful">
        <False />
    </DefineOutput>
    <DefineOutput Name="DockSuccessfulCount">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RepeatArg">
        <Arg Name="Repeat" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Id="MicromodemComms" Filename="Insert/MicromodemComms.tl">
        <RedefineArg Name="CommsInterval">
            <Arg Name="MicromodemCommsInterval" />
        </RedefineArg>
    </Insert>
    <ReadData>
        <While>
            <Arg Name="Mode" />
            <Ge>
                <Units:count />
                <Value>0</Value>
            </Ge>
            <And>
                <Sensor:DataOverHttps.connectionStatus />
                <Eq>
                    <True />
                </Eq>
            </And>
        </While>
        <Universal:platform_communications />
    </ReadData>
    <Insert Filename="Insert/LineCapture.tl" />
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:DockingAltitude" />
        <Arg Name="DockingAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:InvalidAltitudeTimeout" />
        <Arg Name="InvalidAltitudeTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:AltitudeDepthLimit" />
        <Arg Name="AltitudeDepthLimit" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NumPings" />
        <Arg Name="NumberOfPings" />
    </Assign>
    <Estimation:TrackAcousticContact Id="TrackAC">
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingPeriod" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numFixesLowPassSetting />
            <Arg Name="LowPassFilterWinSize" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.lowPassOverlapSetting />
            <Arg Name="LowPassFilterWinOverlap" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.useSoundSpeedCorrectionSetting />
            <Arg Name="CorrectForSoundSpeed" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Aggregate Id="UpdateNumPings_NotTerminal">
        <While>
            <Not>
                <Arg Name="LineCapture:GuidanceMode" />
                <Eq>
                    <Arg Name="LineCapture:Terminal" />
                </Eq>
            </Not>
            <And>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
            </And>
        </While>
        <Syslog Severity="Info">
            No longer in Terminal. Resuming normal ranging with 
            <Arg Name="NumberOfPings" />
            <Units:count />
            pings.
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="NumPings" />
            <Arg Name="NumberOfPings" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateNumPings_Terminal">
        <While>
            <Arg Name="LineCapture:GuidanceMode" />
            <Eq>
                <Arg Name="LineCapture:Terminal" />
            </Eq>
        </While>
        <Aggregate Id="UpdateNumPingsUSBL">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumPingsUSBL" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Lt>
                        <Arg Name="RangeUSBL" />
                    </Lt>
                    <And>
                        <Not>
                            <Dock:LineCapture.guidanceMode />
                            <Eq>
                                <Units:count />
                                <Value>5</Value>
                            </Eq>
                        </Not>
                    </And>
                </And>
            </When>
            <Syslog Severity="Info">
                Entering USBL mode with 
                <Arg Name="NumPingsUSBL" />
                <Units:count />
                pings at 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumPingsUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilterUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
        <Aggregate Id="UpdateNumPingsATR">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Ge>
                        <Arg Name="RangeUSBL" />
                    </Ge>
                    <Or>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Or>
                </And>
            </When>
            <Syslog Severity="Info">
                Resuming normal ranging with 
                <Arg Name="NumberOfPings" />
                <Units:count />
                pings 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumberOfPings" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilter" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Midcourse">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodMidcourse" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Gt>
                    <Arg Name="LineCapture:TerminalRange" />
                </Gt>
                <Or>
                    <Dock:LineCapture.guidanceMode />
                    <Eq>
                        <Units:count />
                        <Value>5</Value>
                    </Eq>
                </Or>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Midcourse tracking update period 
            <Arg Name="TrackingUpdatePeriodMidcourse" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodMidcourse" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Terminal">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodTerminal" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Le>
                    <Arg Name="LineCapture:TerminalRange" />
                </Le>
                <And>
                    <Not>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Not>
                </And>
                <And>
                    <Not>
                        <Arg Name="LineCapture:GuidanceMode" />
                        <Eq>
                            <Units:count />
                            <Value>0</Value>
                        </Eq>
                    </Not>
                </And>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Terminal tracking update period 
            <Arg Name="TrackingUpdatePeriodTerminal" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodTerminal" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="restartDHCP">
        <When>
            <Called />
        </When>
        <Syslog Severity="Important">Restarting DHCP...</Syslog>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>! /mnt/mmc/LRAUV/Tools/dhcp.sh</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="InitialDive">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="MidcourseSpeed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
        <Guidance:Pitch>
            <Sequence />
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">
                    Timed out trying to reach the target depth. Stopping mission at current depth of 
                    <Universal:depth />
                    <Units:meter />
                </Syslog>
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>stop</String>
                    </Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="MidcourseDepth" />
            </Setting>
            <Setting>
                <Guidance:Pitch.depthRate />
                <Arg Name="ApproachDepthRate" />
            </Setting>
        </Guidance:Pitch>
    </Aggregate>
    <Aggregate Id="RepeatHack">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="RetryIncompleteDock" />
            </Not>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="RepeatArg" />
            <Arg Name="Repeat" />
            <Add>
                <Units:count />
                <Value>1</Value>
            </Add>
        </Assign>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="RepeatArg" />
        <Break>
            <Arg Name="StayOnDock" />
            <And>
                <Arg Name="LastDockSuccessful" />
            </And>
            <Or>
                <Arg Name="RetryIncompleteDock" />
                <And>
                    <Arg Name="DockSuccessfulCount" />
                    <Eq>
                        <Arg Name="Repeat" />
                    </Eq>
                </And>
            </Or>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Units:count />
            <Value>-99</Value>
        </Assign>
        <Call RefId="LineCapture" />
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Arg Name="LineCapture:GuidanceMode" />
        </Assign>
        <Syslog Severity="Info">
            Mode
            <Arg Name="Mode" />
            <Units:count />
        </Syslog>
        <Call RefId="restartDHCP" />
        <Aggregate Id="Docked">
            <Sequence />
            <Break>
                <Arg Name="Mode" />
                <Lt>
                    <Units:count />
                    <Value>0</Value>
                </Lt>
            </Break>
            <Syslog Severity="Info">
                Waiting on dock for 
                <Arg Name="WaitOnDockTimeout" />
                <Units:minute />
            </Syslog>
            <Insert Filename="Insert/SetNavAcoustic.tl" />
            <Assign>
                <Sequence />
                <Arg Name="TrackingPeriod" />
                <Arg Name="TrackingUpdatePeriodDocked" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="EndDockingSequence" />
                <Arg Name="StayOnDock" />
            </Assign>
            <Dock:Docked Id="Docked">
                <Sequence />
                <Timeout Duration="WaitOnDockTimeout" />
                <Setting>
                    <Dock:Docked.slideSinkTime />
                    <Arg Name="SlideSinkDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideCloseTime />
                    <Arg Name="SlideCloseDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideRetries />
                    <Arg Name="SlideRetries" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideAllowed />
                    <Arg Name="TrySlide" />
                </Setting>
                <OutputArg Name="LastDockSuccessful">
                    <Dock:Docked.dockSuccessful />
                </OutputArg>
            </Dock:Docked>
            <Aggregate Id="setCompletion">
                <Sequence />
                <Break>
                    <Not>
                        <Arg Name="RetryIncompleteDock" />
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="EndDockingSequence" />
                    <Arg Name="LastDockSuccessful" />
                    <And>
                        <Arg Name="StayOnDock" />
                    </And>
                </Assign>
                <Assign>
                    <Sequence />
                    <Arg Name="DockSuccessfulCount" />
                    <Arg Name="DockSuccessfulCount" />
                    <Add>
                        <Arg Name="LastDockSuccessful" />
                    </Add>
                </Assign>
                <Aggregate Id="setRetry">
                    <Sequence />
                    <Break>
                        <Arg Name="LastDockSuccessful" />
                    </Break>
                    <Syslog Severity="Important">Retrying incomplete docking attempt</Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="RepeatArg" />
                        <Arg Name="RepeatArg" />
                        <Add>
                            <Units:count />
                            <Value>1</Value>
                        </Add>
                    </Assign>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Detach">
                <Sequence />
                <Break>
                    <Arg Name="EndDockingSequence" />
                </Break>
                <Syslog Severity="Important">
                    Breaking off. Range: 
                    <Universal:acoustic_contact_range />
                    <Units:meter />
                    .
                </Syslog>
                <Dock:Undock Id="Undock">
                    <Sequence />
                </Dock:Undock>
                <Call RefId="restartDHCP" />
            </Aggregate>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Lat1" />
                    </IsNaN>
                    <Or>
                        <IsNaN>
                            <Arg Name="Lon1" />
                        </IsNaN>
                    </Or>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    Driving to post-undock waypoint 
                    <Arg Name="Lat1" />
                    <Units:degree />
                    ,
                    <Arg Name="Lon1" />
                    <Units:degree />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.captureRadius />
                        <Arg Name="CaptureRadius" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Drift">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Lat1" />
                        </IsNaN>
                    </Not>
                    <And>
                        <Not>
                            <IsNaN>
                                <Arg Name="Lon1" />
                            </IsNaN>
                        </Not>
                    </And>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    No post-undock waypoint, drifting for 
                    <Dock:LineCapture.rolloutTimeout />
                    <Units:minute />
                     minutes
                </Syslog>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Control:VerticalControl.massDefault />
                    </Setting>
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Point>
                    <Parallel />
                    <Setting>
                        <Guidance:Point.rudderAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Point>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Dock:LineCapture.rolloutTimeout />
                    </Setting>
                </Guidance:Wait>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-01-09T01:01:30.412Z,1736384490.412 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2025-01-09T01:01:30.414Z,1736384490.414 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 240.000000 min
2025-01-09T01:01:30.416Z,1736384490.416 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 5.000000 min
2025-01-09T01:01:30.418Z,1736384490.418 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2025-01-09T01:01:30.441Z,1736384490.441 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min
2025-01-09T01:01:30.443Z,1736384490.443 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool
2025-01-09T01:01:30.445Z,1736384490.445 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool
2025-01-09T01:01:30.447Z,1736384490.447 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool
2025-01-09T01:01:30.460Z,1736384490.460 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 2.000000 count
2025-01-09T01:01:30.462Z,1736384490.462 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 5.000000 min
2025-01-09T01:01:30.468Z,1736384490.468 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 5.000000 min
2025-01-09T01:01:30.470Z,1736384490.470 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count
2025-01-09T01:01:30.485Z,1736384490.485 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s
2025-01-09T01:01:30.487Z,1736384490.487 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.500000 s
2025-01-09T01:01:30.493Z,1736384490.493 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min
2025-01-09T01:01:30.508Z,1736384490.508 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count
2025-01-09T01:01:30.510Z,1736384490.510 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2025-01-09T01:01:30.517Z,1736384490.517 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 1.000000 count
2025-01-09T01:01:30.519Z,1736384490.519 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m
2025-01-09T01:01:30.529Z,1736384490.529 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count
2025-01-09T01:01:30.535Z,1736384490.535 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m
2025-01-09T01:01:30.537Z,1736384490.537 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2025-01-09T01:01:30.544Z,1736384490.544 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m
2025-01-09T01:01:30.546Z,1736384490.546 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2025-01-09T01:01:30.549Z,1736384490.549 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2025-01-09T01:01:30.577Z,1736384490.577 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2025-01-09T01:01:30.579Z,1736384490.579 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min
2025-01-09T01:01:30.582Z,1736384490.582 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s
2025-01-09T01:01:30.608Z,1736384490.608 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg
2025-01-09T01:01:30.610Z,1736384490.610 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg
2025-01-09T01:01:30.616Z,1736384490.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:01:30.616Z,1736384490.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:30.621Z,1736384490.621 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m
2025-01-09T01:01:30.623Z,1736384490.623 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool
2025-01-09T01:01:30.642Z,1736384490.642 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m
2025-01-09T01:01:30.660Z,1736384490.660 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s
2025-01-09T01:01:30.662Z,1736384490.662 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s
2025-01-09T01:01:30.669Z,1736384490.669 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count
2025-01-09T01:01:30.671Z,1736384490.671 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count
2025-01-09T01:01:30.682Z,1736384490.682 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count
2025-01-09T01:01:30.688Z,1736384490.688 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool
2025-01-09T01:01:30.690Z,1736384490.690 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool
2025-01-09T01:01:30.708Z,1736384490.708 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool
2025-01-09T01:01:30.710Z,1736384490.710 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count
2025-01-09T01:01:30.713Z,1736384490.713 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count
2025-01-09T01:01:30.713Z,1736384490.713 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-09T01:01:30.714Z,1736384490.714 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-09T01:01:30.729Z,1736384490.729 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-09T01:01:30.997Z,1736384490.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:01:30.997Z,1736384490.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:31.453Z,1736384491.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:01:31.454Z,1736384491.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:31.795Z,1736384491.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:01:31.795Z,1736384491.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:32.227Z,1736384492.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:01:32.227Z,1736384492.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:32.616Z,1736384492.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T01:01:32.616Z,1736384492.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:32.843Z,1736384492.843 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PeakShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-01-09T01:01:32.860Z,1736384492.860 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool
2025-01-09T01:01:32.862Z,1736384492.862 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min
2025-01-09T01:01:32.864Z,1736384492.864 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool
2025-01-09T01:01:32.865Z,1736384492.865 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool
2025-01-09T01:01:32.867Z,1736384492.867 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool
2025-01-09T01:01:32.869Z,1736384492.869 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool
2025-01-09T01:01:32.871Z,1736384492.871 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count
2025-01-09T01:01:32.873Z,1736384492.873 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-09T01:01:32.876Z,1736384492.876 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-09T01:01:32.878Z,1736384492.878 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool
2025-01-09T01:01:32.881Z,1736384492.881 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool
2025-01-09T01:01:32.882Z,1736384492.882 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool
2025-01-09T01:01:32.884Z,1736384492.884 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool
2025-01-09T01:01:32.886Z,1736384492.886 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-09T01:01:32.888Z,1736384492.888 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-09T01:01:32.890Z,1736384492.890 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-09T01:01:32.914Z,1736384492.914 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-09T01:01:32.924Z,1736384492.924 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-09T01:01:32.926Z,1736384492.926 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool
2025-01-09T01:01:32.933Z,1736384492.933 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool
2025-01-09T01:01:32.948Z,1736384492.948 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool
2025-01-09T01:01:32.950Z,1736384492.950 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool
2025-01-09T01:01:32.957Z,1736384492.957 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-09T01:01:32.967Z,1736384492.967 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 1 bool
2025-01-09T01:01:32.970Z,1736384492.970 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count
2025-01-09T01:01:32.976Z,1736384492.976 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count
2025-01-09T01:01:32.978Z,1736384492.978 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakShallowBound = nan m
2025-01-09T01:01:33.028Z,1736384493.028 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDeepBound = nan m
2025-01-09T01:01:33.030Z,1736384493.030 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-09T01:01:33.032Z,1736384493.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T01:01:33.032Z,1736384493.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:33.056Z,1736384493.056 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool
2025-01-09T01:01:33.058Z,1736384493.058 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l
2025-01-09T01:01:33.073Z,1736384493.073 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l
2025-01-09T01:01:33.080Z,1736384493.080 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count
2025-01-09T01:01:33.082Z,1736384493.082 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l
2025-01-09T01:01:33.092Z,1736384493.092 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m
2025-01-09T01:01:33.094Z,1736384493.094 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC
2025-01-09T01:01:33.101Z,1736384493.101 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg
2025-01-09T01:01:33.107Z,1736384493.107 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg
2025-01-09T01:01:33.109Z,1736384493.109 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l
2025-01-09T01:01:33.117Z,1736384493.117 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m
2025-01-09T01:01:33.119Z,1736384493.119 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg
2025-01-09T01:01:33.129Z,1736384493.129 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg
2025-01-09T01:01:33.136Z,1736384493.136 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3
2025-01-09T01:01:33.138Z,1736384493.138 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m
2025-01-09T01:01:33.149Z,1736384493.149 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg
2025-01-09T01:01:33.151Z,1736384493.151 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg
2025-01-09T01:01:33.166Z,1736384493.166 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb
2025-01-09T01:01:33.170Z,1736384493.170 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m
2025-01-09T01:01:33.190Z,1736384493.190 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC
2025-01-09T01:01:33.192Z,1736384493.192 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg
2025-01-09T01:01:33.194Z,1736384493.194 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg
2025-01-09T01:01:33.207Z,1736384493.207 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu
2025-01-09T01:01:33.220Z,1736384493.220 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m
2025-01-09T01:01:33.227Z,1736384493.227 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC
2025-01-09T01:01:33.252Z,1736384493.252 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg
2025-01-09T01:01:33.275Z,1736384493.275 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg
2025-01-09T01:01:33.294Z,1736384493.294 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-09T01:01:33.300Z,1736384493.300 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-09T01:01:33.302Z,1736384493.302 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-09T01:01:33.309Z,1736384493.309 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-09T01:01:33.315Z,1736384493.315 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-09T01:01:33.318Z,1736384493.318 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-09T01:01:33.324Z,1736384493.324 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-09T01:01:33.326Z,1736384493.326 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-09T01:01:33.341Z,1736384493.341 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-09T01:01:33.347Z,1736384493.347 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-09T01:01:33.350Z,1736384493.350 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-09T01:01:33.352Z,1736384493.352 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-09T01:01:33.354Z,1736384493.354 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-09T01:01:33.369Z,1736384493.369 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-09T01:01:33.376Z,1736384493.376 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-09T01:01:33.378Z,1736384493.378 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-09T01:01:33.386Z,1736384493.386 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-09T01:01:33.413Z,1736384493.413 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-09T01:01:33.415Z,1736384493.415 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-09T01:01:33.429Z,1736384493.429 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-09T01:01:33.440Z,1736384493.440 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l
2025-01-09T01:01:33.442Z,1736384493.442 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m
2025-01-09T01:01:33.452Z,1736384493.452 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg
2025-01-09T01:01:33.454Z,1736384493.454 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg
2025-01-09T01:01:33.469Z,1736384493.469 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m
2025-01-09T01:01:33.479Z,1736384493.479 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu
2025-01-09T01:01:33.482Z,1736384493.482 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m
2025-01-09T01:01:33.488Z,1736384493.488 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg
2025-01-09T01:01:33.490Z,1736384493.490 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg
2025-01-09T01:01:33.509Z,1736384493.509 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m
2025-01-09T01:01:33.511Z,1736384493.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.6 s old, using for 20.0 s.
2025-01-09T01:01:33.511Z,1736384493.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:33.511Z,1736384493.511 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu
2025-01-09T01:01:33.526Z,1736384493.526 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m
2025-01-09T01:01:33.532Z,1736384493.532 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg
2025-01-09T01:01:33.534Z,1736384493.534 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg
2025-01-09T01:01:33.557Z,1736384493.557 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m
2025-01-09T01:01:33.559Z,1736384493.559 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool
2025-01-09T01:01:33.565Z,1736384493.565 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l
2025-01-09T01:01:33.626Z,1736384493.626 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T01:01:33.651Z,1736384493.651 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-09T01:01:33.671Z,1736384493.671 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T01:01:33.705Z,1736384493.705 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T01:01:33.722Z,1736384493.722 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-09T01:01:33.739Z,1736384493.739 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T01:01:33.766Z,1736384493.766 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T01:01:33.821Z,1736384493.821 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-09T01:01:33.848Z,1736384493.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T01:01:33.848Z,1736384493.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:33.865Z,1736384493.865 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T01:01:33.904Z,1736384493.904 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T01:01:33.928Z,1736384493.928 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T01:01:33.959Z,1736384493.959 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T01:01:33.978Z,1736384493.978 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-09T01:01:33.996Z,1736384493.996 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-09T01:01:33.996Z,1736384493.996 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-09T01:01:33.998Z,1736384493.998 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-09T01:01:34.135Z,1736384494.135 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-09T01:01:34.180Z,1736384494.180 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-09T01:01:34.182Z,1736384494.182 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-09T01:01:34.187Z,1736384494.187 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-09T01:01:34.225Z,1736384494.225 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-09T01:01:34.226Z,1736384494.226 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-09T01:01:34.243Z,1736384494.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T01:01:34.244Z,1736384494.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:34.252Z,1736384494.252 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-09T01:01:34.262Z,1736384494.262 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-09T01:01:34.292Z,1736384494.292 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-09T01:01:34.292Z,1736384494.292 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-09T01:01:34.293Z,1736384494.293 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-09T01:01:34.484Z,1736384494.484 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-09T01:01:34.489Z,1736384494.489 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h
2025-01-09T01:01:34.491Z,1736384494.491 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-09T01:01:34.493Z,1736384494.493 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-09T01:01:34.514Z,1736384494.514 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2025-01-09T01:01:34.517Z,1736384494.517 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-09T01:01:34.519Z,1736384494.519 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-09T01:01:34.521Z,1736384494.521 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2025-01-09T01:01:34.523Z,1736384494.523 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2025-01-09T01:01:34.529Z,1736384494.529 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-09T01:01:34.545Z,1736384494.545 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl
2025-01-09T01:01:34.545Z,1736384494.545 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl
2025-01-09T01:01:34.546Z,1736384494.546 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl
2025-01-09T01:01:34.632Z,1736384494.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T01:01:34.632Z,1736384494.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:34.669Z,1736384494.669 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="MicromodemComms">
    <DefineArg Name="Timeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CommsInterval">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <While>
        <Elapsed>
            <Universal:platform_communications />
        </Elapsed>
        <Gt>
            <Arg Name="CommsInterval" />
        </Gt>
    </While>
    <Aggregate Id="CheckIn">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="Timeout" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Aggregate>

2025-01-09T01:01:34.685Z,1736384494.685 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min
2025-01-09T01:01:34.687Z,1736384494.687 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min
2025-01-09T01:01:34.691Z,1736384494.691 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval
2025-01-09T01:01:34.702Z,1736384494.702 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-01-09T01:01:34.702Z,1736384494.702 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-01-09T01:01:34.709Z,1736384494.709 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-01-09T01:01:35.044Z,1736384495.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T01:01:35.044Z,1736384495.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:35.125Z,1736384495.125 [DataOverHttps](IMPORTANT): SBD MTMSN=20250109T010125
2025-01-09T01:01:35.474Z,1736384495.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:35.753Z,1736384495.753 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="LineCapture">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="MidcourseTimeout">
        <Dock:LineCapture.midcourseTimeout />
    </DefineArg>
    <DefineArg Name="TerminalRange">
        <Dock:LineCapture.terminalRange />
    </DefineArg>
    <DefineArg Name="AcousticTimeout">
        <Dock:LineCapture.acousticTimeout />
    </DefineArg>
    <DefineArg Name="losRateIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="SearchTimeout">
        <Dock:LineCapture.searchTimeout />
    </DefineArg>
    <DefineArg Name="CircleRadius">
        <Dock:LineCapture.searchCircleRadius />
    </DefineArg>
    <DefineArg Name="CircleMaxError">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CircleTurnToPort">
        <False />
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.01</Value>
    </DefineArg>
    <DefineArg Name="RudderDeadband">
        <Units:degree />
        <Value>0.001</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="ElapsedRange">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Range">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineOutput Name="DoneTimeout">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="Done">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DetachFromDock">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="Midcourse">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="Terminal">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="GuidanceMode">
        <Arg Name="DetachFromDock" />
    </DefineOutput>
    <DefineOutput Name="DockingDepth">
        <Units:meter />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LineCapRollout">
        <Units:count />
        <Value>5</Value>
    </DefineOutput>
    <When>
        <Called />
    </When>
    <Assign>
        <Sequence />
        <Arg Name="GuidanceMode" />
        <Arg Name="DetachFromDock" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="DockingDepth" />
        <Dock:Dock.depth />
        <Add>
            <Dock:Docked.dockingDepthOffset />
        </Add>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="ElapsedRange" />
        <Elapsed>
            <Universal:acoustic_contact_range />
        </Elapsed>
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="Range" />
        <Universal:acoustic_contact_range />
    </Assign>
    <Aggregate Id="HoldMass">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
            <Or>
                <Dock:LineCapture.guidanceMode />
                <Eq>
                    <Arg Name="LineCapRollout" />
                </Eq>
            </Or>
        </While>
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
    </Aggregate>
    <Aggregate Id="HoldBuoyancy">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
        </While>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
    </Aggregate>
    <Aggregate Id="HomingSequence">
        <Sequence />
        <Break>
            <Arg Name="GuidanceMode" />
            <Le>
                <Arg Name="Done" />
            </Le>
        </Break>
        <Aggregate Id="DetachFromDock">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="DetachFromDock" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Dock:Undock>
                    <Sequence />
                    <Timeout Duration="DetachTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to detach from dock at current depth of 
                            <Universal:depth />
                            <Units:meter />
                            .
                        </Syslog>
                    </Timeout>
                </Dock:Undock>
                <Syslog Severity="Info">Transitioning to midcourse guidance.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Midcourse" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MidcourseGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Midcourse" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">
                    Navigating to dock waypoint (
                    <Arg Name="DockLat" />
                    <Units:degree />
                    ,
                    <Arg Name="DockLon" />
                    <Units:degree />
                    )
                </Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Lt>
                            <Arg Name="TerminalRange" />
                        </Lt>
                        <And>
                            <Arg Name="ElapsedRange" />
                            <Le>
                                <Arg Name="AcousticTimeout" />
                            </Le>
                        </And>
                    </When>
                    <Syslog Severity="Info">
                        Transitioning to terminal guidance at range
                        <Arg Name="Range" />
                        <Units:meter />
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Terminal" />
                    </Assign>
                </Aggregate>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Waypoint>
                    <Sequence />
                    <Timeout Duration="MidcourseTimeout">
                        <Syslog Severity="Important">Terminating homing sequence: timed out while navigating to the dock waypoint.</Syslog>
                        <Assign>
                            <Sequence />
                            <Arg Name="GuidanceMode" />
                            <Arg Name="DoneTimeout" />
                        </Assign>
                    </Timeout>
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="DockLat" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="DockLon" />
                    </Setting>
                </Guidance:Waypoint>
                <Syslog Severity="Info">Executing search pattern.</Syslog>
                <Aggregate Id="SearchPattern">
                    <Sequence />
                    <Timeout Duration="SearchTimeout">
                        <Syslog Severity="Important">Timed out while executing search pattern around dock waypoint.</Syslog>
                    </Timeout>
                    <Guidance:Circle>
                        <Parallel />
                        <Setting>
                            <Guidance:Circle.latitude />
                            <Arg Name="DockLat" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.longitude />
                            <Arg Name="DockLon" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.radius />
                            <Arg Name="CircleRadius" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.maxError />
                            <Arg Name="CircleMaxError" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.turnToPort />
                            <Arg Name="CircleTurnToPort" />
                        </Setting>
                    </Guidance:Circle>
                    <Guidance:Wait>
                        <Sequence />
                        <Setting>
                            <Guidance:Wait.duration />
                            <Arg Name="SearchTimeout" />
                        </Setting>
                    </Guidance:Wait>
                </Aggregate>
                <Syslog Severity="Important">Homing sequence timed out prior to docking.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="DoneTimeout" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TerminalGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Terminal" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">Terminal guidance.</Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Ge>
                            <Arg Name="TerminalRange" />
                        </Ge>
                        <Or>
                            <Arg Name="ElapsedRange" />
                            <Gt>
                                <Arg Name="AcousticTimeout" />
                            </Gt>
                        </Or>
                    </When>
                    <Syslog Severity="Important">
                        Transitioning to midcourse guidance. Received last range of
                        <Arg Name="Range" />
                        <Units:meter />
                        <Arg Name="ElapsedRange" />
                        <Units:minute />
                        ago.
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Midcourse" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="altitudeControl">
                    <While>
                        <Not>
                            <IsNaN>
                                <Arg Name="DockingAltitude" />
                            </IsNaN>
                        </Not>
                    </While>
                    <Guidance:AltitudeServo>
                        <Parallel />
                        <Setting>
                            <Guidance:AltitudeServo.targetAltitude />
                            <Arg Name="DockingAltitude" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.initialDepth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.invalidAltitudeTimeout />
                            <Arg Name="InvalidAltitudeTimeout" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.maxDepthLimit />
                            <Arg Name="AltitudeDepthLimit" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.iirFilterDecay />
                            <Arg Name="AltitudeIIRFilterDecay" />
                        </Setting>
                    </Guidance:AltitudeServo>
                </Aggregate>
                <Aggregate Id="depthControl">
                    <While>
                        <IsNaN>
                            <Arg Name="DockingAltitude" />
                        </IsNaN>
                    </While>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Parallel />
                    <Servo:RudderServo.deviationAngle />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:HorizontalControl.rudDeadband />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Dock:LineCapture>
                    <Sequence />
                    <Setting>
                        <Dock:LineCapture.iirFilterDecay />
                        <Arg Name="losRateIIRFilterDecay" />
                    </Setting>
                </Dock:LineCapture>
                <Syslog Severity="Info">Docked. Homing sequence complete.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Done" />
                </Assign>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>3</Value>
        </Setting>
    </Guidance:Wait>
    <Syslog Severity="Info">
        GuidanceMode
        <Arg Name="GuidanceMode" />
        <Units:count />
    </Syslog>
</Aggregate>

2025-01-09T01:01:35.763Z,1736384495.763 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.903300 arcdeg
2025-01-09T01:01:35.766Z,1736384495.766 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.119000 arcdeg
2025-01-09T01:01:35.769Z,1736384495.769 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min
2025-01-09T01:01:35.771Z,1736384495.771 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m
2025-01-09T01:01:35.774Z,1736384495.774 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-01-09T01:01:35.776Z,1736384495.776 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h
2025-01-09T01:01:35.779Z,1736384495.779 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m
2025-01-09T01:01:35.781Z,1736384495.781 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min
2025-01-09T01:01:35.784Z,1736384495.784 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-01-09T01:01:35.787Z,1736384495.787 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min
2025-01-09T01:01:35.789Z,1736384495.789 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m
2025-01-09T01:01:35.791Z,1736384495.791 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m
2025-01-09T01:01:35.793Z,1736384495.793 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool
2025-01-09T01:01:35.796Z,1736384495.796 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m
2025-01-09T01:01:35.798Z,1736384495.798 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-01-09T01:01:35.800Z,1736384495.800 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m
2025-01-09T01:01:35.802Z,1736384495.802 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m
2025-01-09T01:01:35.864Z,1736384495.864 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m
2025-01-09T01:01:35.866Z,1736384495.866 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m
2025-01-09T01:01:35.873Z,1736384495.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:35.877Z,1736384495.877 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min
2025-01-09T01:01:35.879Z,1736384495.879 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m
2025-01-09T01:01:35.889Z,1736384495.889 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-01-09T01:01:35.900Z,1736384495.900 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min
2025-01-09T01:01:35.902Z,1736384495.902 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m
2025-01-09T01:01:35.913Z,1736384495.913 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count
2025-01-09T01:01:35.915Z,1736384495.915 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count
2025-01-09T01:01:35.925Z,1736384495.925 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count
2025-01-09T01:01:35.927Z,1736384495.927 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count
2025-01-09T01:01:35.934Z,1736384495.934 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count
2025-01-09T01:01:35.955Z,1736384495.955 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count
2025-01-09T01:01:35.958Z,1736384495.958 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m
2025-01-09T01:01:35.964Z,1736384495.964 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count
2025-01-09T01:01:35.973Z,1736384495.973 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-09T01:01:35.973Z,1736384495.973 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-09T01:01:35.974Z,1736384495.974 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-09T01:01:36.118Z,1736384496.118 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-09T01:01:36.125Z,1736384496.125 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-09T01:01:36.132Z,1736384496.132 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-09T01:01:36.134Z,1736384496.134 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-09T01:01:36.137Z,1736384496.137 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-09T01:01:36.138Z,1736384496.138 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-09T01:01:36.153Z,1736384496.153 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-09T01:01:36.174Z,1736384496.174 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-09T01:01:36.273Z,1736384496.273 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-01-09T01:01:36.275Z,1736384496.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:36.286Z,1736384496.286 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-09T01:01:36.308Z,1736384496.308 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-01-09T01:01:36.308Z,1736384496.308 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-01-09T01:01:36.349Z,1736384496.349 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-01-09T01:01:36.355Z,1736384496.355 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-01-09T01:01:36.363Z,1736384496.363 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-01-09T01:01:36.382Z,1736384496.382 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-01-09T01:01:36.387Z,1736384496.387 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-01-09T01:01:36.398Z,1736384496.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-01-09T01:01:36.403Z,1736384496.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-01-09T01:01:36.412Z,1736384496.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-01-09T01:01:36.439Z,1736384496.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-01-09T01:01:36.440Z,1736384496.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-01-09T01:01:36.444Z,1736384496.444 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-01-09T01:01:36.531Z,1736384496.531 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute.
2025-01-09T01:01:36.534Z,1736384496.534 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute.
2025-01-09T01:01:36.536Z,1736384496.536 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct.
2025-01-09T01:01:36.538Z,1736384496.538 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct.
2025-01-09T01:01:36.541Z,1736384496.541 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct.
2025-01-09T01:01:36.547Z,1736384496.547 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-01-09T01:01:36.561Z,1736384496.561 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-01-09T01:01:36.561Z,1736384496.561 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-01-09T01:01:36.562Z,1736384496.562 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-01-09T01:01:36.656Z,1736384496.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:36.722Z,1736384496.722 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="SetNavAcoustic">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DockRange">
        <Dock:SetNav.dockRange />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:SetNav.rangeTimeout />
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Dock:SetNav.time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="RangeTimeout" />
            </Gt>
            <And>
                <Estimation:TrackAcousticContact.range_to_contact />
                <Le>
                    <Arg Name="DockRange" />
                </Le>
            </And>
            <And>
                <Elapsed>
                    <Estimation:TrackAcousticContact.range_to_contact />
                </Elapsed>
                <Lt>
                    <Arg Name="RangeTimeout" />
                </Lt>
            </And>
        </Or>
    </When>
    <Aggregate Id="UpdateNav">
        <Sequence />
        <Timeout Duration="P1M" />
        <Syslog Severity="Info">
            Reseting nav to dock location at range
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
        </Syslog>
        <Dock:SetNav>
            <Sequence />
            <Setting>
                <Dock:SetNav.latitude />
                <Arg Name="DockLat" />
            </Setting>
            <Setting>
                <Dock:SetNav.longitude />
                <Arg Name="DockLon" />
            </Setting>
        </Dock:SetNav>
    </Aggregate>
</Aggregate>

2025-01-09T01:01:36.726Z,1736384496.726 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.903300 arcdeg
2025-01-09T01:01:36.728Z,1736384496.728 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.119000 arcdeg
2025-01-09T01:01:36.731Z,1736384496.731 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m
2025-01-09T01:01:36.749Z,1736384496.750 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-01-09T01:01:36.762Z,1736384496.762 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-01-09T01:01:36.772Z,1736384496.772 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct.
2025-01-09T01:01:36.772Z,1736384496.772 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-01-09T01:01:36.799Z,1736384496.799 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2025-01-09T01:01:36.799Z,1736384496.799 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2025-01-09T01:01:36.810Z,1736384496.810 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct.
2025-01-09T01:01:36.814Z,1736384496.814 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct.
2025-01-09T01:01:36.816Z,1736384496.816 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint.
2025-01-09T01:01:36.827Z,1736384496.827 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-09T01:01:36.830Z,1736384496.830 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct.
2025-01-09T01:01:36.835Z,1736384496.835 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct.
2025-01-09T01:01:36.853Z,1736384496.853 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct.
2025-01-09T01:01:36.856Z,1736384496.856 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait.
2025-01-09T01:01:36.920Z,1736384496.920 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission lineCaptureHoming {
  """
  Home to transponder while maintaining altitude or depth. Altitude gets
  priority if non nan. The mission sequence: (*) Start (1) Midcourse
  guidance: nav to target WP while querying transponder (2) Terminal
  guidance: home to target using USBL tracking data (4) Dock: final
  approach using fixed heading.
  """

  # Define mission arguments

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum length of mission
      """

    NeedCommsTime = 240 minute
      """
      How often to surface for commumications
      """

    MicromodemCommsInterval = 5 minute
      """
      How often to trigger Umodem communications
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through the homing
      sequence.
      """

    WaitOnDockTimeout = 5 minute
      """
      Time duration to wait on the dock after a successful line capture.
      """

    StayOnDock = false
      """
      If true, mission terminates after WaitOnDockTimeout following a successful
      capture, without executing the undock sequence.
      """

    TrySlide = false
      """
      If true, once docked, try to slide down the docking rod until charging and
      comms are acheived
      """

    RetryIncompleteDock = false
      """
      If true, restart docking sequence in event of a successful capture but
      unsuccessful slide
      """

    SlideRetries = 2 count
      """
      If using slide mode, max number of times to try the slide sequence before
      giving up
      """

    SlideSinkDuration = 5 minute
      """
      Time duration to slide down by sinking during each slide mode iteration
      """

    SlideCloseDuration = 5 minute
      """
      Time duration to close arm to check for power/comms during each slide mode
      iteration
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    TrackingUpdatePeriodMidcourse = 60 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodTerminal = 2.5 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodDocked = 2 minute
      """
      How long to wait between acoustic queries.
      """

    TrackingNumFixesLowPassFilter = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    NumPingsUSBL = 1 count
      """
      Number of pings requested while in USBL mode range.
      """

    RangeUSBL = 40 meter
      """
      USBL mode range.
      """

    TrackingNumFixesLowPassFilterUSBL = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    DockingAltitude = NaN meter
      """
      Docking altitude. Ignored when NaN and used over depth when a valid
      altitude is set.
      """

    InvalidAltitudeTimeout = NaN minute
      """
      The mission will use the last good depth command if no valid altitude
      readings are received within this specified time duration.
      """

    AltitudeDepthLimit = NaN meter
      """
      Vehicle will not be commanded deeper than this regardless of altitude
      command.
      """

    MinAltitude = 5 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 205 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum offshore distance for the entire mission.
      """

    ApproachDepthTimeout = 20 minute
      """
      Maximum wait time for the vehicle to reach the target depth on initial
      dive.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (positive depth is down). Used only as a smoothing
      parameter.
      """

    Lat1 = NaN degree
      """
      Latitude of rollout waypoint. If nan, waypoint is skipped.
      """

    Lon1 = NaN degree
      """
      Longitude of rollout waypoint. If nan, waypoint is skipped.
      """

    CaptureRadius = NaN meter
      """
      How close to call the waypiont behavior satisfied. Nan uses default
      value.
      """

    CorrectForSoundSpeed = false
      """
      Whether or not to apply sound speed correction to acoustic ranges
      """

    # Mission Variables (don't change)

    MidcourseDepth = Dock:LineCapture.midcourseDepth
      """
      Desired vehicle depth when navigating to dock WP (during midcourse
      phase).
      """

    MidcourseSpeed = Dock:LineCapture.midcourseSpeed
      """
      Speed during initial dive and waypoint.
      """

    TrackingPeriod = 60 second
      """
      Mission variable (don't change). The mission sets this variable to
      update the how long to wait between acoustic queries.
      """
  }

  output {
    Mode = -1 count
      """
      Mission variable (don't change). The mission sets this variable to
      reflect the termination status of the LineCapture insert.
      """

    NumPings = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinSize = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinOverlap = true
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    EndDockingSequence = StayOnDock
      """
      Mission variable (don't change). The mission sets this variable to
      determine whether or not to restart the docking sequence upon
      completion of the Docked behavior.
      """

    LastDockSuccessful = false
      """
      Mission variable (don't change). The mission sets this variable based
      on the last run of the Docked behavior
      """

    DockSuccessfulCount = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      track the number of complete docking attempts
      """

    RepeatArg = Repeat
      """
      Mission variable (don't change). Actual number of Lap repetitions
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  insert Insert/Science.tl {
    """
    Most missions will run the science sensors. If you don't place this
    aggregate above NeedComms, science instruments get turned off on the
    last upcast and while floating on the surface.
    """
  }

  # Safety nets and surfacing behaviors

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime
  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  # Micromodem comms

  insert id="MicromodemComms" Insert/MicromodemComms.tl {
    redefineArg CommsInterval = MicromodemCommsInterval
  }

  readData {
    while (
      Mode >= 0 count
      and Sensor:DataOverHttps.connectionStatus == true
    )

    Universal:platform_communications
  }

  # Add LineCapture directives.

  insert Insert/LineCapture.tl

  assign in sequence LineCapture:MaxDepth = MaxDepth
  assign in sequence LineCapture:MinOffshore = MinOffshore
  assign in sequence LineCapture:MinAltitude = MinAltitude
  assign in sequence LineCapture:DockingAltitude = DockingAltitude
  assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout
  assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit

  # Add track acoustic contact directive.

  assign in sequence NumPings = NumberOfPings

  behavior Estimation:TrackAcousticContact id="TrackAC" {
    run in parallel

    set contactLabelSetting = TransponderCode

    set numberOfSamplesSetting = NumPings

    set updatePeriodSetting = TrackingPeriod

    set numFixesLowPassSetting = LowPassFilterWinSize

    set lowPassOverlapSetting = LowPassFilterWinOverlap

    set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed
  }

  # Add USBL mode directives.

  aggregate UpdateNumPings_NotTerminal {
    run while (
      not ( LineCapture:GuidanceMode == LineCapture:Terminal )
      and not ( NumPings == NumberOfPings )
    )

    syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count
         + "pings."
    assign in sequence NumPings = NumberOfPings
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdateNumPings_Terminal {
    run while (
      LineCapture:GuidanceMode == LineCapture:Terminal
    )

    aggregate UpdateNumPingsUSBL {
      run when (
        not ( NumPings == NumPingsUSBL )
        and (
          ( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout
          and not ( Dock:LineCapture.guidanceMode == 5 count )
        )
      )

      syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumPingsUSBL
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL
      assign in sequence LowPassFilterWinOverlap = true
    }

    aggregate UpdateNumPingsATR {
      run when (
        not ( NumPings == NumberOfPings )
        and (
          ( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout
          or Dock:LineCapture.guidanceMode == 5 count
        )
      )

      syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumberOfPings
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
      assign in sequence LowPassFilterWinOverlap = true
    }
  }

  aggregate UpdatePingUpdateRate_Midcourse {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodMidcourse )
      and (
        ( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout
        or Dock:LineCapture.guidanceMode == 5 count
      )
    )

    syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdatePingUpdateRate_Terminal {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodTerminal )
      and (
        ( LineCapture:Range <= LineCapture:TerminalRange )
        and not ( Dock:LineCapture.guidanceMode == 5 count )
        and not ( LineCapture:GuidanceMode == 0 count )
      ) # don't enter fast ping mode during rollout or on dock
    )

    syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate restartDHCP {
    run when ( called )

    syslog important "Restarting DHCP..."

    behavior Guidance:Execute {
      run in sequence

      set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh"
    }
  }

  # Start mission sequence.

  call id="StartingMission" refId="NeedComms"

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate InitialDive {
    run in sequence

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = MidcourseSpeed
    }

    behavior Guidance:Mass {
      run in parallel

      set position = Control:VerticalControl.massDefault
    }

    behavior Guidance:Pitch {
      run in sequence

      timeout duration=ApproachDepthTimeout {
        syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of "
             + Universal:depth~meter

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      set depth = MidcourseDepth
      set depthRate = ApproachDepthRate
    }
  }

  # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the
  # required repetition count (which has just been decremented by the lap attempt).
  # But that repeat check is evaluated at the beginning of the aggregate, not the end.
  # In order to be able to retry an incomplete docking attempt on the last lap
  # we need to make it back up to the top of the Lap aggregate somehow.
  # Solve this by quietly setting the repeat count to one more than actually desired.
  # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra
  # lap, but starting the Lap aggregate will allow us to check the repeat on each run.
  aggregate RepeatHack {
    run in sequence

    break if ( not RetryIncompleteDock )

    assign in sequence RepeatArg = Repeat + 1 count
  }

  aggregate Lap {
    run in sequence repeat=RepeatArg

    break if (
      ( StayOnDock
        and LastDockSuccessful
      )
      or (
        RetryIncompleteDock
        # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count
        and ( DockSuccessfulCount == Repeat )
      )
    )

    assign in sequence Mode = -99 count

    # Execute the LineCapture sequence.

    call refId="LineCapture"
    assign in sequence Mode = LineCapture:GuidanceMode
    syslog info "Mode" + Mode~count


    call refId="restartDHCP"

    aggregate Docked {
      run in sequence

      break if ( Mode < 0 count )

      syslog info "Waiting on dock for " + WaitOnDockTimeout~minute

      # Add SetNav directives.

      insert Insert/SetNavAcoustic.tl

      assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked

      assign in sequence EndDockingSequence = StayOnDock

      behavior Dock:Docked id="Docked" {
        run in sequence

        timeout duration=WaitOnDockTimeout

        set slideSinkTime = SlideSinkDuration
        set slideCloseTime = SlideCloseDuration
        set slideRetries = SlideRetries
        set slideAllowed = TrySlide
        outputArg LastDockSuccessful = dockSuccessful
      }

      # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock
      aggregate setCompletion {
        run in sequence

        break if ( not RetryIncompleteDock )

        assign in sequence EndDockingSequence = ( LastDockSuccessful
          and StayOnDock
        )
        assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful

        aggregate setRetry {
          run in sequence

          break if ( LastDockSuccessful )

          syslog important "Retrying incomplete docking attempt"

          # This lap failed and doesn't "count", so repeat one additional time
          assign in sequence RepeatArg = RepeatArg + 1 count
        }
      }

      aggregate Detach {
        run in sequence

        break if ( EndDockingSequence )

        syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "."

        behavior Dock:Undock id="Undock" {
          run in sequence
        }

        call refId="restartDHCP"
      }

      aggregate Wpt1 {
        run in sequence

        break if (
          isNaN ( Lat1 )
          or isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree

        behavior Guidance:Pitch {
          run in parallel

          set depth = MidcourseDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = MidcourseSpeed
        }

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat1

          set longitude = Lon1

          set captureRadius = CaptureRadius
        }
      }

      aggregate Drift {
        """
        Drift before next docking attempt
        """

        run in sequence

        break if (
          not isNaN ( Lat1 )
          and not isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "No post-undock waypoint, drifting for "
             + Dock:LineCapture.rolloutTimeout~minute + " minutes"

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = Control:VerticalControl.massDefault

          set elevatorAngle = 0 degree
        }

        behavior Guidance:Point {
          run in parallel

          set rudderAngle = 0 degree
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 meter_per_second
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = Dock:LineCapture.rolloutTimeout
        }
      }
    }
  }
}


2025-01-09T01:01:36.921Z,1736384496.921 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming
2025-01-09T01:01:37.064Z,1736384497.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:37.495Z,1736384497.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:01:37.495Z,1736384497.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:37.873Z,1736384497.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:01:37.873Z,1736384497.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:38.272Z,1736384498.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:01:38.272Z,1736384498.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:38.681Z,1736384498.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:01:38.681Z,1736384498.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:39.088Z,1736384499.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:01:39.088Z,1736384499.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:39.514Z,1736384499.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:39.887Z,1736384499.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:40.292Z,1736384500.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:40.704Z,1736384500.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:41.124Z,1736384501.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:41.542Z,1736384501.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:01:41.542Z,1736384501.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:41.910Z,1736384501.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:01:41.910Z,1736384501.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:42.317Z,1736384502.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:01:42.317Z,1736384502.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:42.726Z,1736384502.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:01:42.726Z,1736384502.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:43.117Z,1736384503.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:01:43.117Z,1736384503.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:43.587Z,1736384503.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:01:43.587Z,1736384503.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:43.940Z,1736384503.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:01:43.940Z,1736384503.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:44.350Z,1736384504.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:01:44.350Z,1736384504.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:44.754Z,1736384504.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:01:44.754Z,1736384504.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:45.169Z,1736384505.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T01:01:45.169Z,1736384505.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:45.578Z,1736384505.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:01:45.578Z,1736384505.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:45.959Z,1736384505.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T01:01:45.960Z,1736384505.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:46.369Z,1736384506.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T01:01:46.369Z,1736384506.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:46.768Z,1736384506.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s.
2025-01-09T01:01:46.768Z,1736384506.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:47.181Z,1736384507.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:01:47.181Z,1736384507.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:47.611Z,1736384507.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:01:47.611Z,1736384507.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:47.984Z,1736384507.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:01:47.985Z,1736384507.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:48.387Z,1736384508.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:01:48.388Z,1736384508.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:48.791Z,1736384508.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T01:01:48.792Z,1736384508.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:49.221Z,1736384509.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T01:01:49.221Z,1736384509.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:49.707Z,1736384509.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.6 s old, using for 20.0 s.
2025-01-09T01:01:49.708Z,1736384509.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:50.005Z,1736384510.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T01:01:50.005Z,1736384510.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:50.456Z,1736384510.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T01:01:50.457Z,1736384510.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:50.801Z,1736384510.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T01:01:50.801Z,1736384510.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:51.203Z,1736384511.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T01:01:51.203Z,1736384511.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:51.642Z,1736384511.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:52.007Z,1736384512.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:52.416Z,1736384512.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:52.699Z,1736384512.699 [DataOverHttps](INFO): Received command: schedule resume
2025-01-09T01:01:52.823Z,1736384512.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:53.219Z,1736384513.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:53.667Z,1736384513.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:01:53.667Z,1736384513.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:54.029Z,1736384514.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:01:54.029Z,1736384514.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:54.438Z,1736384514.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:01:54.439Z,1736384514.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:54.837Z,1736384514.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:01:54.837Z,1736384514.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:55.296Z,1736384515.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s.
2025-01-09T01:01:55.296Z,1736384515.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:55.668Z,1736384515.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T01:01:55.668Z,1736384515.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:55.708Z,1736384515.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T01:01:56.061Z,1736384516.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:01:56.061Z,1736384516.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:56.462Z,1736384516.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:01:56.462Z,1736384516.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:56.856Z,1736384516.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:01:56.856Z,1736384516.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:57.359Z,1736384517.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T01:01:57.359Z,1736384517.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:57.664Z,1736384517.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s.
2025-01-09T01:01:57.665Z,1736384517.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:58.073Z,1736384518.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T01:01:58.074Z,1736384518.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:58.192Z,1736384518.192 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 3 hour
2025-01-09T01:01:58.193Z,1736384518.193 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 9 hour
2025-01-09T01:01:58.193Z,1736384518.193 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 8 minute
2025-01-09T01:01:58.194Z,1736384518.194 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool
2025-01-09T01:01:58.197Z,1736384518.197 [CommandExec](IMPORTANT): got command schedule resume
2025-01-09T01:01:58.197Z,1736384518.197 [CommandExec](IMPORTANT): Scheduling is resumed
2025-01-09T01:01:58.468Z,1736384518.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T01:01:58.468Z,1736384518.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:58.875Z,1736384518.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:01:58.875Z,1736384518.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:59.355Z,1736384519.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:01:59.356Z,1736384519.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:01:59.685Z,1736384519.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:01:59.685Z,1736384519.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:00.093Z,1736384520.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:02:00.093Z,1736384520.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:00.496Z,1736384520.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:02:00.496Z,1736384520.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:00.904Z,1736384520.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T01:02:00.904Z,1736384520.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:01.382Z,1736384521.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.2 s old, using for 20.0 s.
2025-01-09T01:02:01.382Z,1736384521.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:01.711Z,1736384521.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T01:02:01.712Z,1736384521.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:02.120Z,1736384522.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T01:02:02.120Z,1736384522.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:02.512Z,1736384522.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T01:02:02.512Z,1736384522.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:02.921Z,1736384522.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T01:02:02.921Z,1736384522.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:03.375Z,1736384523.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:03.730Z,1736384523.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:04.128Z,1736384524.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:04.531Z,1736384524.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:04.936Z,1736384524.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:05.362Z,1736384525.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:05.740Z,1736384525.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:06.147Z,1736384526.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:06.552Z,1736384526.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:06.959Z,1736384526.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:07.388Z,1736384527.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:07.760Z,1736384527.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:08.172Z,1736384528.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:08.575Z,1736384528.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:08.975Z,1736384528.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:09.414Z,1736384529.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:02:09.414Z,1736384529.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:09.788Z,1736384529.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:02:09.788Z,1736384529.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:10.198Z,1736384530.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:02:10.198Z,1736384530.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:10.592Z,1736384530.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:02:10.592Z,1736384530.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:10.997Z,1736384530.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:02:10.997Z,1736384530.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:11.425Z,1736384531.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T01:02:11.426Z,1736384531.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:11.813Z,1736384531.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:02:11.813Z,1736384531.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:12.208Z,1736384532.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:02:12.208Z,1736384532.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:12.609Z,1736384532.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:02:12.609Z,1736384532.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:13.020Z,1736384533.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T01:02:13.020Z,1736384533.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:13.444Z,1736384533.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:13.824Z,1736384533.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:14.223Z,1736384534.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:14.647Z,1736384534.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:15.035Z,1736384535.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:15.480Z,1736384535.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:02:15.481Z,1736384535.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:15.852Z,1736384535.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:02:15.852Z,1736384535.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:16.261Z,1736384536.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:02:16.261Z,1736384536.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:16.649Z,1736384536.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:02:16.649Z,1736384536.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:17.061Z,1736384537.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:02:17.061Z,1736384537.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:17.507Z,1736384537.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:02:17.515Z,1736384537.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:17.864Z,1736384537.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:02:17.864Z,1736384537.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:18.265Z,1736384538.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:02:18.265Z,1736384538.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:18.430Z,1736384538.430 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool
2025-01-09T01:02:18.430Z,1736384538.430 [CommandExec](IMPORTANT): got command set lineCaptureHoming.RetryIncompleteDock 1 bool
2025-01-09T01:02:18.431Z,1736384538.431 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 4 count
2025-01-09T01:02:18.432Z,1736384538.432 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideSinkDuration 1.5 minute
2025-01-09T01:02:18.433Z,1736384538.433 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 1.5 minute
2025-01-09T01:02:18.673Z,1736384538.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:02:18.673Z,1736384538.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:19.080Z,1736384539.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T01:02:19.080Z,1736384539.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:19.509Z,1736384539.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:02:19.509Z,1736384539.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:19.880Z,1736384539.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T01:02:19.880Z,1736384539.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:20.288Z,1736384540.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T01:02:20.288Z,1736384540.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:20.696Z,1736384540.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:02:20.696Z,1736384540.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:21.109Z,1736384541.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:02:21.110Z,1736384541.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:21.536Z,1736384541.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:02:21.536Z,1736384541.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:21.904Z,1736384541.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:02:21.904Z,1736384541.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:22.305Z,1736384542.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:02:22.305Z,1736384542.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:22.716Z,1736384542.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T01:02:22.716Z,1736384542.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:23.125Z,1736384543.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T01:02:23.126Z,1736384543.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:23.551Z,1736384543.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T01:02:23.551Z,1736384543.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:23.928Z,1736384543.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T01:02:23.928Z,1736384543.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:24.332Z,1736384544.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T01:02:24.332Z,1736384544.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:24.742Z,1736384544.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T01:02:24.742Z,1736384544.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:25.136Z,1736384545.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T01:02:25.136Z,1736384545.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:25.558Z,1736384545.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:25.948Z,1736384545.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:26.357Z,1736384546.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:26.751Z,1736384546.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:26.840Z,1736384546.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T01:02:27.155Z,1736384547.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:27.596Z,1736384547.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:02:27.596Z,1736384547.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:27.974Z,1736384547.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:02:27.975Z,1736384547.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:28.369Z,1736384548.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:02:28.369Z,1736384548.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:28.773Z,1736384548.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:02:28.773Z,1736384548.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:29.174Z,1736384549.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:02:29.175Z,1736384549.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:29.604Z,1736384549.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T01:02:29.604Z,1736384549.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:29.972Z,1736384549.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:02:29.972Z,1736384549.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:30.394Z,1736384550.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:02:30.395Z,1736384550.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:30.796Z,1736384550.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:02:30.796Z,1736384550.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:31.193Z,1736384551.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T01:02:31.193Z,1736384551.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:31.646Z,1736384551.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:02:31.646Z,1736384551.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:32.013Z,1736384552.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T01:02:32.013Z,1736384552.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:32.416Z,1736384552.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T01:02:32.416Z,1736384552.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:32.812Z,1736384552.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:02:32.812Z,1736384552.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:33.218Z,1736384553.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:02:33.218Z,1736384553.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:33.679Z,1736384553.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:02:33.679Z,1736384553.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:34.037Z,1736384554.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:02:34.037Z,1736384554.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:34.425Z,1736384554.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:02:34.425Z,1736384554.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:34.836Z,1736384554.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T01:02:34.836Z,1736384554.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:35.267Z,1736384555.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T01:02:35.292Z,1736384555.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:35.383Z,1736384555.383 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 second
2025-01-09T01:02:35.384Z,1736384555.384 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NumPingsUSBL 120 count
2025-01-09T01:02:35.385Z,1736384555.385 [CommandExec](IMPORTANT): got command set lineCaptureHoming.RangeUSBL 40 meter
2025-01-09T01:02:35.385Z,1736384555.385 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.05 meter
2025-01-09T01:02:35.678Z,1736384555.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T01:02:35.678Z,1736384555.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:36.031Z,1736384556.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T01:02:36.032Z,1736384556.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:36.453Z,1736384556.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T01:02:36.453Z,1736384556.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:36.856Z,1736384556.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T01:02:36.856Z,1736384556.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:37.346Z,1736384557.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:37.661Z,1736384557.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:38.071Z,1736384558.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:38.472Z,1736384558.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:38.882Z,1736384558.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:39.364Z,1736384559.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:39.688Z,1736384559.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:40.086Z,1736384560.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:40.498Z,1736384560.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:40.887Z,1736384560.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:41.368Z,1736384561.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:41.704Z,1736384561.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:42.099Z,1736384562.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:42.507Z,1736384562.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:42.908Z,1736384562.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:43.370Z,1736384563.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T01:02:43.370Z,1736384563.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:43.724Z,1736384563.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:02:43.724Z,1736384563.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:44.136Z,1736384564.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:02:44.136Z,1736384564.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:44.532Z,1736384564.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:02:44.532Z,1736384564.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:44.937Z,1736384564.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:02:44.937Z,1736384564.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:45.364Z,1736384565.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:02:45.364Z,1736384565.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:45.732Z,1736384565.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:02:45.732Z,1736384565.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:46.144Z,1736384566.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:02:46.144Z,1736384566.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:46.553Z,1736384566.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:02:46.553Z,1736384566.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:46.956Z,1736384566.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T01:02:46.956Z,1736384566.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:47.395Z,1736384567.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:02:47.395Z,1736384567.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:47.760Z,1736384567.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T01:02:47.760Z,1736384567.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:48.166Z,1736384568.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T01:02:48.166Z,1736384568.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:48.572Z,1736384568.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:02:48.572Z,1736384568.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:48.982Z,1736384568.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:02:48.982Z,1736384568.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:49.418Z,1736384569.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:02:49.419Z,1736384569.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:49.790Z,1736384569.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:02:49.791Z,1736384569.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:50.194Z,1736384570.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:02:50.194Z,1736384570.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:50.601Z,1736384570.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T01:02:50.601Z,1736384570.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:51.001Z,1736384571.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T01:02:51.001Z,1736384571.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:51.453Z,1736384571.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T01:02:51.453Z,1736384571.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:51.590Z,1736384571.590 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute
2025-01-09T01:02:51.590Z,1736384571.590 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 70 meter
2025-01-09T01:02:51.591Z,1736384571.591 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MinAltitude 4 meter
2025-01-09T01:02:51.592Z,1736384571.592 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 72 meter
2025-01-09T01:02:51.592Z,1736384571.592 [CommandExec](IMPORTANT): got command run
2025-01-09T01:02:51.594Z,1736384571.594 [CommandExec](IMPORTANT): Running 
2025-01-09T01:02:51.804Z,1736384571.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T01:02:51.804Z,1736384571.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:51.808Z,1736384571.808 [DefaultWithUndock] Stopped
2025-01-09T01:02:51.809Z,1736384571.809 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-01-09T01:02:51.809Z,1736384571.809 [DefaultWithUndock:SurfaceDefault] Stopped
2025-01-09T01:02:51.809Z,1736384571.809 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-01-09T01:02:51.809Z,1736384571.809 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-01-09T01:02:51.809Z,1736384571.809 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-09T01:02:51.809Z,1736384571.809 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-01-09T01:02:51.809Z,1736384571.809 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-01-09T01:02:51.809Z,1736384571.809 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-01-09T01:02:51.809Z,1736384571.809 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-09T01:02:51.809Z,1736384571.809 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2025-01-09T01:02:51.810Z,1736384571.810 [lineCaptureHoming] Running Loop=1
2025-01-09T01:02:51.810Z,1736384571.810 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2025-01-09T01:02:51.810Z,1736384571.810 [lineCaptureHoming:Science] Running Loop=1
2025-01-09T01:02:51.810Z,1736384571.810 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science
2025-01-09T01:02:51.810Z,1736384571.810 [lineCaptureHoming:Science:A] Running Loop=1
2025-01-09T01:02:51.810Z,1736384571.810 [lineCaptureHoming:Science:B] Running Loop=1
2025-01-09T01:02:51.810Z,1736384571.810 [lineCaptureHoming:Science:C] Running Loop=1
2025-01-09T01:02:51.810Z,1736384571.810 [lineCaptureHoming:Science:D] Running Loop=1
2025-01-09T01:02:51.810Z,1736384571.810 [lineCaptureHoming:Science:E] Running Loop=1
2025-01-09T01:02:51.810Z,1736384571.810 [lineCaptureHoming:Science:F] Running Loop=1
2025-01-09T01:02:51.810Z,1736384571.810 [lineCaptureHoming:Science:Read_Oil] Running Loop=1
2025-01-09T01:02:51.810Z,1736384571.810 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1
2025-01-09T01:02:51.811Z,1736384571.811 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl
2025-01-09T01:02:51.811Z,1736384571.811 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T01:02:51.811Z,1736384571.811 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T01:02:51.812Z,1736384571.812 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1
2025-01-09T01:02:51.812Z,1736384571.812 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport
2025-01-09T01:02:51.812Z,1736384571.812 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-09T01:02:51.813Z,1736384571.813 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-09T01:02:51.813Z,1736384571.813 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1
2025-01-09T01:02:51.813Z,1736384571.813 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3
2025-01-09T01:02:51.814Z,1736384571.814 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T01:02:51.814Z,1736384571.814 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T01:02:51.815Z,1736384571.815 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1
2025-01-09T01:02:51.815Z,1736384571.815 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil
2025-01-09T01:02:51.816Z,1736384571.816 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T01:02:51.816Z,1736384571.816 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T01:02:51.817Z,1736384571.817 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1
2025-01-09T01:02:51.817Z,1736384571.817 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport
2025-01-09T01:02:51.817Z,1736384571.817 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-09T01:02:51.817Z,1736384571.817 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-09T01:02:51.818Z,1736384571.818 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1
2025-01-09T01:02:51.818Z,1736384571.818 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM
2025-01-09T01:02:51.818Z,1736384571.818 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T01:02:51.818Z,1736384571.818 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T01:02:51.819Z,1736384571.819 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1
2025-01-09T01:02:51.819Z,1736384571.819 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity
2025-01-09T01:02:51.820Z,1736384571.820 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T01:02:51.820Z,1736384571.820 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T01:02:51.821Z,1736384571.821 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1
2025-01-09T01:02:51.821Z,1736384571.821 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-01-09T01:02:51.821Z,1736384571.821 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-09T01:02:51.821Z,1736384571.821 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-09T01:02:51.822Z,1736384571.822 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-01-09T01:02:51.822Z,1736384571.822 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-01-09T01:02:51.822Z,1736384571.822 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T01:02:51.822Z,1736384571.822 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T01:02:51.822Z,1736384571.822 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-09T01:02:51.823Z,1736384571.823 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-01-09T01:02:51.823Z,1736384571.823 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-01-09T01:02:51.823Z,1736384571.823 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T01:02:51.824Z,1736384571.824 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T01:02:51.824Z,1736384571.824 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-09T01:02:51.825Z,1736384571.825 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-01-09T01:02:51.825Z,1736384571.825 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-01-09T01:02:51.825Z,1736384571.825 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T01:02:51.825Z,1736384571.825 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T01:02:51.825Z,1736384571.825 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence.
2025-01-09T01:02:51.826Z,1736384571.826 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-01-09T01:02:51.826Z,1736384571.826 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-09T01:02:51.826Z,1736384571.826 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T01:02:51.826Z,1736384571.826 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T01:02:51.827Z,1736384571.827 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence.
2025-01-09T01:02:51.828Z,1736384571.828 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1
2025-01-09T01:02:51.828Z,1736384571.828 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger
2025-01-09T01:02:51.828Z,1736384571.828 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-01-09T01:02:51.828Z,1736384571.828 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-01-09T01:02:51.828Z,1736384571.828 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1
2025-01-09T01:02:51.829Z,1736384571.829 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent
2025-01-09T01:02:51.829Z,1736384571.829 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-01-09T01:02:51.829Z,1736384571.829 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-01-09T01:02:51.829Z,1736384571.829 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-01-09T01:02:51.829Z,1736384571.829 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2025-01-09T01:02:51.829Z,1736384571.829 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-09T01:02:51.829Z,1736384571.829 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-09T01:02:51.829Z,1736384571.829 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-09T01:02:51.829Z,1736384571.829 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-09T01:02:51.829Z,1736384571.829 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-09T01:02:51.830Z,1736384571.830 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-09T01:02:51.830Z,1736384571.830 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-09T01:02:51.830Z,1736384571.830 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-01-09T01:02:51.830Z,1736384571.830 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-01-09T01:02:51.830Z,1736384571.830 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-09T01:02:51.830Z,1736384571.830 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-01-09T01:02:51.830Z,1736384571.830 [lineCaptureHoming:J] Running Loop=1
2025-01-09T01:02:51.830Z,1736384571.830 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-01-09T01:02:51.830Z,1736384571.830 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact.
2025-01-09T01:02:51.830Z,1736384571.830 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-01-09T01:02:51.831Z,1736384571.831 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-01-09T01:02:51.831Z,1736384571.831 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-01-09T01:02:51.831Z,1736384571.831 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-01-09T01:02:51.831Z,1736384571.831 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-01-09T01:02:51.831Z,1736384571.831 [lineCaptureHoming:C] Running Loop=1
2025-01-09T01:02:51.833Z,1736384571.833 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-01-09T01:02:51.833Z,1736384571.833 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-01-09T01:02:51.833Z,1736384571.833 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-01-09T01:02:51.833Z,1736384571.833 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-01-09T01:02:51.833Z,1736384571.833 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-01-09T01:02:51.833Z,1736384571.833 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-01-09T01:02:51.834Z,1736384571.834 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-01-09T01:02:51.834Z,1736384571.834 [lineCaptureHoming:J] Stopped
2025-01-09T01:02:51.834Z,1736384571.834 [lineCaptureHoming:MicromodemComms] Stopped
2025-01-09T01:02:51.834Z,1736384571.834 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-01-09T01:02:51.834Z,1736384571.834 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-01-09T01:02:51.834Z,1736384571.834 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-09T01:02:51.834Z,1736384571.834 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-01-09T01:02:51.835Z,1736384571.835 [lineCaptureHoming:C] Stopped
2025-01-09T01:02:51.835Z,1736384571.835 [lineCaptureHoming:D] Running Loop=1
2025-01-09T01:02:51.835Z,1736384571.835 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-01-09T01:02:51.835Z,1736384571.835 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-09T01:02:51.836Z,1736384571.836 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-09T01:02:51.836Z,1736384571.836 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-09T01:02:51.836Z,1736384571.836 [lineCaptureHoming:Science] Running Loop=1
2025-01-09T01:02:51.837Z,1736384571.837 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped
2025-01-09T01:02:51.837Z,1736384571.837 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-01-09T01:02:51.838Z,1736384571.838 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-09T01:02:51.839Z,1736384571.839 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T01:02:51.839Z,1736384571.839 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-01-09T01:02:51.839Z,1736384571.839 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-01-09T01:02:51.839Z,1736384571.839 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-09T01:02:51.839Z,1736384571.839 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T01:02:51.855Z,1736384571.855 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped
2025-01-09T01:02:51.856Z,1736384571.856 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport
2025-01-09T01:02:51.857Z,1736384571.857 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-09T01:02:51.857Z,1736384571.857 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-09T01:02:51.857Z,1736384571.857 [lineCaptureHoming:Science:PeakDetectOil] Stopped
2025-01-09T01:02:51.857Z,1736384571.857 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil
2025-01-09T01:02:51.857Z,1736384571.857 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2025-01-09T01:02:51.857Z,1736384571.857 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T01:02:51.857Z,1736384571.857 [lineCaptureHoming:Science:PeakDetectNO3] Stopped
2025-01-09T01:02:51.857Z,1736384571.857 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3
2025-01-09T01:02:51.857Z,1736384571.857 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2025-01-09T01:02:51.857Z,1736384571.857 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T01:02:51.857Z,1736384571.857 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped
2025-01-09T01:02:51.857Z,1736384571.857 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport
2025-01-09T01:02:51.858Z,1736384571.858 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-09T01:02:51.858Z,1736384571.858 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-09T01:02:51.858Z,1736384571.858 [lineCaptureHoming:Science:PeakDetectChl] Stopped
2025-01-09T01:02:51.858Z,1736384571.858 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl
2025-01-09T01:02:51.858Z,1736384571.858 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2025-01-09T01:02:51.858Z,1736384571.858 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T01:02:51.858Z,1736384571.858 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-01-09T01:02:51.858Z,1736384571.858 [lineCaptureHoming:Science:Read_Oil] Stopped
2025-01-09T01:02:51.858Z,1736384571.858 [lineCaptureHoming:Science:F] Running Loop=1
2025-01-09T01:02:51.859Z,1736384571.859 [lineCaptureHoming:Science:F](DEBUG): Initialize ReadDataComponent to sense WetLabsUBAT.average_bioluminescence
2025-01-09T01:02:51.859Z,1736384571.859 [lineCaptureHoming:Science:E] Running Loop=1
2025-01-09T01:02:51.864Z,1736384571.864 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-01-09T01:02:51.864Z,1736384571.864 [lineCaptureHoming:Science:D] Stopped
2025-01-09T01:02:51.864Z,1736384571.864 [lineCaptureHoming:Science:C] Running Loop=1
2025-01-09T01:02:51.864Z,1736384571.864 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-01-09T01:02:51.865Z,1736384571.865 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-01-09T01:02:51.865Z,1736384571.865 [lineCaptureHoming:Science:B] Running Loop=1
2025-01-09T01:02:51.865Z,1736384571.865 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-01-09T01:02:51.866Z,1736384571.866 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-01-09T01:02:51.866Z,1736384571.866 [lineCaptureHoming:Science:A] Stopped
2025-01-09T01:02:52.188Z,1736384572.188 [WetLabsBB2FL](INFO): Powering up
2025-01-09T01:02:52.205Z,1736384572.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T01:02:52.205Z,1736384572.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:52.220Z,1736384572.220 [lineCaptureHoming:D] Stopped
2025-01-09T01:02:52.220Z,1736384572.220 [lineCaptureHoming:E] Running Loop=1
2025-01-09T01:02:52.540Z,1736384572.540 [WetLabsUBAT](INFO): Powering up
2025-01-09T01:02:52.600Z,1736384572.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T01:02:52.600Z,1736384572.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:52.607Z,1736384572.607 [lineCaptureHoming:E] Stopped
2025-01-09T01:02:52.607Z,1736384572.607 [lineCaptureHoming:G] Running Loop=1
2025-01-09T01:02:52.000Z,1736384573.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T01:02:52.000Z,1736384573.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:53.006Z,1736384573.006 [lineCaptureHoming:G] Stopped
2025-01-09T01:02:53.006Z,1736384573.006 [lineCaptureHoming:H] Running Loop=1
2025-01-09T01:02:53.434Z,1736384573.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:53.441Z,1736384573.441 [lineCaptureHoming:H] Stopped
2025-01-09T01:02:53.441Z,1736384573.441 [lineCaptureHoming:L] Running Loop=1
2025-01-09T01:02:53.811Z,1736384573.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:53.818Z,1736384573.818 [lineCaptureHoming:L] Stopped
2025-01-09T01:02:53.818Z,1736384573.818 [lineCaptureHoming:M] Running Loop=1
2025-01-09T01:02:54.234Z,1736384574.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:54.256Z,1736384574.256 [lineCaptureHoming:M] Stopped
2025-01-09T01:02:54.256Z,1736384574.256 [lineCaptureHoming:N] Running Loop=1
2025-01-09T01:02:54.624Z,1736384574.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:54.630Z,1736384574.630 [lineCaptureHoming:N] Stopped
2025-01-09T01:02:54.630Z,1736384574.630 [lineCaptureHoming:O] Running Loop=1
2025-01-09T01:02:54.960Z,1736384574.960 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.255405
2025-01-09T01:02:55.030Z,1736384575.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:55.038Z,1736384575.038 [lineCaptureHoming:O] Stopped
2025-01-09T01:02:55.040Z,1736384575.040 [lineCaptureHoming:P] Running Loop=1
2025-01-09T01:02:55.109Z,1736384575.109 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-01-09T01:02:55.461Z,1736384575.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:55.467Z,1736384575.467 [lineCaptureHoming:P] Stopped
2025-01-09T01:02:55.467Z,1736384575.467 [lineCaptureHoming:Q] Running Loop=1
2025-01-09T01:02:55.831Z,1736384575.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:55.837Z,1736384575.837 [lineCaptureHoming:Q] Stopped
2025-01-09T01:02:55.837Z,1736384575.837 [lineCaptureHoming:U] Running Loop=1
2025-01-09T01:02:55.965Z,1736384575.965 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T01:02:56.239Z,1736384576.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:56.245Z,1736384576.245 [lineCaptureHoming:U] Stopped
2025-01-09T01:02:56.245Z,1736384576.245 [lineCaptureHoming:StartingMission] Running Loop=1
2025-01-09T01:02:56.245Z,1736384576.245 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2025-01-09T01:02:56.643Z,1736384576.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:56.649Z,1736384576.649 [lineCaptureHoming:NeedComms] Running Loop=1
2025-01-09T01:02:56.649Z,1736384576.649 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2025-01-09T01:02:56.649Z,1736384576.649 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2025-01-09T01:02:56.649Z,1736384576.649 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-09T01:02:56.650Z,1736384576.650 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-09T01:02:56.650Z,1736384576.650 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-09T01:02:56.651Z,1736384576.651 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-09T01:02:56.651Z,1736384576.651 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-09T01:02:56.651Z,1736384576.651 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-09T01:02:56.652Z,1736384576.652 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-09T01:02:56.652Z,1736384576.652 [lineCaptureHoming:NeedComms:A] Running Loop=1
2025-01-09T01:02:56.654Z,1736384576.654 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was:  1736384237.000000 second since 1970/01/01T00:00:00Z 
2025-01-09T01:02:56.654Z,1736384576.654 [lineCaptureHoming:NeedComms:A] Stopped
2025-01-09T01:02:57.044Z,1736384577.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:57.067Z,1736384577.067 [lineCaptureHoming:NeedComms:C] Running Loop=1
2025-01-09T01:02:57.461Z,1736384577.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:02:57.461Z,1736384577.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:57.488Z,1736384577.488 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-09T01:02:57.848Z,1736384577.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:02:57.848Z,1736384577.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:58.259Z,1736384578.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:02:58.259Z,1736384578.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:58.691Z,1736384578.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:02:58.691Z,1736384578.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:59.054Z,1736384579.054 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,010258.00,A,3654.26717,N,12207.08085,W,0.875,80.80,090125,,,D*40
2025-01-09T01:02:59.057Z,1736384579.057 [NAL9602](INFO): GPS fix at 20250109T010258: (36.904453, -122.118014)
2025-01-09T01:02:59.070Z,1736384579.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:02:59.070Z,1736384579.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:59.071Z,1736384579.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07
2025-01-09T01:02:59.077Z,1736384579.077 [lineCaptureHoming:NeedComms:C] Stopped
2025-01-09T01:02:59.077Z,1736384579.077 [lineCaptureHoming:NeedComms:D] Running Loop=1
2025-01-09T01:02:59.486Z,1736384579.486 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.23, 731.95,   0.00
2025-01-09T01:02:59.501Z,1736384579.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:02:59.501Z,1736384579.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:02:59.508Z,1736384579.508 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-09T01:02:59.913Z,1736384579.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s.
2025-01-09T01:02:59.913Z,1736384579.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:00.329Z,1736384580.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s.
2025-01-09T01:03:00.329Z,1736384580.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:00.726Z,1736384580.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s.
2025-01-09T01:03:00.727Z,1736384580.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:01.340Z,1736384581.340 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.06, 731.95, 758.57
2025-01-09T01:03:01.350Z,1736384581.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.3 s old, using for 20.0 s.
2025-01-09T01:03:01.350Z,1736384581.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:01.586Z,1736384581.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:03:01.586Z,1736384581.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:01.992Z,1736384581.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T01:03:01.992Z,1736384581.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:02.709Z,1736384582.709 [WetLabsUBAT](FAULT): UBAT flow rate is below the specified threshold of 0.05 l/s.
2025-01-09T01:03:03.877Z,1736384583.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.8 s old, using for 20.0 s.
2025-01-09T01:03:03.877Z,1736384583.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:05.000Z,1736384586.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:06.119Z,1736384586.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:06.501Z,1736384586.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:06.896Z,1736384586.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:07.379Z,1736384587.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T01:03:07.379Z,1736384587.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:07.717Z,1736384587.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:03:07.718Z,1736384587.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:08.108Z,1736384588.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:03:08.109Z,1736384588.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:08.509Z,1736384588.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:03:08.510Z,1736384588.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:08.923Z,1736384588.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:03:08.927Z,1736384588.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:09.376Z,1736384589.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:03:09.376Z,1736384589.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:09.721Z,1736384589.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:03:09.721Z,1736384589.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:10.137Z,1736384590.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:03:10.137Z,1736384590.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:10.552Z,1736384590.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s.
2025-01-09T01:03:10.552Z,1736384590.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:10.962Z,1736384590.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T01:03:10.962Z,1736384590.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:11.403Z,1736384591.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:03:11.403Z,1736384591.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:11.740Z,1736384591.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T01:03:11.740Z,1736384591.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:12.141Z,1736384592.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T01:03:12.141Z,1736384592.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:12.546Z,1736384592.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s.
2025-01-09T01:03:12.546Z,1736384592.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:12.957Z,1736384592.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:03:12.958Z,1736384592.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:13.378Z,1736384593.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:13.548Z,1736384593.548 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003158
2025-01-09T01:03:13.754Z,1736384593.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:14.161Z,1736384594.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:14.593Z,1736384594.593 [NAL9602](INFO): SBD MO Status=1, MOMSN=46766, MT Status=0, MTMSN=0
2025-01-09T01:03:14.644Z,1736384594.644 [NAL9602](INFO): Sent 74 bytes from file Logs/20250109T003751/Courier0012.lzma
2025-01-09T01:03:14.644Z,1736384594.644 [NAL9602](INFO): Packets left to send: 0
2025-01-09T01:03:14.701Z,1736384594.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:14.972Z,1736384594.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:15.440Z,1736384595.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T01:03:15.440Z,1736384595.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:15.794Z,1736384595.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:03:15.794Z,1736384595.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:16.205Z,1736384596.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:03:16.205Z,1736384596.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:16.581Z,1736384596.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:03:16.581Z,1736384596.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:16.992Z,1736384596.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:03:16.992Z,1736384596.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:17.476Z,1736384597.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:17.795Z,1736384597.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:18.196Z,1736384598.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:18.626Z,1736384598.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:19.027Z,1736384599.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:19.443Z,1736384599.443 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00, 654.80,   0.00
2025-01-09T01:03:19.500Z,1736384599.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T01:03:19.500Z,1736384599.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:19.826Z,1736384599.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:03:19.826Z,1736384599.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:20.252Z,1736384600.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:03:20.252Z,1736384600.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:20.642Z,1736384600.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:03:20.642Z,1736384600.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:21.033Z,1736384601.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:03:21.033Z,1736384601.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:21.491Z,1736384601.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:03:21.496Z,1736384601.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:21.853Z,1736384601.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:03:21.853Z,1736384601.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:22.265Z,1736384602.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:03:22.265Z,1736384602.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:22.649Z,1736384602.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:03:22.649Z,1736384602.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:23.050Z,1736384603.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T01:03:23.050Z,1736384603.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:23.481Z,1736384603.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:03:23.481Z,1736384603.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:23.860Z,1736384603.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T01:03:23.860Z,1736384603.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:24.011Z,1736384604.011 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250109T003751/Courier0015.lzma
2025-01-09T01:03:24.305Z,1736384604.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T01:03:24.305Z,1736384604.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:24.678Z,1736384604.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:03:24.678Z,1736384604.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:25.013Z,1736384605.013 [DataOverHttps](INFO): Moved sent file to Logs/20250109T003751/Courier0015.lzma.bak
2025-01-09T01:03:25.013Z,1736384605.013 [DataOverHttps](INFO): SBD MOMSN=23886807
2025-01-09T01:03:25.070Z,1736384605.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s.
2025-01-09T01:03:25.070Z,1736384605.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:25.502Z,1736384605.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:03:25.502Z,1736384605.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:25.898Z,1736384605.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:03:25.898Z,1736384605.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:26.311Z,1736384606.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:03:26.311Z,1736384606.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:26.710Z,1736384606.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T01:03:26.710Z,1736384606.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:27.111Z,1736384607.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T01:03:27.111Z,1736384607.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:27.569Z,1736384607.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:27.924Z,1736384607.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:28.320Z,1736384608.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:28.715Z,1736384608.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:29.123Z,1736384609.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:29.525Z,1736384609.525 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS7043437,35.0, +13.6,   0.0,1502.4,  0
2025-01-09T01:03:29.532Z,1736384609.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:03:29.532Z,1736384609.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:29.931Z,1736384609.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:03:29.931Z,1736384609.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:30.352Z,1736384610.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:03:30.353Z,1736384610.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:30.732Z,1736384610.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:03:30.732Z,1736384610.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:31.132Z,1736384611.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:03:31.132Z,1736384611.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:31.648Z,1736384611.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:03:31.648Z,1736384611.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:31.949Z,1736384611.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:03:31.949Z,1736384611.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:32.353Z,1736384612.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:03:32.353Z,1736384612.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:32.761Z,1736384612.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:03:32.761Z,1736384612.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:33.177Z,1736384613.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T01:03:33.177Z,1736384613.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:33.626Z,1736384613.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:03:33.626Z,1736384613.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:33.978Z,1736384613.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T01:03:33.978Z,1736384613.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:34.408Z,1736384614.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T01:03:34.409Z,1736384614.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:34.780Z,1736384614.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:03:34.780Z,1736384614.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:35.190Z,1736384615.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:03:35.191Z,1736384615.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:35.627Z,1736384615.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:03:35.627Z,1736384615.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:36.011Z,1736384616.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:03:36.012Z,1736384616.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:36.396Z,1736384616.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:03:36.396Z,1736384616.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:36.796Z,1736384616.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T01:03:36.796Z,1736384616.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:37.196Z,1736384617.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T01:03:37.196Z,1736384617.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:37.640Z,1736384617.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T01:03:37.640Z,1736384617.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:38.008Z,1736384618.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T01:03:38.009Z,1736384618.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:38.415Z,1736384618.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T01:03:38.415Z,1736384618.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:38.812Z,1736384618.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T01:03:38.812Z,1736384618.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:39.216Z,1736384619.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T01:03:39.216Z,1736384619.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:39.648Z,1736384619.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s.
2025-01-09T01:03:39.648Z,1736384619.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:40.021Z,1736384620.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s.
2025-01-09T01:03:40.022Z,1736384620.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:40.446Z,1736384620.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s.
2025-01-09T01:03:40.446Z,1736384620.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:40.829Z,1736384620.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s.
2025-01-09T01:03:40.830Z,1736384620.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:41.366Z,1736384621.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.2 s old, using for 20.0 s.
2025-01-09T01:03:41.366Z,1736384621.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:41.727Z,1736384621.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.6 s old, using for 20.0 s.
2025-01-09T01:03:41.727Z,1736384621.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:42.045Z,1736384622.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.9 s old, using for 20.0 s.
2025-01-09T01:03:42.046Z,1736384622.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:42.457Z,1736384622.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.3 s old, using for 20.0 s.
2025-01-09T01:03:42.458Z,1736384622.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:42.906Z,1736384622.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.8 s old, using for 20.0 s.
2025-01-09T01:03:42.906Z,1736384622.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:43.478Z,1736384623.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.4 s old, using for 20.0 s.
2025-01-09T01:03:43.478Z,1736384623.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:43.714Z,1736384623.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.6 s old, using for 20.0 s.
2025-01-09T01:03:43.714Z,1736384623.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:44.066Z,1736384624.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.9 s old, using for 20.0 s.
2025-01-09T01:03:44.066Z,1736384624.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:44.489Z,1736384624.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.4 s old, using for 20.0 s.
2025-01-09T01:03:44.489Z,1736384624.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:44.881Z,1736384624.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.8 s old, using for 20.0 s.
2025-01-09T01:03:44.881Z,1736384624.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:45.309Z,1736384625.309 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-09T01:03:45.401Z,1736384625.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.3 s old, using for 20.0 s.
2025-01-09T01:03:45.401Z,1736384625.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:45.705Z,1736384625.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.6 s old, using for 20.0 s.
2025-01-09T01:03:45.705Z,1736384625.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:46.104Z,1736384626.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.0 s old, using for 20.0 s.
2025-01-09T01:03:46.104Z,1736384626.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:46.499Z,1736384626.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.4 s old, using for 20.0 s.
2025-01-09T01:03:46.499Z,1736384626.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:46.905Z,1736384626.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 17.8 s old, using for 20.0 s.
2025-01-09T01:03:46.905Z,1736384626.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:47.362Z,1736384627.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 18.2 s old, using for 20.0 s.
2025-01-09T01:03:47.362Z,1736384627.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:47.720Z,1736384627.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 18.6 s old, using for 20.0 s.
2025-01-09T01:03:47.720Z,1736384627.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:48.105Z,1736384628.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.0 s old, using for 20.0 s.
2025-01-09T01:03:48.105Z,1736384628.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:48.275Z,1736384628.275 [DataOverHttps](INFO): Sending 936 bytes from file Logs/20250109T003751/Express0013.lzma
2025-01-09T01:03:48.517Z,1736384628.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.4 s old, using for 20.0 s.
2025-01-09T01:03:48.517Z,1736384628.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:48.921Z,1736384628.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 19.8 s old, using for 20.0 s.
2025-01-09T01:03:48.921Z,1736384628.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:49.277Z,1736384629.277 [DataOverHttps](INFO): Moved sent file to Logs/20250109T003751/Express0013.lzma.bak
2025-01-09T01:03:49.278Z,1736384629.278 [DataOverHttps](INFO): SBD MOMSN=23886812
2025-01-09T01:03:49.373Z,1736384629.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:49.729Z,1736384629.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:50.121Z,1736384630.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:50.539Z,1736384630.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:50.949Z,1736384630.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:51.428Z,1736384631.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:51.748Z,1736384631.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:52.160Z,1736384632.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:52.195Z,1736384632.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T01:03:52.280Z,1736384632.280 [DAT](DEBUG): Acoustic response timeout
2025-01-09T01:03:52.280Z,1736384632.280 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T01:03:52.532Z,1736384632.532 [DAT](INFO): DAT read: user:3811>

2025-01-09T01:03:52.533Z,1736384632.533 [DAT](INFO): DAT read: Tx time:01:03:51.7434

2025-01-09T01:03:52.533Z,1736384632.533 [DAT](INFO): Ping request sent.
2025-01-09T01:03:52.533Z,1736384632.533 [DAT](INFO): transmitted an acoustic signal
2025-01-09T01:03:52.534Z,1736384632.534 [DAT](INFO): publishing transmit ping time
2025-01-09T01:03:52.535Z,1736384632.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001367
2025-01-09T01:03:52.608Z,1736384632.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:52.785Z,1736384632.785 [DAT](INFO): DAT read: TxSync time:01:03:51.7426

2025-01-09T01:03:52.786Z,1736384632.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252457
2025-01-09T01:03:52.985Z,1736384632.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:53.036Z,1736384633.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502967
2025-01-09T01:03:53.292Z,1736384633.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757413
2025-01-09T01:03:53.439Z,1736384633.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:53.540Z,1736384633.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006996
2025-01-09T01:03:53.768Z,1736384633.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:53.792Z,1736384633.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258815
2025-01-09T01:03:54.044Z,1736384634.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511043
2025-01-09T01:03:54.164Z,1736384634.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:54.296Z,1736384634.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762997
2025-01-09T01:03:54.548Z,1736384634.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015008
2025-01-09T01:03:54.589Z,1736384634.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:54.800Z,1736384634.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266851
2025-01-09T01:03:54.973Z,1736384634.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:55.053Z,1736384635.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519345
2025-01-09T01:03:55.304Z,1736384635.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770892
2025-01-09T01:03:55.416Z,1736384635.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:55.557Z,1736384635.557 [DAT](INFO): DAT read: Rx Time:01:03:54.3434

2025-01-09T01:03:55.557Z,1736384635.557 [DAT](INFO): Rx dataTimestamp_ set to:1736384635.556760
2025-01-09T01:03:55.558Z,1736384635.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024173
2025-01-09T01:03:55.805Z,1736384635.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:55.808Z,1736384635.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274914
2025-01-09T01:03:56.072Z,1736384636.072 [DAT](INFO): DAT read: 01:03:54.3434 LVL= 10976, 20113, 13298, 15139, AGC= 62, IDX= 195,-0.31,-0.346,-1.708, 0.139,-0.277, PHS= 0.018,-1.384, 0.413, RAW= 162.1,  11.6, CAL= 161.3,   2.4, ROT= 348.7,  -2.4

2025-01-09T01:03:56.073Z,1736384636.073 [DAT](INFO): got valid direction response:
 01:03:54.3434 LVL= 10976, 20113, 13298, 15139, AGC= 62, IDX= 195,-0.31,-0.346,-1.708, 0.139,-0.277, PHS= 0.018,-1.384, 0.413, RAW= 162.1,  11.6, CAL= 161.3,   2.4, ROT= 348.7,  -2.4

2025-01-09T01:03:56.074Z,1736384636.074 [DAT](INFO): DAT read: Bearing 348.7,  -2.4 (Local)

2025-01-09T01:03:56.074Z,1736384636.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.7,  -2.4 (Local)

2025-01-09T01:03:56.080Z,1736384636.080 [DAT](INFO): DAT read: Range 10 to 50 : 146.8 m  (Round-trip  195.8 ms) speed -0.6 m/s

2025-01-09T01:03:56.081Z,1736384636.081 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T01:03:56.082Z,1736384636.082 [DAT](INFO): direction in FSK: [0.979755,-0.195774,0.041876]
2025-01-09T01:03:56.082Z,1736384636.082 [DAT](INFO): publishing direction and range info
2025-01-09T01:03:56.191Z,1736384636.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:56.604Z,1736384636.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:57.003Z,1736384637.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:57.447Z,1736384637.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:03:57.447Z,1736384637.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:57.815Z,1736384637.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:03:57.815Z,1736384637.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:58.228Z,1736384638.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:03:58.229Z,1736384638.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:58.637Z,1736384638.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:03:58.637Z,1736384638.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:59.017Z,1736384639.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T01:03:59.017Z,1736384639.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:59.442Z,1736384639.442 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,       +29. +127.91,+4.57,  0.00
2025-01-09T01:03:59.471Z,1736384639.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:03:59.475Z,1736384639.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:03:59.849Z,1736384639.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T01:03:59.849Z,1736384639.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:00.220Z,1736384640.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T01:04:00.221Z,1736384640.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:00.628Z,1736384640.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T01:04:00.628Z,1736384640.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:01.033Z,1736384641.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T01:04:01.033Z,1736384641.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:01.458Z,1736384641.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T01:04:01.458Z,1736384641.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:01.849Z,1736384641.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T01:04:01.849Z,1736384641.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:02.245Z,1736384642.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T01:04:02.245Z,1736384642.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:02.648Z,1736384642.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s.
2025-01-09T01:04:02.648Z,1736384642.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:03.057Z,1736384643.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T01:04:03.057Z,1736384643.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:03.478Z,1736384643.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:04:03.478Z,1736384643.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:03.879Z,1736384643.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T01:04:03.879Z,1736384643.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:04.297Z,1736384644.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T01:04:04.297Z,1736384644.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:04.679Z,1736384644.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T01:04:04.680Z,1736384644.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:05.079Z,1736384645.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T01:04:05.079Z,1736384645.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:05.530Z,1736384645.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T01:04:05.530Z,1736384645.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:05.884Z,1736384645.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T01:04:05.884Z,1736384645.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:06.294Z,1736384646.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T01:04:06.294Z,1736384646.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:06.718Z,1736384646.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T01:04:06.718Z,1736384646.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:07.097Z,1736384647.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T01:04:07.097Z,1736384647.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:07.558Z,1736384647.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:07.916Z,1736384647.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:08.328Z,1736384648.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:08.712Z,1736384648.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:09.126Z,1736384649.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:09.555Z,1736384649.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:09.954Z,1736384649.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:10.337Z,1736384650.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:10.743Z,1736384650.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:10.809Z,1736384650.809 [DataOverHttps](INFO): Sending 199 bytes from file Logs/20250109T003751/Express0016.lzma
2025-01-09T01:04:11.137Z,1736384651.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:11.575Z,1736384651.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T01:04:11.575Z,1736384651.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:11.809Z,1736384651.809 [DataOverHttps](INFO): Moved sent file to Logs/20250109T003751/Express0016.lzma.bak
2025-01-09T01:04:11.809Z,1736384651.809 [DataOverHttps](INFO): SBD MOMSN=23886855
2025-01-09T01:04:11.950Z,1736384651.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:04:11.950Z,1736384651.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:12.354Z,1736384652.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:04:12.354Z,1736384652.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:12.763Z,1736384652.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:04:12.763Z,1736384652.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:12.884Z,1736384652.884 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T01:04:13.189Z,1736384653.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s.
2025-01-09T01:04:13.189Z,1736384653.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:13.653Z,1736384653.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T01:04:13.653Z,1736384653.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:14.010Z,1736384654.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s.
2025-01-09T01:04:14.010Z,1736384654.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:14.410Z,1736384654.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s.
2025-01-09T01:04:14.410Z,1736384654.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:14.828Z,1736384654.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s.
2025-01-09T01:04:14.828Z,1736384654.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:14.924Z,1736384654.924 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T01:04:15.215Z,1736384655.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T01:04:15.215Z,1736384655.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:15.734Z,1736384655.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.6 s old, using for 20.0 s.
2025-01-09T01:04:15.734Z,1736384655.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:16.053Z,1736384656.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T01:04:16.053Z,1736384656.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:16.438Z,1736384656.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T01:04:16.438Z,1736384656.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:16.842Z,1736384656.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T01:04:16.842Z,1736384656.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:17.413Z,1736384657.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.3 s old, using for 20.0 s.
2025-01-09T01:04:17.413Z,1736384657.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:17.661Z,1736384657.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T01:04:17.662Z,1736384657.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:18.104Z,1736384658.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.0 s old, using for 20.0 s.
2025-01-09T01:04:18.104Z,1736384658.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:18.493Z,1736384658.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.4 s old, using for 20.0 s.
2025-01-09T01:04:18.493Z,1736384658.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:18.909Z,1736384658.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.8 s old, using for 20.0 s.
2025-01-09T01:04:18.909Z,1736384658.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:18.980Z,1736384658.980 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T01:04:19.525Z,1736384659.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:19.571Z,1736384659.571 [lineCaptureHoming:NeedComms:D] Stopped
2025-01-09T01:04:19.572Z,1736384659.572 [lineCaptureHoming:NeedComms:E] Running Loop=1
2025-01-09T01:04:19.745Z,1736384659.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:19.811Z,1736384659.811 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-09T01:04:20.106Z,1736384660.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:20.541Z,1736384660.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:20.941Z,1736384660.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:21.016Z,1736384661.016 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T01:04:21.322Z,1736384661.322 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,010420.00,A,3654.26881,N,12207.06682,W,0.292,124.80,090125,,,D*7A
2025-01-09T01:04:21.329Z,1736384661.329 [NAL9602](INFO): GPS fix at 20250109T010420: (36.904480, -122.117780)
2025-01-09T01:04:21.474Z,1736384661.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T01:04:21.474Z,1736384661.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:21.475Z,1736384661.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07
2025-01-09T01:04:21.537Z,1736384661.537 [lineCaptureHoming:NeedComms:E] Stopped
2025-01-09T01:04:21.538Z,1736384661.538 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2025-01-09T01:04:21.538Z,1736384661.538 [lineCaptureHoming:NeedComms] Stopped
2025-01-09T01:04:21.538Z,1736384661.538 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2025-01-09T01:04:21.538Z,1736384661.538 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2025-01-09T01:04:21.538Z,1736384661.538 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-09T01:04:21.763Z,1736384661.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T01:04:21.775Z,1736384661.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:21.781Z,1736384661.781 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2025-01-09T01:04:21.781Z,1736384661.781 [lineCaptureHoming:StartingMission] Stopped
2025-01-09T01:04:21.781Z,1736384661.781 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2025-01-09T01:04:21.782Z,1736384661.782 [lineCaptureHoming:Z] Running Loop=1
2025-01-09T01:04:22.024Z,1736384662.024 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T01:04:22.185Z,1736384662.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T01:04:22.185Z,1736384662.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:22.214Z,1736384662.214 [lineCaptureHoming:Z](IMPORTANT): Restarting logs
2025-01-09T01:04:22.214Z,1736384662.214 [lineCaptureHoming:Z] Stopped
2025-01-09T01:04:22.214Z,1736384662.214 [lineCaptureHoming:BA.Execute] Running Loop=1
2025-01-09T01:04:22.596Z,1736384662.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T01:04:22.596Z,1736384662.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T01:04:22.661Z,1736384662.661 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-01-09T01:04:22.661Z,1736384662.661 [lineCaptureHoming:BA.Execute] Stopped
2025-01-09T01:04:22.662Z,1736384662.662 [lineCaptureHoming:InitialDive] Running Loop=1
2025-01-09T01:04:22.662Z,1736384662.662 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-01-09T01:04:22.662Z,1736384662.662 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-01-09T01:04:22.662Z,1736384662.662 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-01-09T01:04:22.662Z,1736384662.662 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-01-09T01:04:22.662Z,1736384662.662 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-01-09T01:04:22.663Z,1736384662.663 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-01-09T01:04:22.663Z,1736384662.663 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.