2025-01-09T05:24:37.706Z,1736400277.706 [lineCaptureHoming:InitialDive] Running Loop=1
2025-01-09T05:24:37.706Z,1736400277.706 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-01-09T05:24:37.706Z,1736400277.706 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-01-09T05:24:37.706Z,1736400277.706 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-01-09T05:24:37.706Z,1736400277.706 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-01-09T05:24:37.706Z,1736400277.706 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-01-09T05:24:37.731Z,1736400277.731 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-01-09T05:24:37.731Z,1736400277.731 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-01-09T05:24:37.777Z,1736400277.777 [CommandExec](IMPORTANT): got command restart logs
2025-01-09T05:24:38.207Z,1736400278.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:38.222Z,1736400278.222 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-01-09T05:24:38.222Z,1736400278.222 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-01-09T05:24:38.516Z,1736400278.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:38.903Z,1736400278.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:39.313Z,1736400279.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:39.704Z,1736400279.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:39.937Z,1736400279.937 [DataOverHttps](IMPORTANT): Could not stat file Logs/20250109T035234/Express0026.lzma
2025-01-09T05:24:39.937Z,1736400279.937 [DataOverHttps](FAULT): Could not open file Logs/20250109T035234/Express0026.lzma
2025-01-09T05:24:40.135Z,1736400280.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:40.507Z,1736400280.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:40.915Z,1736400280.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:41.339Z,1736400281.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:41.722Z,1736400281.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:42.160Z,1736400282.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:24:42.160Z,1736400282.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:42.516Z,1736400282.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:24:42.517Z,1736400282.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:42.937Z,1736400282.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:24:42.937Z,1736400282.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:43.350Z,1736400283.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T05:24:43.350Z,1736400283.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:43.740Z,1736400283.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T05:24:43.740Z,1736400283.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:44.244Z,1736400284.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T05:24:44.245Z,1736400284.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:44.567Z,1736400284.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T05:24:44.567Z,1736400284.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:44.967Z,1736400284.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T05:24:44.967Z,1736400284.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:45.397Z,1736400285.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s.
2025-01-09T05:24:45.397Z,1736400285.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:45.781Z,1736400285.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.1 s old, using for 20.0 s.
2025-01-09T05:24:45.781Z,1736400285.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:46.209Z,1736400286.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T05:24:46.209Z,1736400286.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:46.567Z,1736400286.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T05:24:46.568Z,1736400286.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:46.987Z,1736400286.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T05:24:46.988Z,1736400286.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:47.392Z,1736400287.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T05:24:47.392Z,1736400287.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:47.840Z,1736400287.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T05:24:47.840Z,1736400287.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:48.233Z,1736400288.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T05:24:48.233Z,1736400288.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:48.611Z,1736400288.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T05:24:48.611Z,1736400288.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:48.996Z,1736400288.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T05:24:48.996Z,1736400288.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:49.402Z,1736400289.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T05:24:49.402Z,1736400289.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:49.805Z,1736400289.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T05:24:49.805Z,1736400289.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:50.260Z,1736400290.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T05:24:50.261Z,1736400290.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:50.651Z,1736400290.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T05:24:50.651Z,1736400290.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:51.027Z,1736400291.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T05:24:51.027Z,1736400291.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:51.427Z,1736400291.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T05:24:51.427Z,1736400291.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:51.834Z,1736400291.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T05:24:51.834Z,1736400291.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:52.309Z,1736400292.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:52.629Z,1736400292.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:53.028Z,1736400293.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:53.269Z,1736400293.269 [DataOverHttps](IMPORTANT): Could not stat file Logs/20250109T035234/Express0026.lzma
2025-01-09T05:24:53.270Z,1736400293.270 [DataOverHttps](FAULT): Could not open file Logs/20250109T035234/Express0026.lzma
2025-01-09T05:24:53.445Z,1736400293.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:53.849Z,1736400293.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:53.873Z,1736400293.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:24:53.902Z,1736400293.902 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:24:53.903Z,1736400293.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:24:54.152Z,1736400294.152 [DAT](INFO): DAT read: user:16>

2025-01-09T05:24:54.153Z,1736400294.153 [DAT](INFO): DAT read: Tx time:05:24:53.2678

2025-01-09T05:24:54.154Z,1736400294.154 [DAT](INFO): Ping request sent.
2025-01-09T05:24:54.156Z,1736400294.156 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:24:54.156Z,1736400294.156 [DAT](INFO): publishing transmit ping time
2025-01-09T05:24:54.158Z,1736400294.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004041
2025-01-09T05:24:54.267Z,1736400294.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:54.405Z,1736400294.405 [DAT](INFO): DAT read: TxSync time:05:24:53.2670

2025-01-09T05:24:54.407Z,1736400294.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252189
2025-01-09T05:24:54.643Z,1736400294.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:54.656Z,1736400294.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501725
2025-01-09T05:24:54.908Z,1736400294.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753614
2025-01-09T05:24:55.051Z,1736400295.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:55.160Z,1736400295.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005727
2025-01-09T05:24:55.275Z,1736400295.275 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:24:55.412Z,1736400295.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257609
2025-01-09T05:24:55.468Z,1736400295.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:55.664Z,1736400295.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509572
2025-01-09T05:24:55.862Z,1736400295.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:55.919Z,1736400295.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764078
2025-01-09T05:24:56.168Z,1736400296.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013543
2025-01-09T05:24:56.293Z,1736400296.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:56.420Z,1736400296.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265670
2025-01-09T05:24:56.672Z,1736400296.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517555
2025-01-09T05:24:56.675Z,1736400296.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:56.924Z,1736400296.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769861
2025-01-09T05:24:57.077Z,1736400297.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:57.176Z,1736400297.176 [DAT](INFO): DAT read: Rx Time:05:24:55.9256

2025-01-09T05:24:57.176Z,1736400297.176 [DAT](INFO): Rx dataTimestamp_ set to:1736400297.175890
2025-01-09T05:24:57.177Z,1736400297.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022584
2025-01-09T05:24:57.430Z,1736400297.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274756
2025-01-09T05:24:57.485Z,1736400297.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:57.684Z,1736400297.684 [DAT](INFO): DAT read: $Error in header

2025-01-09T05:24:57.685Z,1736400297.685 [DAT](INFO): Received a bad header
2025-01-09T05:24:57.699Z,1736400297.699 [DAT](INFO): DAT read: 

2025-01-09T05:24:57.699Z,1736400297.699 [DAT](INFO): DAT read: 

2025-01-09T05:24:57.700Z,1736400297.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545728
2025-01-09T05:24:57.937Z,1736400297.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780058
2025-01-09T05:24:57.987Z,1736400297.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:58.184Z,1736400298.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029644
2025-01-09T05:24:58.402Z,1736400298.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:24:58.402Z,1736400298.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:58.436Z,1736400298.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281475
2025-01-09T05:24:58.688Z,1736400298.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533636
2025-01-09T05:24:58.753Z,1736400298.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:24:58.753Z,1736400298.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:58.940Z,1736400298.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785549
2025-01-09T05:24:59.160Z,1736400299.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:24:59.160Z,1736400299.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:59.192Z,1736400299.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037525
2025-01-09T05:24:59.444Z,1736400299.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289574
2025-01-09T05:24:59.609Z,1736400299.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T05:24:59.610Z,1736400299.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:24:59.696Z,1736400299.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541483
2025-01-09T05:24:59.948Z,1736400299.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793589
2025-01-09T05:25:00.175Z,1736400300.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.2 s old, using for 20.0 s.
2025-01-09T05:25:00.176Z,1736400300.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:00.200Z,1736400300.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045689
2025-01-09T05:25:00.452Z,1736400300.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297566
2025-01-09T05:25:00.517Z,1736400300.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T05:25:00.517Z,1736400300.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:00.705Z,1736400300.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550926
2025-01-09T05:25:00.908Z,1736400300.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.9 s old, using for 20.0 s.
2025-01-09T05:25:00.908Z,1736400300.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:00.956Z,1736400300.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801647
2025-01-09T05:25:01.208Z,1736400301.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053738
2025-01-09T05:25:01.313Z,1736400301.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.3 s old, using for 20.0 s.
2025-01-09T05:25:01.313Z,1736400301.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:01.460Z,1736400301.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305524
2025-01-09T05:25:01.704Z,1736400301.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s.
2025-01-09T05:25:01.705Z,1736400301.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:01.712Z,1736400301.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557536
2025-01-09T05:25:01.964Z,1736400301.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810113
2025-01-09T05:25:02.173Z,1736400302.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.2 s old, using for 20.0 s.
2025-01-09T05:25:02.173Z,1736400302.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:02.216Z,1736400302.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061488
2025-01-09T05:25:02.468Z,1736400302.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313584
2025-01-09T05:25:02.527Z,1736400302.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T05:25:02.527Z,1736400302.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:02.720Z,1736400302.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566202
2025-01-09T05:25:02.935Z,1736400302.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T05:25:02.935Z,1736400302.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:02.980Z,1736400302.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825794
2025-01-09T05:25:03.232Z,1736400303.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077573
2025-01-09T05:25:03.320Z,1736400303.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T05:25:03.320Z,1736400303.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:03.484Z,1736400303.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329712
2025-01-09T05:25:03.716Z,1736400303.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T05:25:03.717Z,1736400303.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:03.736Z,1736400303.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581424
2025-01-09T05:25:03.988Z,1736400303.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833970
2025-01-09T05:25:04.157Z,1736400304.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.2 s old, using for 20.0 s.
2025-01-09T05:25:04.157Z,1736400304.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:04.239Z,1736400304.239 [DAT](INFO): Reached modem response timeout
2025-01-09T05:25:04.598Z,1736400304.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.6 s old, using for 20.0 s.
2025-01-09T05:25:04.598Z,1736400304.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:04.952Z,1736400304.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.0 s old, using for 20.0 s.
2025-01-09T05:25:04.952Z,1736400304.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:04.996Z,1736400304.996 [DAT](INFO): DAT read: user:17>Response Not Received

2025-01-09T05:25:04.996Z,1736400304.996 [DAT](INFO): response not received
2025-01-09T05:25:04.996Z,1736400304.996 [DAT](ERROR): No response from remote modem.
2025-01-09T05:25:05.346Z,1736400305.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.4 s old, using for 20.0 s.
2025-01-09T05:25:05.346Z,1736400305.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:05.780Z,1736400305.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.8 s old, using for 20.0 s.
2025-01-09T05:25:05.780Z,1736400305.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:06.183Z,1736400306.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.2 s old, using for 20.0 s.
2025-01-09T05:25:06.183Z,1736400306.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:06.547Z,1736400306.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.6 s old, using for 20.0 s.
2025-01-09T05:25:06.547Z,1736400306.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:06.961Z,1736400306.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.0 s old, using for 20.0 s.
2025-01-09T05:25:06.961Z,1736400306.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:07.037Z,1736400307.037 [DataOverHttps](IMPORTANT): Could not stat file Logs/20250109T035234/Express0026.lzma
2025-01-09T05:25:07.038Z,1736400307.038 [DataOverHttps](FAULT): Could not open file Logs/20250109T035234/Express0026.lzma
2025-01-09T05:25:07.354Z,1736400307.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.4 s old, using for 20.0 s.
2025-01-09T05:25:07.354Z,1736400307.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:07.789Z,1736400307.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.8 s old, using for 20.0 s.
2025-01-09T05:25:07.789Z,1736400307.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:08.181Z,1736400308.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:08.553Z,1736400308.553 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-09T05:25:08.586Z,1736400308.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:08.963Z,1736400308.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:09.043Z,1736400309.043 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:25:09.372Z,1736400309.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:09.791Z,1736400309.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:10.210Z,1736400310.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:25:10.210Z,1736400310.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:10.584Z,1736400310.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:25:10.584Z,1736400310.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:10.984Z,1736400310.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:25:10.984Z,1736400310.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:11.457Z,1736400311.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s.
2025-01-09T05:25:11.457Z,1736400311.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:11.809Z,1736400311.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T05:25:11.809Z,1736400311.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:12.265Z,1736400312.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-09T05:25:12.265Z,1736400312.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:12.641Z,1736400312.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T05:25:12.641Z,1736400312.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:13.021Z,1736400313.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T05:25:13.021Z,1736400313.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:13.424Z,1736400313.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T05:25:13.424Z,1736400313.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:13.836Z,1736400313.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T05:25:13.837Z,1736400313.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:14.270Z,1736400314.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T05:25:14.275Z,1736400314.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:14.646Z,1736400314.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T05:25:14.646Z,1736400314.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:15.052Z,1736400315.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.3 s old, using for 20.0 s.
2025-01-09T05:25:15.052Z,1736400315.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:15.444Z,1736400315.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T05:25:15.445Z,1736400315.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:15.855Z,1736400315.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T05:25:15.855Z,1736400315.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:16.263Z,1736400316.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T05:25:16.263Z,1736400316.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:16.644Z,1736400316.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T05:25:16.644Z,1736400316.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:17.061Z,1736400317.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T05:25:17.061Z,1736400317.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:17.454Z,1736400317.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T05:25:17.454Z,1736400317.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:17.887Z,1736400317.887 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 20.00 deg, mass-position 21.81 mm (2 active estimators).
2025-01-09T05:25:17.892Z,1736400317.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T05:25:17.893Z,1736400317.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:18.282Z,1736400318.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T05:25:18.283Z,1736400318.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:18.664Z,1736400318.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T05:25:18.664Z,1736400318.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:19.064Z,1736400319.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T05:25:19.064Z,1736400319.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:19.483Z,1736400319.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T05:25:19.483Z,1736400319.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:19.929Z,1736400319.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T05:25:19.930Z,1736400319.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:20.313Z,1736400320.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:20.689Z,1736400320.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:21.097Z,1736400321.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:21.492Z,1736400321.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:21.969Z,1736400321.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:22.311Z,1736400322.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:22.716Z,1736400322.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:23.107Z,1736400323.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:23.518Z,1736400323.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:23.979Z,1736400323.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:24.319Z,1736400324.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:24.718Z,1736400324.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:25.133Z,1736400325.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:25.539Z,1736400325.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:25.978Z,1736400325.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:26.344Z,1736400326.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:26.741Z,1736400326.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:27.150Z,1736400327.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:27.551Z,1736400327.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:27.993Z,1736400327.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:28.360Z,1736400328.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:28.778Z,1736400328.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:29.162Z,1736400329.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:29.568Z,1736400329.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:30.007Z,1736400330.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:30.395Z,1736400330.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:30.786Z,1736400330.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:31.182Z,1736400331.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:31.588Z,1736400331.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:32.017Z,1736400332.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:32.394Z,1736400332.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:32.807Z,1736400332.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:33.208Z,1736400333.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:33.613Z,1736400333.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:34.040Z,1736400334.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:34.417Z,1736400334.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:34.827Z,1736400334.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:35.227Z,1736400335.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:35.643Z,1736400335.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:36.065Z,1736400336.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:36.439Z,1736400336.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:36.847Z,1736400336.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:37.258Z,1736400337.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:37.646Z,1736400337.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:38.072Z,1736400338.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:38.472Z,1736400338.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:38.871Z,1736400338.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:39.285Z,1736400339.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:39.672Z,1736400339.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:40.101Z,1736400340.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:40.485Z,1736400340.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:40.883Z,1736400340.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:41.044Z,1736400341.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:25:41.285Z,1736400341.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:41.688Z,1736400341.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:42.120Z,1736400342.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:42.495Z,1736400342.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:42.905Z,1736400342.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:43.310Z,1736400343.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:43.716Z,1736400343.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:44.151Z,1736400344.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:44.515Z,1736400344.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:44.921Z,1736400344.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:45.333Z,1736400345.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:45.743Z,1736400345.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:46.162Z,1736400346.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:46.544Z,1736400346.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:46.949Z,1736400346.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:47.364Z,1736400347.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:47.755Z,1736400347.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:48.179Z,1736400348.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:48.580Z,1736400348.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:48.963Z,1736400348.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:49.371Z,1736400349.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:49.783Z,1736400349.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:50.197Z,1736400350.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:50.579Z,1736400350.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:50.983Z,1736400350.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:51.397Z,1736400351.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:51.798Z,1736400351.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:52.229Z,1736400352.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:52.643Z,1736400352.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:53.000Z,1736400353.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:53.413Z,1736400353.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:53.811Z,1736400353.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:54.261Z,1736400354.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:54.276Z,1736400354.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:25:54.404Z,1736400354.404 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:25:54.405Z,1736400354.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:25:54.640Z,1736400354.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:54.656Z,1736400354.656 [DAT](INFO): DAT read: 

2025-01-09T05:25:54.656Z,1736400354.656 [DAT](INFO): DAT read: Tx time:05:25:53.7683

2025-01-09T05:25:54.657Z,1736400354.657 [DAT](INFO): Ping request sent.
2025-01-09T05:25:54.657Z,1736400354.657 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:25:54.657Z,1736400354.657 [DAT](INFO): DAT read: TxSync time:05:25:53.7675

2025-01-09T05:25:54.658Z,1736400354.658 [DAT](INFO): publishing transmit ping time
2025-01-09T05:25:54.669Z,1736400354.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.011312
2025-01-09T05:25:54.908Z,1736400354.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250760
2025-01-09T05:25:55.023Z,1736400355.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:55.160Z,1736400355.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503119
2025-01-09T05:25:55.413Z,1736400355.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755795
2025-01-09T05:25:55.432Z,1736400355.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:55.664Z,1736400355.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006853
2025-01-09T05:25:55.837Z,1736400355.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:55.918Z,1736400355.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260901
2025-01-09T05:25:56.168Z,1736400356.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510893
2025-01-09T05:25:56.266Z,1736400356.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:56.421Z,1736400356.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763646
2025-01-09T05:25:56.656Z,1736400356.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:56.672Z,1736400356.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014988
2025-01-09T05:25:56.924Z,1736400356.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266935
2025-01-09T05:25:57.048Z,1736400357.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:57.176Z,1736400357.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519066
2025-01-09T05:25:57.432Z,1736400357.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775636
2025-01-09T05:25:57.466Z,1736400357.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:57.684Z,1736400357.684 [DAT](INFO): DAT read: Rx Time:05:25:56.4118

2025-01-09T05:25:57.684Z,1736400357.684 [DAT](INFO): Rx dataTimestamp_ set to:1736400357.683860
2025-01-09T05:25:57.685Z,1736400357.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027909
2025-01-09T05:25:57.860Z,1736400357.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:57.937Z,1736400357.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280553
2025-01-09T05:25:58.200Z,1736400358.200 [DAT](INFO): DAT read: 05:25:56.4118 LVL= 21744, 32753, 32754, 32755, AGC= 59, IDX= 287,-0.27,-0.765,-1.360,-2.464,-1.938, PHS= 1.260, 0.625,-0.529, RAW=  50.5, -17.0, CAL=  60.6, -25.4, ROT=  89.4,  25.4

2025-01-09T05:25:58.201Z,1736400358.201 [DAT](INFO): got valid direction response:
 05:25:56.4118 LVL= 21744, 32753, 32754, 32755, AGC= 59, IDX= 287,-0.27,-0.765,-1.360,-2.464,-1.938, PHS= 1.260, 0.625,-0.529, RAW=  50.5, -17.0, CAL=  60.6, -25.4, ROT=  89.4,  25.4

2025-01-09T05:25:58.204Z,1736400358.204 [DAT](INFO): DAT read: Range 10 to 50 : 179.4 m  (Round-trip  239.3 ms) speed -0.2 m/s

2025-01-09T05:25:58.205Z,1736400358.205 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:25:58.206Z,1736400358.206 [DAT](INFO): direction in FSK: [0.009459,0.903286,-0.428935]
2025-01-09T05:25:58.206Z,1736400358.206 [DAT](INFO): publishing direction and range info
2025-01-09T05:25:58.324Z,1736400358.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:58.669Z,1736400358.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:59.071Z,1736400359.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:59.473Z,1736400359.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:25:59.938Z,1736400359.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:00.304Z,1736400360.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:00.689Z,1736400360.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:01.083Z,1736400361.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:01.487Z,1736400361.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:01.970Z,1736400361.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:02.301Z,1736400362.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:02.705Z,1736400362.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:03.104Z,1736400363.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:03.514Z,1736400363.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:03.976Z,1736400363.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:04.321Z,1736400364.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:04.723Z,1736400364.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:05.125Z,1736400365.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:05.549Z,1736400365.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:05.981Z,1736400365.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:06.339Z,1736400366.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:06.740Z,1736400366.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:07.152Z,1736400367.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:07.549Z,1736400367.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:07.996Z,1736400367.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:08.151Z,1736400368.151 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.110794
2025-01-09T05:26:08.360Z,1736400368.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:08.780Z,1736400368.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:09.155Z,1736400369.155 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:26:09.172Z,1736400369.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:09.567Z,1736400369.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:09.999Z,1736400369.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:10.386Z,1736400370.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:10.801Z,1736400370.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:11.194Z,1736400371.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:11.597Z,1736400371.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:12.024Z,1736400372.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:26:12.025Z,1736400372.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:12.396Z,1736400372.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:26:12.396Z,1736400372.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:12.814Z,1736400372.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:26:12.814Z,1736400372.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:13.223Z,1736400373.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T05:26:13.224Z,1736400373.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:13.608Z,1736400373.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T05:26:13.608Z,1736400373.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:14.037Z,1736400374.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:14.422Z,1736400374.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:14.842Z,1736400374.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:15.227Z,1736400375.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:15.644Z,1736400375.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:16.062Z,1736400376.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:16.447Z,1736400376.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:16.863Z,1736400376.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:17.244Z,1736400377.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:17.675Z,1736400377.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:18.083Z,1736400378.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:18.339Z,1736400378.339 [Radio_Surface](INFO): Powering down
2025-01-09T05:26:18.456Z,1736400378.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:18.867Z,1736400378.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:19.276Z,1736400379.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:19.668Z,1736400379.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:20.092Z,1736400380.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:20.477Z,1736400380.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:20.891Z,1736400380.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:21.282Z,1736400381.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:21.692Z,1736400381.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:22.143Z,1736400382.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:22.505Z,1736400382.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:22.899Z,1736400382.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:23.308Z,1736400383.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:23.709Z,1736400383.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:24.144Z,1736400384.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:24.531Z,1736400384.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:24.930Z,1736400384.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:25.324Z,1736400385.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:25.735Z,1736400385.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:26.167Z,1736400386.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:26.535Z,1736400386.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:26.952Z,1736400386.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:27.347Z,1736400387.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:27.771Z,1736400387.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:28.186Z,1736400388.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:28.560Z,1736400388.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:28.976Z,1736400388.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:29.379Z,1736400389.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:29.800Z,1736400389.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:30.212Z,1736400390.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:26:30.212Z,1736400390.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:30.578Z,1736400390.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:26:30.578Z,1736400390.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:31.001Z,1736400391.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:26:31.001Z,1736400391.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:31.390Z,1736400391.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T05:26:31.391Z,1736400391.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:31.798Z,1736400391.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T05:26:31.799Z,1736400391.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:32.216Z,1736400392.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:32.616Z,1736400392.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:33.001Z,1736400393.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:33.412Z,1736400393.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:33.822Z,1736400393.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:34.260Z,1736400394.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:34.615Z,1736400394.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:35.021Z,1736400395.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:35.433Z,1736400395.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:35.828Z,1736400395.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:36.267Z,1736400396.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:36.636Z,1736400396.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:37.041Z,1736400397.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:37.451Z,1736400397.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:37.870Z,1736400397.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:38.297Z,1736400398.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:38.660Z,1736400398.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:39.073Z,1736400399.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:39.275Z,1736400399.275 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:26:39.479Z,1736400399.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:39.908Z,1736400399.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:40.279Z,1736400400.279 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-09T05:26:40.279Z,1736400400.279 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:26:40.303Z,1736400400.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:40.684Z,1736400400.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:41.083Z,1736400401.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:41.482Z,1736400401.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:41.987Z,1736400401.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:42.310Z,1736400402.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:42.699Z,1736400402.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:43.104Z,1736400403.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:43.505Z,1736400403.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:43.972Z,1736400403.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:44.337Z,1736400404.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:44.720Z,1736400404.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:45.121Z,1736400405.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:45.530Z,1736400405.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:45.973Z,1736400405.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:46.336Z,1736400406.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:46.739Z,1736400406.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:47.140Z,1736400407.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:47.555Z,1736400407.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:47.993Z,1736400407.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:48.361Z,1736400408.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:48.771Z,1736400408.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:49.170Z,1736400409.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:49.566Z,1736400409.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:50.006Z,1736400410.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:50.377Z,1736400410.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:50.788Z,1736400410.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:51.179Z,1736400411.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:51.582Z,1736400411.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:52.023Z,1736400412.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:52.276Z,1736400412.276 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T05:26:52.406Z,1736400412.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:52.799Z,1736400412.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:53.199Z,1736400413.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:53.620Z,1736400413.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:54.047Z,1736400414.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:54.413Z,1736400414.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:54.420Z,1736400414.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:26:54.647Z,1736400414.647 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:26:54.648Z,1736400414.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:26:54.816Z,1736400414.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:54.902Z,1736400414.902 [DAT](INFO): DAT read: user:18>

2025-01-09T05:26:54.904Z,1736400414.904 [DAT](INFO): DAT read: Tx time:05:26:54.0188

2025-01-09T05:26:54.904Z,1736400414.904 [DAT](INFO): Ping request sent.
2025-01-09T05:26:54.904Z,1736400414.904 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:26:54.905Z,1736400414.905 [DAT](INFO): DAT read: TxSync time:05:26:54.0180

2025-01-09T05:26:54.905Z,1736400414.905 [DAT](INFO): publishing transmit ping time
2025-01-09T05:26:54.906Z,1736400414.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001486
2025-01-09T05:26:55.152Z,1736400415.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247609
2025-01-09T05:26:55.227Z,1736400415.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:55.405Z,1736400415.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500269
2025-01-09T05:26:55.639Z,1736400415.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:55.656Z,1736400415.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751331
2025-01-09T05:26:55.912Z,1736400415.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005463
2025-01-09T05:26:56.061Z,1736400416.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:56.160Z,1736400416.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255148
2025-01-09T05:26:56.413Z,1736400416.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508062
2025-01-09T05:26:56.454Z,1736400416.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:56.664Z,1736400416.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759265
2025-01-09T05:26:56.861Z,1736400416.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:56.916Z,1736400416.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011234
2025-01-09T05:26:57.168Z,1736400417.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263205
2025-01-09T05:26:57.249Z,1736400417.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:57.422Z,1736400417.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517490
2025-01-09T05:26:57.644Z,1736400417.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:57.672Z,1736400417.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767969
2025-01-09T05:26:57.926Z,1736400417.926 [DAT](INFO): DAT read: Rx Time:05:26:56.6605

2025-01-09T05:26:57.928Z,1736400417.928 [DAT](INFO): Rx dataTimestamp_ set to:1736400417.927095
2025-01-09T05:26:57.929Z,1736400417.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024528
2025-01-09T05:26:58.089Z,1736400418.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:58.176Z,1736400418.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271222
2025-01-09T05:26:58.431Z,1736400418.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525816
2025-01-09T05:26:58.481Z,1736400418.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:58.685Z,1736400418.685 [DAT](INFO): DAT read: 05:26:56.6605 LVL= 14768, 20465, 18866, 23619, AGC= 57, IDX= 413,-0.27,-3.103, 2.880, 1.092, 2.852, PHS= 0.417, 0.075,-1.763, RAW=  38.4,  12.5, CAL=  35.6,  20.0, ROT= 114.4, -20.0

2025-01-09T05:26:58.687Z,1736400418.687 [DAT](INFO): got valid direction response:
 05:26:56.6605 LVL= 14768, 20465, 18866, 23619, AGC= 57, IDX= 413,-0.27,-3.103, 2.880, 1.092, 2.852, PHS= 0.417, 0.075,-1.763, RAW=  38.4,  12.5, CAL=  35.6,  20.0, ROT= 114.4, -20.0

2025-01-09T05:26:58.688Z,1736400418.688 [DAT](INFO): DAT read: Bearing 114.4, -20.0 (Local)

2025-01-09T05:26:58.688Z,1736400418.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing 114.4, -20.0 (Local)

2025-01-09T05:26:58.690Z,1736400418.690 [DAT](INFO): DAT read: Range 10 to 50 : 178.1 m  (Round-trip  237.5 ms) speed -0.4 m/s

2025-01-09T05:26:58.690Z,1736400418.690 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:26:58.692Z,1736400418.692 [DAT](INFO): direction in FSK: [-0.388191,0.855763,0.342020]
2025-01-09T05:26:58.692Z,1736400418.692 [DAT](INFO): publishing direction and range info
2025-01-09T05:26:58.888Z,1736400418.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:59.264Z,1736400419.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:26:59.681Z,1736400419.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:00.097Z,1736400420.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:00.494Z,1736400420.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:00.908Z,1736400420.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:01.283Z,1736400421.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:01.703Z,1736400421.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:02.117Z,1736400422.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:02.504Z,1736400422.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:02.905Z,1736400422.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:03.311Z,1736400423.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:03.722Z,1736400423.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:04.148Z,1736400424.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:04.552Z,1736400424.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:04.930Z,1736400424.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:05.340Z,1736400425.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:05.733Z,1736400425.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:06.158Z,1736400426.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:06.535Z,1736400426.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:06.947Z,1736400426.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:07.348Z,1736400427.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:07.762Z,1736400427.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:08.181Z,1736400428.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:08.557Z,1736400428.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:08.973Z,1736400428.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:09.370Z,1736400429.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:09.787Z,1736400429.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:10.204Z,1736400430.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:10.399Z,1736400430.399 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:27:10.585Z,1736400430.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:10.992Z,1736400430.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:11.397Z,1736400431.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:11.403Z,1736400431.403 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:27:11.811Z,1736400431.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:12.213Z,1736400432.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:12.596Z,1736400432.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:13.008Z,1736400433.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:13.408Z,1736400433.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:13.857Z,1736400433.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:14.212Z,1736400434.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:14.624Z,1736400434.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:15.048Z,1736400435.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:15.425Z,1736400435.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:15.883Z,1736400435.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:16.241Z,1736400436.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:16.641Z,1736400436.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:17.089Z,1736400437.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:17.446Z,1736400437.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:17.916Z,1736400437.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:18.250Z,1736400438.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:18.657Z,1736400438.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:19.087Z,1736400439.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:19.475Z,1736400439.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:19.975Z,1736400439.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:20.273Z,1736400440.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:20.678Z,1736400440.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:21.127Z,1736400441.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:21.492Z,1736400441.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:21.984Z,1736400441.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:22.311Z,1736400442.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:22.749Z,1736400442.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:23.133Z,1736400443.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:23.512Z,1736400443.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:23.997Z,1736400443.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:24.335Z,1736400444.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:24.724Z,1736400444.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:25.144Z,1736400445.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:25.529Z,1736400445.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:26.029Z,1736400446.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:26.336Z,1736400446.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:26.748Z,1736400446.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:27.176Z,1736400447.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:27.556Z,1736400447.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:28.041Z,1736400448.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:28.360Z,1736400448.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:28.770Z,1736400448.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:29.198Z,1736400449.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:29.577Z,1736400449.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:30.071Z,1736400450.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:30.380Z,1736400450.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:30.792Z,1736400450.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:31.216Z,1736400451.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:31.608Z,1736400451.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:32.061Z,1736400452.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:32.423Z,1736400452.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:32.808Z,1736400452.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:33.244Z,1736400453.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:33.612Z,1736400453.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:34.081Z,1736400454.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:34.449Z,1736400454.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:34.821Z,1736400454.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:35.245Z,1736400455.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:35.642Z,1736400455.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:36.035Z,1736400456.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:36.459Z,1736400456.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:36.846Z,1736400456.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:37.284Z,1736400457.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:37.651Z,1736400457.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:38.078Z,1736400458.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:38.492Z,1736400458.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:38.863Z,1736400458.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:39.306Z,1736400459.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:39.680Z,1736400459.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:40.089Z,1736400460.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:40.525Z,1736400460.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:40.887Z,1736400460.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:41.313Z,1736400461.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:41.523Z,1736400461.523 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:27:41.699Z,1736400461.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:42.098Z,1736400462.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:42.527Z,1736400462.527 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:27:42.543Z,1736400462.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:42.907Z,1736400462.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:43.341Z,1736400463.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:43.715Z,1736400463.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:44.121Z,1736400464.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:44.546Z,1736400464.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:44.933Z,1736400464.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:45.365Z,1736400465.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:45.733Z,1736400465.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:46.144Z,1736400466.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:46.574Z,1736400466.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:46.964Z,1736400466.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:47.394Z,1736400467.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:47.788Z,1736400467.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:48.166Z,1736400468.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:48.584Z,1736400468.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:48.967Z,1736400468.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:49.416Z,1736400469.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:49.782Z,1736400469.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:50.183Z,1736400470.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:50.621Z,1736400470.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:50.992Z,1736400470.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:51.418Z,1736400471.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:51.800Z,1736400471.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:52.210Z,1736400472.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:52.643Z,1736400472.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:53.006Z,1736400473.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:53.444Z,1736400473.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:53.813Z,1736400473.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:54.217Z,1736400474.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:54.644Z,1736400474.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:54.652Z,1736400474.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:27:54.679Z,1736400474.679 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:27:54.680Z,1736400474.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:27:54.931Z,1736400474.931 [DAT](INFO): DAT read: user:19>

2025-01-09T05:27:54.932Z,1736400474.932 [DAT](INFO): DAT read: Tx time:05:27:54.0693

2025-01-09T05:27:54.932Z,1736400474.932 [DAT](INFO): Ping request sent.
2025-01-09T05:27:54.933Z,1736400474.933 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:27:54.933Z,1736400474.933 [DAT](INFO): publishing transmit ping time
2025-01-09T05:27:54.933Z,1736400474.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-01-09T05:27:55.031Z,1736400475.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:55.184Z,1736400475.184 [DAT](INFO): DAT read: TxSync time:05:27:54.0685

2025-01-09T05:27:55.185Z,1736400475.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252235
2025-01-09T05:27:55.436Z,1736400475.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503034
2025-01-09T05:27:55.503Z,1736400475.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:55.688Z,1736400475.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755008
2025-01-09T05:27:55.836Z,1736400475.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:55.940Z,1736400475.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007387
2025-01-09T05:27:56.192Z,1736400476.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258881
2025-01-09T05:27:56.247Z,1736400476.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:56.444Z,1736400476.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511792
2025-01-09T05:27:56.671Z,1736400476.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:56.677Z,1736400476.677 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-01-09T05:27:56.678Z,1736400476.678 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-01-09T05:27:56.678Z,1736400476.678 [lineCaptureHoming:InitialDive] Stopped
2025-01-09T05:27:56.678Z,1736400476.678 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-01-09T05:27:56.678Z,1736400476.678 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-01-09T05:27:56.678Z,1736400476.678 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-01-09T05:27:56.678Z,1736400476.678 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-01-09T05:27:56.678Z,1736400476.678 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-01-09T05:27:56.679Z,1736400476.679 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-01-09T05:27:56.679Z,1736400476.679 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-01-09T05:27:56.679Z,1736400476.679 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-01-09T05:27:56.696Z,1736400476.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762905
2025-01-09T05:27:56.948Z,1736400476.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014942
2025-01-09T05:27:57.066Z,1736400477.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:57.073Z,1736400477.073 [lineCaptureHoming:RepeatHack:A] Stopped
2025-01-09T05:27:57.073Z,1736400477.073 [lineCaptureHoming:RepeatHack](INFO): Completed lineCaptureHoming:RepeatHack
2025-01-09T05:27:57.073Z,1736400477.073 [lineCaptureHoming:RepeatHack] Stopped
2025-01-09T05:27:57.073Z,1736400477.073 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-01-09T05:27:57.074Z,1736400477.074 [lineCaptureHoming:Lap] Running Loop=1
2025-01-09T05:27:57.074Z,1736400477.074 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-01-09T05:27:57.074Z,1736400477.074 [lineCaptureHoming:Lap:A] Running Loop=1
2025-01-09T05:27:57.200Z,1736400477.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266964
2025-01-09T05:27:57.455Z,1736400477.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521613
2025-01-09T05:27:57.505Z,1736400477.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:57.514Z,1736400477.514 [lineCaptureHoming:Lap:A] Stopped
2025-01-09T05:27:57.514Z,1736400477.514 [lineCaptureHoming:Lap:B] Running Loop=1
2025-01-09T05:27:57.514Z,1736400477.514 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-01-09T05:27:57.704Z,1736400477.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771232
2025-01-09T05:27:57.855Z,1736400477.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:57.861Z,1736400477.861 [lineCaptureHoming:LineCapture] Running Loop=1
2025-01-09T05:27:57.861Z,1736400477.861 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-01-09T05:27:57.861Z,1736400477.861 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-01-09T05:27:57.861Z,1736400477.861 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-01-09T05:27:57.861Z,1736400477.861 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-09T05:27:57.861Z,1736400477.861 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-09T05:27:57.862Z,1736400477.862 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-09T05:27:57.862Z,1736400477.862 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-09T05:27:57.862Z,1736400477.862 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-09T05:27:57.862Z,1736400477.862 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-09T05:27:57.862Z,1736400477.862 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-01-09T05:27:57.862Z,1736400477.862 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-01-09T05:27:57.862Z,1736400477.862 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-01-09T05:27:57.862Z,1736400477.862 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-01-09T05:27:57.862Z,1736400477.862 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-01-09T05:27:57.862Z,1736400477.862 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-01-09T05:27:57.862Z,1736400477.862 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-01-09T05:27:57.863Z,1736400477.863 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-01-09T05:27:57.863Z,1736400477.863 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-01-09T05:27:57.863Z,1736400477.863 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-01-09T05:27:57.863Z,1736400477.863 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-09T05:27:57.863Z,1736400477.863 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-01-09T05:27:57.864Z,1736400477.864 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-01-09T05:27:57.864Z,1736400477.864 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-01-09T05:27:57.864Z,1736400477.864 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-01-09T05:27:57.864Z,1736400477.864 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-01-09T05:27:57.864Z,1736400477.864 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-01-09T05:27:57.865Z,1736400477.865 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-01-09T05:27:57.865Z,1736400477.865 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-01-09T05:27:57.865Z,1736400477.865 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-01-09T05:27:57.865Z,1736400477.865 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-09T05:27:57.866Z,1736400477.866 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-09T05:27:57.866Z,1736400477.866 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-09T05:27:57.867Z,1736400477.867 [lineCaptureHoming:LineCapture:A] Stopped
2025-01-09T05:27:57.867Z,1736400477.867 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-01-09T05:27:57.956Z,1736400477.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023337
2025-01-09T05:27:58.208Z,1736400478.208 [DAT](INFO): DAT read: Rx Time:05:27:56.7979

2025-01-09T05:27:58.208Z,1736400478.208 [DAT](INFO): Rx dataTimestamp_ set to:1736400478.207836
2025-01-09T05:27:58.209Z,1736400478.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276014
2025-01-09T05:27:58.266Z,1736400478.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:58.294Z,1736400478.294 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-01-09T05:27:58.294Z,1736400478.294 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-09T05:27:58.294Z,1736400478.294 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-01-09T05:27:58.300Z,1736400478.300 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 178.100006 m (mode  0.000000 count ).
2025-01-09T05:27:58.301Z,1736400478.301 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-01-09T05:27:58.301Z,1736400478.301 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-01-09T05:27:58.309Z,1736400478.309 [lineCaptureHoming:LineCapture:B] Stopped
2025-01-09T05:27:58.309Z,1736400478.309 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-01-09T05:27:58.460Z,1736400478.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526951
2025-01-09T05:27:58.691Z,1736400478.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:58.697Z,1736400478.697 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-01-09T05:27:58.697Z,1736400478.697 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-01-09T05:27:58.697Z,1736400478.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:27:58.699Z,1736400478.699 [lineCaptureHoming:LineCapture:D] Stopped
2025-01-09T05:27:58.700Z,1736400478.700 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-01-09T05:27:58.714Z,1736400478.714 [DAT](INFO): DAT read: Range 10 to 50 : 243.3 m  (Round-trip  324.5 ms) speed -0.6 m/s

2025-01-09T05:27:58.715Z,1736400478.715 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:27:58.716Z,1736400478.716 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:27:58.716Z,1736400478.716 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:27:58.716Z,1736400478.716 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:27:58.964Z,1736400478.964 [DAT](INFO): DAT read: user:20>

2025-01-09T05:27:58.964Z,1736400478.964 [DAT](INFO): DAT read: Tx time:05:27:58.0693

2025-01-09T05:27:58.965Z,1736400478.965 [DAT](INFO): Ping request sent.
2025-01-09T05:27:58.965Z,1736400478.965 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:27:58.965Z,1736400478.965 [DAT](INFO): DAT read: TxSync time:05:27:58.0685

2025-01-09T05:27:58.966Z,1736400478.966 [DAT](INFO): publishing transmit ping time
2025-01-09T05:27:58.966Z,1736400478.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001481
2025-01-09T05:27:59.069Z,1736400479.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:59.076Z,1736400479.076 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-01-09T05:27:59.076Z,1736400479.076 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-01-09T05:27:59.078Z,1736400479.078 [lineCaptureHoming:LineCapture:E] Stopped
2025-01-09T05:27:59.079Z,1736400479.079 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-01-09T05:27:59.216Z,1736400479.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250825
2025-01-09T05:27:59.471Z,1736400479.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505160
2025-01-09T05:27:59.534Z,1736400479.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:59.540Z,1736400479.540 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-01-09T05:27:59.540Z,1736400479.540 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-09T05:27:59.540Z,1736400479.540 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-01-09T05:27:59.541Z,1736400479.541 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-09T05:27:59.543Z,1736400479.543 [lineCaptureHoming:LineCapture:F] Stopped
2025-01-09T05:27:59.543Z,1736400479.543 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-01-09T05:27:59.543Z,1736400479.543 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-01-09T05:27:59.543Z,1736400479.543 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-01-09T05:27:59.543Z,1736400479.543 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-01-09T05:27:59.543Z,1736400479.543 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-01-09T05:27:59.544Z,1736400479.544 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-01-09T05:27:59.544Z,1736400479.544 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-01-09T05:27:59.544Z,1736400479.544 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-01-09T05:27:59.544Z,1736400479.544 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-01-09T05:27:59.545Z,1736400479.545 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-01-09T05:27:59.545Z,1736400479.545 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-01-09T05:27:59.545Z,1736400479.545 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-01-09T05:27:59.545Z,1736400479.545 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-01-09T05:27:59.546Z,1736400479.546 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-01-09T05:27:59.546Z,1736400479.546 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-01-09T05:27:59.546Z,1736400479.546 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-01-09T05:27:59.546Z,1736400479.546 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-01-09T05:27:59.547Z,1736400479.547 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-01-09T05:27:59.547Z,1736400479.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-01-09T05:27:59.548Z,1736400479.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-09T05:27:59.548Z,1736400479.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-01-09T05:27:59.548Z,1736400479.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-09T05:27:59.548Z,1736400479.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-01-09T05:27:59.548Z,1736400479.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-01-09T05:27:59.548Z,1736400479.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-01-09T05:27:59.549Z,1736400479.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-01-09T05:27:59.549Z,1736400479.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-01-09T05:27:59.549Z,1736400479.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-01-09T05:27:59.549Z,1736400479.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-01-09T05:27:59.549Z,1736400479.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-01-09T05:27:59.550Z,1736400479.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-01-09T05:27:59.550Z,1736400479.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-01-09T05:27:59.550Z,1736400479.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-01-09T05:27:59.720Z,1736400479.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755181
2025-01-09T05:27:59.886Z,1736400479.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:27:59.893Z,1736400479.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-01-09T05:27:59.894Z,1736400479.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-09T05:27:59.894Z,1736400479.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-01-09T05:27:59.894Z,1736400479.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-09T05:27:59.894Z,1736400479.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-01-09T05:27:59.894Z,1736400479.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-01-09T05:27:59.894Z,1736400479.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-01-09T05:27:59.894Z,1736400479.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-01-09T05:27:59.894Z,1736400479.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-01-09T05:27:59.894Z,1736400479.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-01-09T05:27:59.895Z,1736400479.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-01-09T05:27:59.895Z,1736400479.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-01-09T05:27:59.895Z,1736400479.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-01-09T05:27:59.895Z,1736400479.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-01-09T05:27:59.895Z,1736400479.895 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-01-09T05:27:59.895Z,1736400479.895 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-01-09T05:27:59.896Z,1736400479.896 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-01-09T05:27:59.896Z,1736400479.896 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-01-09T05:27:59.896Z,1736400479.896 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-01-09T05:27:59.896Z,1736400479.896 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-01-09T05:27:59.896Z,1736400479.896 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-01-09T05:27:59.896Z,1736400479.896 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-01-09T05:27:59.896Z,1736400479.896 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-01-09T05:27:59.896Z,1736400479.896 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-01-09T05:27:59.896Z,1736400479.896 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-01-09T05:27:59.897Z,1736400479.897 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.592735 m.
2025-01-09T05:27:59.940Z,1736400479.940 [DockingStepper](INFO): Resume
2025-01-09T05:27:59.972Z,1736400479.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007065
2025-01-09T05:28:00.224Z,1736400480.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258832
2025-01-09T05:28:00.280Z,1736400480.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:00.353Z,1736400480.353 [DockingStepper](INFO): Resuming
2025-01-09T05:28:00.479Z,1736400480.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513450
2025-01-09T05:28:00.723Z,1736400480.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:00.728Z,1736400480.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762708
2025-01-09T05:28:00.733Z,1736400480.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:00.804Z,1736400480.804 [DockingStepper](INFO): Start
2025-01-09T05:28:00.804Z,1736400480.804 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-09T05:28:00.928Z,1736400480.928 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-09T05:28:00.982Z,1736400480.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016974
2025-01-09T05:28:01.091Z,1736400481.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:01.232Z,1736400481.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266789
2025-01-09T05:28:01.279Z,1736400481.279 [DockingStepper](INFO): Starting
2025-01-09T05:28:01.487Z,1736400481.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521647
2025-01-09T05:28:01.564Z,1736400481.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:01.639Z,1736400481.639 [DockingStepper](INFO): Starting
2025-01-09T05:28:01.736Z,1736400481.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771589
2025-01-09T05:28:01.901Z,1736400481.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:01.984Z,1736400481.984 [DockingStepper](INFO): Starting
2025-01-09T05:28:01.989Z,1736400481.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024187
2025-01-09T05:28:02.036Z,1736400482.036 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-01-09T05:28:02.240Z,1736400482.240 [DAT](INFO): DAT read: Rx Time:05:28:00.8014

2025-01-09T05:28:02.240Z,1736400482.240 [DAT](INFO): Rx dataTimestamp_ set to:1736400482.239834
2025-01-09T05:28:02.241Z,1736400482.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275832
2025-01-09T05:28:02.299Z,1736400482.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:02.404Z,1736400482.404 [DockingStepper](INFO): Starting
2025-01-09T05:28:02.497Z,1736400482.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532001
2025-01-09T05:28:02.746Z,1736400482.746 [DAT](INFO): DAT read: Range 10 to 50 : 245.9 m  (Round-trip  327.9 ms) speed -0.7 m/s

2025-01-09T05:28:02.747Z,1736400482.747 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:28:02.748Z,1736400482.748 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:02.748Z,1736400482.748 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:02.748Z,1736400482.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:02.780Z,1736400482.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:02.817Z,1736400482.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:02.996Z,1736400482.996 [DAT](INFO): DAT read: user:21>

2025-01-09T05:28:02.996Z,1736400482.996 [DAT](INFO): DAT read: Tx time:05:28:02.1194

2025-01-09T05:28:02.997Z,1736400482.997 [DAT](INFO): Ping request sent.
2025-01-09T05:28:02.997Z,1736400482.997 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:02.997Z,1736400482.997 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:02.997Z,1736400482.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-01-09T05:28:03.015Z,1736400483.015 [DockingStepper](INFO): Starting
2025-01-09T05:28:03.108Z,1736400483.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:03.156Z,1736400483.156 [DockingStepper](INFO): Starting
2025-01-09T05:28:03.248Z,1736400483.248 [DAT](INFO): DAT read: TxSync time:05:28:02.1186

2025-01-09T05:28:03.248Z,1736400483.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251745
2025-01-09T05:28:03.503Z,1736400483.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505393
2025-01-09T05:28:03.589Z,1736400483.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:03.633Z,1736400483.633 [DockingStepper](INFO): Starting
2025-01-09T05:28:03.659Z,1736400483.659 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-09T05:28:03.753Z,1736400483.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755863
2025-01-09T05:28:03.922Z,1736400483.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:04.004Z,1736400484.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007495
2025-01-09T05:28:04.008Z,1736400484.008 [DockingStepper](INFO): Starting
2025-01-09T05:28:04.256Z,1736400484.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258957
2025-01-09T05:28:04.321Z,1736400484.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:04.372Z,1736400484.372 [DockingStepper](INFO): Changing to mode: 3
2025-01-09T05:28:04.372Z,1736400484.372 [DockingStepper](INFO): Detach mode.
2025-01-09T05:28:04.439Z,1736400484.439 [DockingStepper](INFO): Commanding negative:54593
2025-01-09T05:28:04.510Z,1736400484.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512842
2025-01-09T05:28:04.761Z,1736400484.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763824
2025-01-09T05:28:04.780Z,1736400484.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:05.012Z,1736400485.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015005
2025-01-09T05:28:05.147Z,1736400485.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:05.154Z,1736400485.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:05.264Z,1736400485.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266803
2025-01-09T05:28:05.518Z,1736400485.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521136
2025-01-09T05:28:05.606Z,1736400485.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:05.769Z,1736400485.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771688
2025-01-09T05:28:05.932Z,1736400485.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:06.020Z,1736400486.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023546
2025-01-09T05:28:06.272Z,1736400486.272 [DAT](INFO): DAT read: Rx Time:05:28:04.8541

2025-01-09T05:28:06.272Z,1736400486.272 [DAT](INFO): Rx dataTimestamp_ set to:1736400486.272136
2025-01-09T05:28:06.273Z,1736400486.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276178
2025-01-09T05:28:06.339Z,1736400486.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:06.526Z,1736400486.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528796
2025-01-09T05:28:06.772Z,1736400486.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:06.787Z,1736400486.787 [DAT](INFO): DAT read: 05:28:04.8541 LVL= 18096, 17713, 15618, 32755, AGC= 59, IDX= 453, 0.23,-2.285,-0.460,-2.395,-2.494, PHS= 0.297, 2.081, 0.095, RAW= 335.3, -24.8, CAL= 339.5, -36.5, ROT= 170.5,  36.5

2025-01-09T05:28:06.788Z,1736400486.788 [DAT](INFO): got valid direction response:
 05:28:04.8541 LVL= 18096, 17713, 15618, 32755, AGC= 59, IDX= 453, 0.23,-2.285,-0.460,-2.395,-2.494, PHS= 0.297, 2.081, 0.095, RAW= 335.3, -24.8, CAL= 339.5, -36.5, ROT= 170.5,  36.5

2025-01-09T05:28:06.789Z,1736400486.789 [DAT](INFO): DAT read: Bearing 170.5,  36.5 (Local)

2025-01-09T05:28:06.789Z,1736400486.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.5,  36.5 (Local)

2025-01-09T05:28:06.790Z,1736400486.790 [DAT](INFO): DAT read: Range 10 to 50 : 247.8 m  (Round-trip  330.5 ms) speed -0.4 m/s

2025-01-09T05:28:06.791Z,1736400486.791 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:28:06.792Z,1736400486.792 [DAT](INFO): direction in FSK: [-0.792832,0.132675,-0.594823]
2025-01-09T05:28:06.792Z,1736400486.792 [DAT](INFO): publishing direction and range info
2025-01-09T05:28:06.803Z,1736400486.803 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:06.804Z,1736400486.804 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:06.804Z,1736400486.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:07.027Z,1736400487.027 [DAT](INFO): DAT read: user:22>

2025-01-09T05:28:07.028Z,1736400487.028 [DAT](INFO): DAT read: Tx time:05:28:06.1694

2025-01-09T05:28:07.028Z,1736400487.028 [DAT](INFO): Ping request sent.
2025-01-09T05:28:07.029Z,1736400487.029 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:07.029Z,1736400487.029 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:07.029Z,1736400487.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000706
2025-01-09T05:28:07.162Z,1736400487.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:07.169Z,1736400487.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:07.280Z,1736400487.280 [DAT](INFO): DAT read: TxSync time:05:28:06.1686

2025-01-09T05:28:07.280Z,1736400487.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251937
2025-01-09T05:28:07.532Z,1736400487.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503239
2025-01-09T05:28:07.609Z,1736400487.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:07.784Z,1736400487.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755059
2025-01-09T05:28:07.975Z,1736400487.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:08.037Z,1736400488.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007994
2025-01-09T05:28:08.288Z,1736400488.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258936
2025-01-09T05:28:08.356Z,1736400488.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:08.543Z,1736400488.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514186
2025-01-09T05:28:08.792Z,1736400488.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763179
2025-01-09T05:28:08.800Z,1736400488.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:09.044Z,1736400489.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014961
2025-01-09T05:28:09.177Z,1736400489.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:09.184Z,1736400489.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:09.296Z,1736400489.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267020
2025-01-09T05:28:09.551Z,1736400489.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521900
2025-01-09T05:28:09.671Z,1736400489.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:09.800Z,1736400489.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771022
2025-01-09T05:28:09.977Z,1736400489.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:10.053Z,1736400490.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024023
2025-01-09T05:28:10.304Z,1736400490.304 [DAT](INFO): DAT read: Rx Time:05:28:08.9063

2025-01-09T05:28:10.305Z,1736400490.305 [DAT](INFO): Rx dataTimestamp_ set to:1736400490.304467
2025-01-09T05:28:10.305Z,1736400490.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276709
2025-01-09T05:28:10.394Z,1736400490.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:10.419Z,1736400490.419 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-01-09T05:28:10.557Z,1736400490.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528503
2025-01-09T05:28:10.813Z,1736400490.813 [DAT](INFO): DAT read: 05:28:08.9063 LVL= 17744, 18289, 17490, 31331, AGC= 58, IDX= 444, 0.08, 2.666,-1.914, 2.515, 2.219, PHS= 0.535, 2.197, 0.293, RAW= 336.7, -30.8, CAL= 341.4, -44.1, ROT= 168.6,  44.1

2025-01-09T05:28:10.814Z,1736400490.814 [DAT](INFO): got valid direction response:
 05:28:08.9063 LVL= 17744, 18289, 17490, 31331, AGC= 58, IDX= 444, 0.08, 2.666,-1.914, 2.515, 2.219, PHS= 0.535, 2.197, 0.293, RAW= 336.7, -30.8, CAL= 341.4, -44.1, ROT= 168.6,  44.1

2025-01-09T05:28:10.815Z,1736400490.815 [DAT](INFO): DAT read: Bearing 168.6,  44.1 (Local)

2025-01-09T05:28:10.815Z,1736400490.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 168.6,  44.1 (Local)

2025-01-09T05:28:10.817Z,1736400490.817 [DAT](INFO): DAT read: Range 10 to 50 : 249.6 m  (Round-trip  332.8 ms) speed -0.4 m/s

2025-01-09T05:28:10.817Z,1736400490.817 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:28:10.820Z,1736400490.820 [DAT](INFO): direction in FSK: [-0.703959,0.141943,-0.695913]
2025-01-09T05:28:10.820Z,1736400490.820 [DAT](INFO): publishing direction and range info
2025-01-09T05:28:10.831Z,1736400490.831 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:10.831Z,1736400490.831 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:10.831Z,1736400490.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:10.836Z,1736400490.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:11.060Z,1736400491.060 [DAT](INFO): DAT read: user:23>

2025-01-09T05:28:11.061Z,1736400491.061 [DAT](INFO): DAT read: Tx time:05:28:10.2209

2025-01-09T05:28:11.061Z,1736400491.061 [DAT](INFO): Ping request sent.
2025-01-09T05:28:11.061Z,1736400491.061 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:11.061Z,1736400491.061 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:11.062Z,1736400491.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-01-09T05:28:11.204Z,1736400491.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:11.214Z,1736400491.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:11.313Z,1736400491.313 [DAT](INFO): DAT read: TxSync time:05:28:10.2202

2025-01-09T05:28:11.314Z,1736400491.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252324
2025-01-09T05:28:11.564Z,1736400491.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502247
2025-01-09T05:28:11.633Z,1736400491.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:11.817Z,1736400491.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755479
2025-01-09T05:28:12.050Z,1736400492.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:12.068Z,1736400492.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006683
2025-01-09T05:28:12.321Z,1736400492.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259230
2025-01-09T05:28:12.404Z,1736400492.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:12.572Z,1736400492.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510606
2025-01-09T05:28:12.664Z,1736400492.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:28:12.824Z,1736400492.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762453
2025-01-09T05:28:12.848Z,1736400492.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:13.076Z,1736400493.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014233
2025-01-09T05:28:13.209Z,1736400493.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:13.221Z,1736400493.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:13.329Z,1736400493.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267519
2025-01-09T05:28:13.580Z,1736400493.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518262
2025-01-09T05:28:13.622Z,1736400493.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:13.668Z,1736400493.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:28:13.832Z,1736400493.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770292
2025-01-09T05:28:14.047Z,1736400494.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:14.085Z,1736400494.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023834
2025-01-09T05:28:14.336Z,1736400494.336 [DAT](INFO): DAT read: Rx Time:05:28:12.9603

2025-01-09T05:28:14.337Z,1736400494.337 [DAT](INFO): Rx dataTimestamp_ set to:1736400494.336431
2025-01-09T05:28:14.337Z,1736400494.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275949
2025-01-09T05:28:14.446Z,1736400494.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:14.591Z,1736400494.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529753
2025-01-09T05:28:14.849Z,1736400494.849 [DAT](INFO): DAT read: 05:28:12.9603 LVL= 18144, 15793, 16114, 25459, AGC= 59, IDX= 452, 0.47, 0.072, 1.528,-0.043,-0.488, PHS= 0.648, 2.063, 0.442, RAW= 336.7, -36.1, CAL= 341.3, -49.8, ROT= 168.7,  49.8

2025-01-09T05:28:14.850Z,1736400494.850 [DAT](INFO): got valid direction response:
 05:28:12.9603 LVL= 18144, 15793, 16114, 25459, AGC= 59, IDX= 452, 0.47, 0.072, 1.528,-0.043,-0.488, PHS= 0.648, 2.063, 0.442, RAW= 336.7, -36.1, CAL= 341.3, -49.8, ROT= 168.7,  49.8

2025-01-09T05:28:14.859Z,1736400494.859 [DAT](INFO): DAT read: Bearing 168.7,  49.8 (Local)

2025-01-09T05:28:14.860Z,1736400494.860 [DAT](INFO): Local bearing/azimuth received:
 Bearing 168.7,  49.8 (Local)

2025-01-09T05:28:14.861Z,1736400494.861 [DAT](INFO): DAT read: Range 10 to 50 : 251.4 m  (Round-trip  335.2 ms) speed -0.5 m/s

2025-01-09T05:28:14.861Z,1736400494.861 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:28:14.862Z,1736400494.862 [DAT](INFO): direction in FSK: [-0.632945,0.126475,-0.763796]
2025-01-09T05:28:14.863Z,1736400494.863 [DAT](INFO): publishing direction and range info
2025-01-09T05:28:14.866Z,1736400494.866 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:14.866Z,1736400494.866 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:14.866Z,1736400494.866 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:14.889Z,1736400494.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:15.095Z,1736400495.095 [DAT](INFO): DAT read: user:24>

2025-01-09T05:28:15.096Z,1736400495.096 [DAT](INFO): DAT read: Tx time:05:28:14.2694

2025-01-09T05:28:15.096Z,1736400495.096 [DAT](INFO): Ping request sent.
2025-01-09T05:28:15.097Z,1736400495.097 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:15.097Z,1736400495.097 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:15.097Z,1736400495.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-01-09T05:28:15.239Z,1736400495.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:15.246Z,1736400495.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:15.348Z,1736400495.348 [DAT](INFO): DAT read: TxSync time:05:28:14.2687

2025-01-09T05:28:15.349Z,1736400495.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252059
2025-01-09T05:28:15.600Z,1736400495.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503019
2025-01-09T05:28:15.631Z,1736400495.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:15.853Z,1736400495.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755823
2025-01-09T05:28:16.057Z,1736400496.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:16.104Z,1736400496.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007273
2025-01-09T05:28:16.356Z,1736400496.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259082
2025-01-09T05:28:16.438Z,1736400496.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:16.608Z,1736400496.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510962
2025-01-09T05:28:16.860Z,1736400496.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763036
2025-01-09T05:28:16.882Z,1736400496.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:17.112Z,1736400497.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014978
2025-01-09T05:28:17.253Z,1736400497.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:17.260Z,1736400497.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:17.364Z,1736400497.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266926
2025-01-09T05:28:17.616Z,1736400497.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518985
2025-01-09T05:28:17.659Z,1736400497.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:17.869Z,1736400497.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771994
2025-01-09T05:28:18.064Z,1736400498.064 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -56,  +38,A
2025-01-09T05:28:18.073Z,1736400498.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:28:18.073Z,1736400498.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:18.120Z,1736400498.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023359
2025-01-09T05:28:18.372Z,1736400498.372 [DAT](INFO): DAT read: Rx Time:05:28:17.0113

2025-01-09T05:28:18.372Z,1736400498.372 [DAT](INFO): Rx dataTimestamp_ set to:1736400498.371878
2025-01-09T05:28:18.373Z,1736400498.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276058
2025-01-09T05:28:18.514Z,1736400498.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T05:28:18.514Z,1736400498.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:18.626Z,1736400498.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529056
2025-01-09T05:28:18.878Z,1736400498.878 [DAT](INFO): DAT read: Range 10 to 50 : 253.2 m  (Round-trip  337.6 ms) speed  0.0 m/s

2025-01-09T05:28:18.880Z,1736400498.880 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:28:18.881Z,1736400498.881 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:18.881Z,1736400498.881 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:18.882Z,1736400498.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:18.954Z,1736400498.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:19.127Z,1736400499.127 [DAT](INFO): DAT read: user:25>

2025-01-09T05:28:19.128Z,1736400499.128 [DAT](INFO): DAT read: Tx time:05:28:18.2695

2025-01-09T05:28:19.128Z,1736400499.128 [DAT](INFO): Ping request sent.
2025-01-09T05:28:19.129Z,1736400499.129 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:19.129Z,1736400499.129 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:19.129Z,1736400499.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719
2025-01-09T05:28:19.272Z,1736400499.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:19.278Z,1736400499.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:19.380Z,1736400499.380 [DAT](INFO): DAT read: TxSync time:05:28:18.2687

2025-01-09T05:28:19.381Z,1736400499.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251961
2025-01-09T05:28:19.632Z,1736400499.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502951
2025-01-09T05:28:19.684Z,1736400499.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:19.885Z,1736400499.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755564
2025-01-09T05:28:20.107Z,1736400500.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:20.136Z,1736400500.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007701
2025-01-09T05:28:20.388Z,1736400500.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259192
2025-01-09T05:28:20.495Z,1736400500.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:20.640Z,1736400500.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511304
2025-01-09T05:28:20.892Z,1736400500.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763063
2025-01-09T05:28:20.925Z,1736400500.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:21.144Z,1736400501.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014933
2025-01-09T05:28:21.287Z,1736400501.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:21.294Z,1736400501.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:21.397Z,1736400501.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268085
2025-01-09T05:28:21.648Z,1736400501.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519006
2025-01-09T05:28:21.693Z,1736400501.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:21.902Z,1736400501.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773228
2025-01-09T05:28:22.122Z,1736400502.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:22.153Z,1736400502.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024269
2025-01-09T05:28:22.404Z,1736400502.404 [DAT](INFO): DAT read: Rx Time:05:28:21.0115

2025-01-09T05:28:22.404Z,1736400502.404 [DAT](INFO): Rx dataTimestamp_ set to:1736400502.404185
2025-01-09T05:28:22.405Z,1736400502.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276363
2025-01-09T05:28:22.495Z,1736400502.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:22.656Z,1736400502.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527069
2025-01-09T05:28:22.908Z,1736400502.908 [DAT](INFO): DAT read: Range 10 to 50 : 253.3 m  (Round-trip  337.8 ms) speed -0.1 m/s

2025-01-09T05:28:22.909Z,1736400502.909 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:28:22.910Z,1736400502.910 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:22.910Z,1736400502.910 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:22.910Z,1736400502.910 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:22.984Z,1736400502.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:23.160Z,1736400503.160 [DAT](INFO): DAT read: user:26>

2025-01-09T05:28:23.160Z,1736400503.160 [DAT](INFO): DAT read: Tx time:05:28:22.2695

2025-01-09T05:28:23.161Z,1736400503.161 [DAT](INFO): Ping request sent.
2025-01-09T05:28:23.161Z,1736400503.161 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:23.161Z,1736400503.161 [DAT](INFO): DAT read: TxSync time:05:28:22.2687

2025-01-09T05:28:23.162Z,1736400503.162 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:23.162Z,1736400503.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001484
2025-01-09T05:28:23.312Z,1736400503.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:23.319Z,1736400503.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:23.413Z,1736400503.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252439
2025-01-09T05:28:23.664Z,1736400503.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502801
2025-01-09T05:28:23.729Z,1736400503.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:23.917Z,1736400503.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755813
2025-01-09T05:28:24.145Z,1736400504.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:24.169Z,1736400504.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007902
2025-01-09T05:28:24.420Z,1736400504.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259387
2025-01-09T05:28:24.524Z,1736400504.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:24.672Z,1736400504.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510844
2025-01-09T05:28:24.923Z,1736400504.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762672
2025-01-09T05:28:24.954Z,1736400504.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:25.176Z,1736400505.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014724
2025-01-09T05:28:25.347Z,1736400505.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:25.361Z,1736400505.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:25.428Z,1736400505.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267527
2025-01-09T05:28:25.680Z,1736400505.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518719
2025-01-09T05:28:25.731Z,1736400505.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:25.932Z,1736400505.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770917
2025-01-09T05:28:26.153Z,1736400506.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:26.184Z,1736400506.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022951
2025-01-09T05:28:26.437Z,1736400506.437 [DAT](INFO): DAT read: Rx Time:05:28:25.0133

2025-01-09T05:28:26.437Z,1736400506.437 [DAT](INFO): Rx dataTimestamp_ set to:1736400506.436752
2025-01-09T05:28:26.438Z,1736400506.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276748
2025-01-09T05:28:26.544Z,1736400506.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:26.715Z,1736400506.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.554306
2025-01-09T05:28:26.945Z,1736400506.945 [DAT](INFO): DAT read: Range 10 to 50 : 254.7 m  (Round-trip  339.7 ms) speed -0.4 m/s

2025-01-09T05:28:26.945Z,1736400506.945 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:28:26.946Z,1736400506.946 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:26.946Z,1736400506.946 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:26.947Z,1736400506.947 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:27.014Z,1736400507.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:27.196Z,1736400507.196 [DAT](INFO): DAT read: user:27>

2025-01-09T05:28:27.196Z,1736400507.196 [DAT](INFO): DAT read: Tx time:05:28:26.3195

2025-01-09T05:28:27.197Z,1736400507.197 [DAT](INFO): Ping request sent.
2025-01-09T05:28:27.197Z,1736400507.197 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:27.197Z,1736400507.197 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:27.197Z,1736400507.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715
2025-01-09T05:28:27.364Z,1736400507.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:27.371Z,1736400507.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:27.448Z,1736400507.448 [DAT](INFO): DAT read: TxSync time:05:28:26.3187

2025-01-09T05:28:27.449Z,1736400507.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252619
2025-01-09T05:28:27.700Z,1736400507.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502876
2025-01-09T05:28:27.804Z,1736400507.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:27.953Z,1736400507.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755763
2025-01-09T05:28:28.194Z,1736400508.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:28.204Z,1736400508.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007635
2025-01-09T05:28:28.456Z,1736400508.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258875
2025-01-09T05:28:28.557Z,1736400508.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:28.708Z,1736400508.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510809
2025-01-09T05:28:28.960Z,1736400508.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763168
2025-01-09T05:28:28.999Z,1736400508.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:29.212Z,1736400509.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014860
2025-01-09T05:28:29.368Z,1736400509.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:29.393Z,1736400509.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:29.464Z,1736400509.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267026
2025-01-09T05:28:29.716Z,1736400509.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518816
2025-01-09T05:28:29.779Z,1736400509.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:29.968Z,1736400509.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770825
2025-01-09T05:28:30.204Z,1736400510.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:30.220Z,1736400510.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023490
2025-01-09T05:28:30.472Z,1736400510.472 [DAT](INFO): DAT read: Rx Time:05:28:29.0654

2025-01-09T05:28:30.472Z,1736400510.472 [DAT](INFO): Rx dataTimestamp_ set to:1736400510.472144
2025-01-09T05:28:30.473Z,1736400510.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276182
2025-01-09T05:28:30.589Z,1736400510.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:30.597Z,1736400510.597 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 254.70 m. Transitioning docking module to standby.
2025-01-09T05:28:30.724Z,1736400510.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526887
2025-01-09T05:28:30.981Z,1736400510.981 [DAT](INFO): DAT read: Range 10 to 50 : 256.2 m  (Round-trip  341.7 ms) speed  0.0 m/s

2025-01-09T05:28:30.983Z,1736400510.983 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:28:30.984Z,1736400510.984 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:30.984Z,1736400510.984 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:30.984Z,1736400510.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:31.075Z,1736400511.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:31.156Z,1736400511.156 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T05:28:31.156Z,1736400511.156 [DockingStepper](INFO): Standby mode.
2025-01-09T05:28:31.219Z,1736400511.219 [DockingStepper](INFO): Commanding positive:54593
2025-01-09T05:28:31.228Z,1736400511.228 [DAT](INFO): DAT read: user:28>

2025-01-09T05:28:31.229Z,1736400511.229 [DAT](INFO): DAT read: Tx time:05:28:30.3695

2025-01-09T05:28:31.229Z,1736400511.229 [DAT](INFO): Ping request sent.
2025-01-09T05:28:31.229Z,1736400511.229 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:31.230Z,1736400511.230 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:31.230Z,1736400511.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-01-09T05:28:31.395Z,1736400511.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:31.422Z,1736400511.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:31.480Z,1736400511.480 [DAT](INFO): DAT read: TxSync time:05:28:30.3688

2025-01-09T05:28:31.481Z,1736400511.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251677
2025-01-09T05:28:31.732Z,1736400511.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501994
2025-01-09T05:28:31.800Z,1736400511.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:31.984Z,1736400511.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754121
2025-01-09T05:28:32.223Z,1736400512.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:32.236Z,1736400512.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006921
2025-01-09T05:28:32.488Z,1736400512.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258078
2025-01-09T05:28:32.617Z,1736400512.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:32.740Z,1736400512.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510364
2025-01-09T05:28:32.993Z,1736400512.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763367
2025-01-09T05:28:33.056Z,1736400513.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:33.245Z,1736400513.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015079
2025-01-09T05:28:33.414Z,1736400513.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:33.422Z,1736400513.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:33.497Z,1736400513.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266911
2025-01-09T05:28:33.748Z,1736400513.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518420
2025-01-09T05:28:33.808Z,1736400513.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:33.956Z,1736400513.956 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T05:28:33.000Z,1736400514.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770111
2025-01-09T05:28:34.259Z,1736400514.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023093
2025-01-09T05:28:34.259Z,1736400514.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:34.504Z,1736400514.504 [DAT](INFO): DAT read: Rx Time:05:28:33.1152

2025-01-09T05:28:34.504Z,1736400514.504 [DAT](INFO): Rx dataTimestamp_ set to:1736400514.503905
2025-01-09T05:28:34.505Z,1736400514.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275169
2025-01-09T05:28:34.616Z,1736400514.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:34.760Z,1736400514.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530681
2025-01-09T05:28:35.008Z,1736400515.008 [DAT](INFO): DAT read: Range 10 to 50 : 256.1 m  (Round-trip  341.5 ms) speed -0.4 m/s

2025-01-09T05:28:35.009Z,1736400515.009 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:28:35.010Z,1736400515.010 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:35.010Z,1736400515.010 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:35.010Z,1736400515.010 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:35.091Z,1736400515.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:35.260Z,1736400515.260 [DAT](INFO): DAT read: user:29>

2025-01-09T05:28:35.260Z,1736400515.260 [DAT](INFO): DAT read: Tx time:05:28:34.4196

2025-01-09T05:28:35.261Z,1736400515.261 [DAT](INFO): Ping request sent.
2025-01-09T05:28:35.261Z,1736400515.261 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:35.261Z,1736400515.261 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:35.262Z,1736400515.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-01-09T05:28:35.427Z,1736400515.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:35.434Z,1736400515.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:35.518Z,1736400515.518 [DAT](INFO): DAT read: TxSync time:05:28:34.4188

2025-01-09T05:28:35.519Z,1736400515.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258295
2025-01-09T05:28:35.768Z,1736400515.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507489
2025-01-09T05:28:35.833Z,1736400515.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:36.022Z,1736400516.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760413
2025-01-09T05:28:36.259Z,1736400516.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:36.272Z,1736400516.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011019
2025-01-09T05:28:36.524Z,1736400516.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262998
2025-01-09T05:28:36.653Z,1736400516.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:36.776Z,1736400516.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515227
2025-01-09T05:28:37.028Z,1736400517.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766865
2025-01-09T05:28:37.083Z,1736400517.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:37.090Z,1736400517.090 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-01-09T05:28:37.280Z,1736400517.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018768
2025-01-09T05:28:37.446Z,1736400517.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:37.463Z,1736400517.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:37.465Z,1736400517.465 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-01-09T05:28:37.465Z,1736400517.465 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-01-09T05:28:37.465Z,1736400517.465 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-01-09T05:28:37.533Z,1736400517.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272552
2025-01-09T05:28:37.784Z,1736400517.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522687
2025-01-09T05:28:37.849Z,1736400517.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:37.857Z,1736400517.857 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-01-09T05:28:37.857Z,1736400517.857 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-01-09T05:28:37.857Z,1736400517.857 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-01-09T05:28:37.900Z,1736400517.900 [DockingStepper](INFO): Pause
2025-01-09T05:28:38.038Z,1736400518.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776645
2025-01-09T05:28:38.288Z,1736400518.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026943
2025-01-09T05:28:38.298Z,1736400518.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:38.314Z,1736400518.314 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-01-09T05:28:38.314Z,1736400518.314 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-01-09T05:28:38.314Z,1736400518.314 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-01-09T05:28:38.314Z,1736400518.314 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-01-09T05:28:38.319Z,1736400518.319 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-01-09T05:28:38.540Z,1736400518.540 [DAT](INFO): DAT read: Rx Time:05:28:37.1675

2025-01-09T05:28:38.540Z,1736400518.540 [DAT](INFO): Rx dataTimestamp_ set to:1736400518.539771
2025-01-09T05:28:38.541Z,1736400518.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279755
2025-01-09T05:28:38.660Z,1736400518.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:38.667Z,1736400518.667 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-01-09T05:28:38.668Z,1736400518.668 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-01-09T05:28:38.668Z,1736400518.668 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-01-09T05:28:38.668Z,1736400518.668 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-01-09T05:28:38.668Z,1736400518.668 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-01-09T05:28:38.668Z,1736400518.668 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-01-09T05:28:38.669Z,1736400518.669 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-01-09T05:28:38.669Z,1736400518.669 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-01-09T05:28:38.669Z,1736400518.669 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-01-09T05:28:38.669Z,1736400518.669 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-01-09T05:28:38.669Z,1736400518.669 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-01-09T05:28:38.670Z,1736400518.670 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-01-09T05:28:38.670Z,1736400518.670 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-01-09T05:28:38.670Z,1736400518.670 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-01-09T05:28:38.671Z,1736400518.671 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-01-09T05:28:38.672Z,1736400518.672 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 256.100006 m 
2025-01-09T05:28:38.672Z,1736400518.672 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-01-09T05:28:38.672Z,1736400518.672 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-01-09T05:28:38.673Z,1736400518.673 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg )
2025-01-09T05:28:38.673Z,1736400518.673 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-01-09T05:28:38.673Z,1736400518.673 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-01-09T05:28:38.673Z,1736400518.673 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-09T05:28:38.674Z,1736400518.674 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.903300,-122.119000
2025-01-09T05:28:38.792Z,1736400518.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531098
2025-01-09T05:28:39.060Z,1736400519.060 [DAT](INFO): DAT read: 05:28:37.1675 LVL= 25264, 23425, 23090, 32755, AGC= 66, IDX= 444, 0.36, 0.990, 2.728, 0.756, 0.547, PHS= 0.531, 2.228, 0.206, RAW= 338.6, -29.1, CAL= 343.9, -42.3, ROT= 166.1,  42.3

2025-01-09T05:28:39.062Z,1736400519.062 [DAT](INFO): got valid direction response:
 05:28:37.1675 LVL= 25264, 23425, 23090, 32755, AGC= 66, IDX= 444, 0.36, 0.990, 2.728, 0.756, 0.547, PHS= 0.531, 2.228, 0.206, RAW= 338.6, -29.1, CAL= 343.9, -42.3, ROT= 166.1,  42.3

2025-01-09T05:28:39.071Z,1736400519.071 [DAT](INFO): DAT read: Bearing 166.1,  42.3 (Local)

2025-01-09T05:28:39.071Z,1736400519.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.1,  42.3 (Local)

2025-01-09T05:28:39.072Z,1736400519.072 [DAT](INFO): DAT read: Range 10 to 50 : 257.8 m  (Round-trip  343.8 ms) speed -0.1 m/s

2025-01-09T05:28:39.073Z,1736400519.073 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:28:39.074Z,1736400519.074 [DAT](INFO): direction in FSK: [-0.717972,0.177680,-0.673013]
2025-01-09T05:28:39.074Z,1736400519.074 [DAT](INFO): publishing direction and range info
2025-01-09T05:28:39.077Z,1736400519.077 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:39.078Z,1736400519.078 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:39.078Z,1736400519.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:39.166Z,1736400519.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:39.239Z,1736400519.239 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.903300,-122.119000
2025-01-09T05:28:39.240Z,1736400519.240 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-01-09T05:28:39.241Z,1736400519.241 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-01-09T05:28:39.241Z,1736400519.241 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-01-09T05:28:39.241Z,1736400519.241 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-01-09T05:28:39.296Z,1736400519.296 [DAT](INFO): DAT read: user:30>

2025-01-09T05:28:39.297Z,1736400519.297 [DAT](INFO): DAT read: Tx time:05:28:38.4696

2025-01-09T05:28:39.297Z,1736400519.297 [DAT](INFO): Ping request sent.
2025-01-09T05:28:39.297Z,1736400519.297 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:39.298Z,1736400519.298 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:39.298Z,1736400519.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-01-09T05:28:39.476Z,1736400519.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:39.482Z,1736400519.482 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-01-09T05:28:39.482Z,1736400519.482 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-01-09T05:28:39.482Z,1736400519.482 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-01-09T05:28:39.483Z,1736400519.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:39.486Z,1736400519.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-01-09T05:28:39.486Z,1736400519.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-09T05:28:39.486Z,1736400519.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-01-09T05:28:39.486Z,1736400519.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-09T05:28:39.486Z,1736400519.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-01-09T05:28:39.487Z,1736400519.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-01-09T05:28:39.487Z,1736400519.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-01-09T05:28:39.487Z,1736400519.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-01-09T05:28:39.487Z,1736400519.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-01-09T05:28:39.487Z,1736400519.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-01-09T05:28:39.487Z,1736400519.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-01-09T05:28:39.487Z,1736400519.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-01-09T05:28:39.487Z,1736400519.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-01-09T05:28:39.487Z,1736400519.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-01-09T05:28:39.488Z,1736400519.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-01-09T05:28:39.488Z,1736400519.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-01-09T05:28:39.488Z,1736400519.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-01-09T05:28:39.488Z,1736400519.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-01-09T05:28:39.489Z,1736400519.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-01-09T05:28:39.489Z,1736400519.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-01-09T05:28:39.489Z,1736400519.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-01-09T05:28:39.489Z,1736400519.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-01-09T05:28:39.489Z,1736400519.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-01-09T05:28:39.490Z,1736400519.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-01-09T05:28:39.490Z,1736400519.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-01-09T05:28:39.490Z,1736400519.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-01-09T05:28:39.490Z,1736400519.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-01-09T05:28:39.491Z,1736400519.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-01-09T05:28:39.491Z,1736400519.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-01-09T05:28:39.491Z,1736400519.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-01-09T05:28:39.492Z,1736400519.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00.
2025-01-09T05:28:39.492Z,1736400519.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-01-09T05:28:39.493Z,1736400519.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-01-09T05:28:39.493Z,1736400519.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-01-09T05:28:39.493Z,1736400519.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-01-09T05:28:39.493Z,1736400519.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-01-09T05:28:39.493Z,1736400519.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-01-09T05:28:39.493Z,1736400519.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-01-09T05:28:39.493Z,1736400519.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-01-09T05:28:39.493Z,1736400519.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-01-09T05:28:39.493Z,1736400519.493 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-09T05:28:39.548Z,1736400519.548 [DAT](INFO): DAT read: TxSync time:05:28:38.4688

2025-01-09T05:28:39.549Z,1736400519.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251832
2025-01-09T05:28:39.800Z,1736400519.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502199
2025-01-09T05:28:39.877Z,1736400519.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:39.888Z,1736400519.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 257.799988 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-01-09T05:28:39.892Z,1736400519.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 257.799988 m,
      bearing: 257.214840 deg,
      lat: 36.903793 deg,
      lon: -122.118920 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-01-09T05:28:39.893Z,1736400519.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:39.897Z,1736400519.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 229.913406 m,
      bearing: 257.617421 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 97.019060 deg,
      new cmd heading: 257.617421 deg.

2025-01-09T05:28:39.897Z,1736400519.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496272 target range: 257.799988 and range: 257.80 m.
2025-01-09T05:28:39.911Z,1736400519.911 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-01-09T05:28:39.911Z,1736400519.911 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-01-09T05:28:40.056Z,1736400520.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757557
2025-01-09T05:28:40.078Z,1736400520.078 [DockingStepper](INFO): Resume
2025-01-09T05:28:40.304Z,1736400520.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006565
2025-01-09T05:28:40.312Z,1736400520.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:40.323Z,1736400520.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:40.325Z,1736400520.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 229.959396 m,
      bearing: 257.618027 deg,
      approach rate: 0.105743 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.617414 deg,
      new cmd heading: 257.618027 deg.

2025-01-09T05:28:40.326Z,1736400520.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496283 target range: 257.799988 and range: 257.80 m.
2025-01-09T05:28:40.416Z,1736400520.416 [DockingStepper](INFO): Resuming
2025-01-09T05:28:40.556Z,1736400520.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258202
2025-01-09T05:28:40.694Z,1736400520.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:40.704Z,1736400520.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:40.707Z,1736400520.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 229.999710 m,
      bearing: 257.618557 deg,
      approach rate: 0.105543 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.618015 deg,
      new cmd heading: 257.618557 deg.

2025-01-09T05:28:40.708Z,1736400520.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496292 target range: 257.799988 and range: 257.80 m.
2025-01-09T05:28:40.786Z,1736400520.786 [DockingStepper](INFO): Start
2025-01-09T05:28:40.787Z,1736400520.787 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-09T05:28:40.808Z,1736400520.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510561
2025-01-09T05:28:40.908Z,1736400520.908 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-09T05:28:41.064Z,1736400521.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765825
2025-01-09T05:28:41.155Z,1736400521.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:41.164Z,1736400521.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:41.166Z,1736400521.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 230.057236 m,
      bearing: 257.617999 deg,
      approach rate: 0.125195 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.618562 deg,
      new cmd heading: 257.617999 deg.

2025-01-09T05:28:41.167Z,1736400521.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496282 target range: 257.799988 and range: 257.80 m.
2025-01-09T05:28:41.312Z,1736400521.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014211
2025-01-09T05:28:41.396Z,1736400521.396 [DockingStepper](INFO): Starting
2025-01-09T05:28:41.564Z,1736400521.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266495
2025-01-09T05:28:41.600Z,1736400521.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:41.608Z,1736400521.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:41.610Z,1736400521.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:41.613Z,1736400521.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 230.112564 m,
      bearing: 257.617409 deg,
      approach rate: 0.123947 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.617988 deg,
      new cmd heading: 257.617409 deg.

2025-01-09T05:28:41.614Z,1736400521.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496272 target range: 257.799988 and range: 257.80 m.
2025-01-09T05:28:41.791Z,1736400521.791 [DockingStepper](INFO): Starting
2025-01-09T05:28:41.816Z,1736400521.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518524
2025-01-09T05:28:42.003Z,1736400522.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:42.012Z,1736400522.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:42.015Z,1736400522.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 230.162872 m,
      bearing: 257.616816 deg,
      approach rate: 0.125077 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.617414 deg,
      new cmd heading: 257.616816 deg.

2025-01-09T05:28:42.016Z,1736400522.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496262 target range: 257.799988 and range: 257.80 m.
2025-01-09T05:28:42.072Z,1736400522.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773726
2025-01-09T05:28:42.092Z,1736400522.092 [DockingStepper](INFO): Starting
2025-01-09T05:28:42.145Z,1736400522.145 [DockingStepper](INFO): Init string: /1z16351aE13561N3m50
2025-01-09T05:28:42.320Z,1736400522.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022744
2025-01-09T05:28:42.453Z,1736400522.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:42.513Z,1736400522.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:42.524Z,1736400522.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 230.233139 m,
      bearing: 257.616174 deg,
      approach rate: 0.140440 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.616813 deg,
      new cmd heading: 257.616174 deg.

2025-01-09T05:28:42.525Z,1736400522.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496251 target range: 257.799988 and range: 257.80 m.
2025-01-09T05:28:42.572Z,1736400522.572 [DAT](INFO): DAT read: Rx Time:05:28:41.2182

2025-01-09T05:28:42.572Z,1736400522.572 [DAT](INFO): Rx dataTimestamp_ set to:1736400522.572035
2025-01-09T05:28:42.573Z,1736400522.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275403
2025-01-09T05:28:42.624Z,1736400522.624 [DockingStepper](INFO): Starting
2025-01-09T05:28:42.810Z,1736400522.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:42.824Z,1736400522.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526263
2025-01-09T05:28:42.840Z,1736400522.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:42.847Z,1736400522.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 230.289291 m,
      bearing: 257.615497 deg,
      approach rate: 0.171461 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.616185 deg,
      new cmd heading: 257.615497 deg.

2025-01-09T05:28:42.848Z,1736400522.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496239 target range: 257.799988 and range: 257.80 m.
2025-01-09T05:28:42.912Z,1736400522.912 [DockingStepper](INFO): Starting
2025-01-09T05:28:43.081Z,1736400523.081 [DAT](INFO): DAT read: Range 10 to 50 : 258.3 m  (Round-trip  344.5 ms) speed -0.4 m/s

2025-01-09T05:28:43.084Z,1736400523.084 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:28:43.102Z,1736400523.102 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:43.102Z,1736400523.102 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:43.119Z,1736400523.119 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:43.240Z,1736400523.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:43.292Z,1736400523.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 258.299988 m,
      deltaT: 4.032790 s,
      deltaX: 0.500000 m,
      approachRate: 0.123984 m/s,
      rangeRepo size: 2

2025-01-09T05:28:43.293Z,1736400523.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:43.299Z,1736400523.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 230.378479 m,
      bearing: 257.617069 deg,
      approach rate: 0.203522 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.615502 deg,
      new cmd heading: 257.617069 deg.

2025-01-09T05:28:43.304Z,1736400523.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496266 target range: 257.799988 and range: 258.30 m.
2025-01-09T05:28:43.328Z,1736400523.328 [DAT](INFO): DAT read: user:31>

2025-01-09T05:28:43.328Z,1736400523.328 [DAT](INFO): DAT read: Tx time:05:28:42.5196

2025-01-09T05:28:43.329Z,1736400523.329 [DAT](INFO): Ping request sent.
2025-01-09T05:28:43.329Z,1736400523.329 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:43.329Z,1736400523.329 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:43.329Z,1736400523.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-01-09T05:28:43.373Z,1736400523.372 [DockingStepper](INFO): Starting
2025-01-09T05:28:43.580Z,1736400523.580 [DAT](INFO): DAT read: TxSync time:05:28:42.5188

2025-01-09T05:28:43.581Z,1736400523.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251784
2025-01-09T05:28:43.638Z,1736400523.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:43.645Z,1736400523.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:43.648Z,1736400523.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:43.650Z,1736400523.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 230.460968 m,
      bearing: 257.618474 deg,
      approach rate: 0.223481 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.617059 deg,
      new cmd heading: 257.618474 deg.

2025-01-09T05:28:43.652Z,1736400523.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496291 target range: 257.799988 and range: 258.30 m.
2025-01-09T05:28:43.721Z,1736400523.721 [DockingStepper](INFO): Starting
2025-01-09T05:28:43.748Z,1736400523.748 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-09T05:28:43.796Z,1736400523.796 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:28:43.832Z,1736400523.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503471
2025-01-09T05:28:44.028Z,1736400524.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:44.037Z,1736400524.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:44.041Z,1736400524.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 230.541779 m,
      bearing: 257.619850 deg,
      approach rate: 0.207360 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.618480 deg,
      new cmd heading: 257.619850 deg.

2025-01-09T05:28:44.041Z,1736400524.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496315 target range: 257.799988 and range: 258.30 m.
2025-01-09T05:28:44.089Z,1736400524.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760002
2025-01-09T05:28:44.100Z,1736400524.100 [DockingStepper](INFO): Starting
2025-01-09T05:28:44.337Z,1736400524.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007990
2025-01-09T05:28:44.442Z,1736400524.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:44.453Z,1736400524.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:44.476Z,1736400524.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 230.655884 m,
      bearing: 257.625138 deg,
      approach rate: 0.274325 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.619846 deg,
      new cmd heading: 257.625138 deg.

2025-01-09T05:28:44.477Z,1736400524.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496407 target range: 257.799988 and range: 258.30 m.
2025-01-09T05:28:44.560Z,1736400524.560 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T05:28:44.561Z,1736400524.561 [DockingStepper](INFO): Standby mode.
2025-01-09T05:28:44.588Z,1736400524.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259679
2025-01-09T05:28:44.799Z,1736400524.799 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:28:44.823Z,1736400524.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:44.840Z,1736400524.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510983
2025-01-09T05:28:44.856Z,1736400524.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:44.858Z,1736400524.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 230.760925 m,
      bearing: 257.630160 deg,
      approach rate: 0.260964 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.625146 deg,
      new cmd heading: 257.630160 deg.

2025-01-09T05:28:44.862Z,1736400524.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496495 target range: 257.799988 and range: 258.30 m.
2025-01-09T05:28:45.095Z,1736400525.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765332
2025-01-09T05:28:45.272Z,1736400525.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:45.280Z,1736400525.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:45.283Z,1736400525.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 230.906860 m,
      bearing: 257.638432 deg,
      approach rate: 0.343873 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.630173 deg,
      new cmd heading: 257.638432 deg.

2025-01-09T05:28:45.284Z,1736400525.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496639 target range: 257.799988 and range: 258.30 m.
2025-01-09T05:28:45.346Z,1736400525.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016954
2025-01-09T05:28:45.600Z,1736400525.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270876
2025-01-09T05:28:45.648Z,1736400525.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:45.661Z,1736400525.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:45.679Z,1736400525.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:45.682Z,1736400525.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 231.028931 m,
      bearing: 257.645789 deg,
      approach rate: 0.305859 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.638424 deg,
      new cmd heading: 257.645789 deg.

2025-01-09T05:28:45.683Z,1736400525.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496768 target range: 257.799988 and range: 258.30 m.
2025-01-09T05:28:45.853Z,1736400525.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524415
2025-01-09T05:28:46.043Z,1736400526.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:46.053Z,1736400526.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:46.056Z,1736400526.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 231.157227 m,
      bearing: 257.653848 deg,
      approach rate: 0.344000 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.645800 deg,
      new cmd heading: 257.653848 deg.

2025-01-09T05:28:46.056Z,1736400526.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496908 target range: 257.799988 and range: 258.30 m.
2025-01-09T05:28:46.106Z,1736400526.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776534
2025-01-09T05:28:46.356Z,1736400526.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027198
2025-01-09T05:28:46.467Z,1736400526.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:46.476Z,1736400526.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:46.479Z,1736400526.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 231.303970 m,
      bearing: 257.664843 deg,
      approach rate: 0.345895 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.653860 deg,
      new cmd heading: 257.664843 deg.

2025-01-09T05:28:46.480Z,1736400526.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497100 target range: 257.799988 and range: 258.30 m.
2025-01-09T05:28:46.609Z,1736400526.609 [DAT](INFO): DAT read: Rx Time:05:28:45.2692

2025-01-09T05:28:46.609Z,1736400526.609 [DAT](INFO): Rx dataTimestamp_ set to:1736400526.609196
2025-01-09T05:28:46.610Z,1736400526.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281281
2025-01-09T05:28:46.849Z,1736400526.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:46.860Z,1736400526.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530953
2025-01-09T05:28:46.861Z,1736400526.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:46.864Z,1736400526.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 231.436127 m,
      bearing: 257.675174 deg,
      approach rate: 0.343786 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.664843 deg,
      new cmd heading: 257.675174 deg.

2025-01-09T05:28:46.864Z,1736400526.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497280 target range: 257.799988 and range: 258.30 m.
2025-01-09T05:28:47.119Z,1736400527.119 [DAT](INFO): DAT read: Range 10 to 50 : 259.0 m  (Round-trip  345.4 ms) speed -0.4 m/s

2025-01-09T05:28:47.121Z,1736400527.121 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:28:47.126Z,1736400527.126 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:47.127Z,1736400527.127 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:47.127Z,1736400527.127 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:47.313Z,1736400527.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:47.322Z,1736400527.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 259.000000 m,
      deltaT: 4.036414 s,
      deltaX: 0.700012 m,
      approachRate: 0.173424 m/s,
      rangeRepo size: 3

2025-01-09T05:28:47.323Z,1736400527.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:47.325Z,1736400527.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 231.598618 m,
      bearing: 257.688137 deg,
      approach rate: 0.352762 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.675170 deg,
      new cmd heading: 257.688137 deg.

2025-01-09T05:28:47.326Z,1736400527.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497507 target range: 257.799988 and range: 259.00 m.
2025-01-09T05:28:47.364Z,1736400527.364 [DAT](INFO): DAT read: user:32>

2025-01-09T05:28:47.364Z,1736400527.364 [DAT](INFO): DAT read: Tx time:05:28:46.5197

2025-01-09T05:28:47.365Z,1736400527.365 [DAT](INFO): Ping request sent.
2025-01-09T05:28:47.365Z,1736400527.365 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:47.365Z,1736400527.365 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:47.366Z,1736400527.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000709
2025-01-09T05:28:47.616Z,1736400527.616 [DAT](INFO): DAT read: TxSync time:05:28:46.5189

2025-01-09T05:28:47.618Z,1736400527.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252908
2025-01-09T05:28:47.676Z,1736400527.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:47.703Z,1736400527.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:47.705Z,1736400527.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:47.716Z,1736400527.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 231.724640 m,
      bearing: 257.699056 deg,
      approach rate: 0.328341 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.688148 deg,
      new cmd heading: 257.699056 deg.

2025-01-09T05:28:47.717Z,1736400527.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497697 target range: 257.799988 and range: 259.00 m.
2025-01-09T05:28:47.870Z,1736400527.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505139
2025-01-09T05:28:48.093Z,1736400528.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:48.104Z,1736400528.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:48.107Z,1736400528.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 231.868881 m,
      bearing: 257.712194 deg,
      approach rate: 0.363440 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.699049 deg,
      new cmd heading: 257.712194 deg.

2025-01-09T05:28:48.108Z,1736400528.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497926 target range: 257.799988 and range: 259.00 m.
2025-01-09T05:28:48.122Z,1736400528.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756990
2025-01-09T05:28:48.373Z,1736400528.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008119
2025-01-09T05:28:48.537Z,1736400528.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:48.545Z,1736400528.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:48.548Z,1736400528.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 232.023071 m,
      bearing: 257.725708 deg,
      approach rate: 0.347811 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.712190 deg,
      new cmd heading: 257.725708 deg.

2025-01-09T05:28:48.549Z,1736400528.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498162 target range: 257.799988 and range: 259.00 m.
2025-01-09T05:28:48.625Z,1736400528.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259851
2025-01-09T05:28:48.876Z,1736400528.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510889
2025-01-09T05:28:48.897Z,1736400528.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:48.907Z,1736400528.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:48.910Z,1736400528.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 232.146851 m,
      bearing: 257.737639 deg,
      approach rate: 0.342000 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.725714 deg,
      new cmd heading: 257.737639 deg.

2025-01-09T05:28:48.927Z,1736400528.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498370 target range: 257.799988 and range: 259.00 m.
2025-01-09T05:28:49.128Z,1736400529.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762705
2025-01-09T05:28:49.382Z,1736400529.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016376
2025-01-09T05:28:49.384Z,1736400529.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:49.411Z,1736400529.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:49.414Z,1736400529.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 232.318192 m,
      bearing: 257.753321 deg,
      approach rate: 0.339984 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.737625 deg,
      new cmd heading: 257.753321 deg.

2025-01-09T05:28:49.420Z,1736400529.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498644 target range: 257.799988 and range: 259.00 m.
2025-01-09T05:28:49.632Z,1736400529.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266828
2025-01-09T05:28:49.748Z,1736400529.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:49.769Z,1736400529.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:49.777Z,1736400529.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:49.788Z,1736400529.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 232.445160 m,
      bearing: 257.766002 deg,
      approach rate: 0.347736 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.753308 deg,
      new cmd heading: 257.766002 deg.

2025-01-09T05:28:49.789Z,1736400529.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498866 target range: 257.799988 and range: 259.00 m.
2025-01-09T05:28:49.884Z,1736400529.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518906
2025-01-09T05:28:50.137Z,1736400530.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772162
2025-01-09T05:28:50.214Z,1736400530.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:50.245Z,1736400530.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:50.251Z,1736400530.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 232.606232 m,
      bearing: 257.782831 deg,
      approach rate: 0.344136 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.766012 deg,
      new cmd heading: 257.782831 deg.

2025-01-09T05:28:50.252Z,1736400530.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499159 target range: 257.799988 and range: 259.00 m.
2025-01-09T05:28:50.390Z,1736400530.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024807
2025-01-09T05:28:50.596Z,1736400530.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:50.606Z,1736400530.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:50.608Z,1736400530.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 232.746704 m,
      bearing: 257.796998 deg,
      approach rate: 0.389086 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.782841 deg,
      new cmd heading: 257.796998 deg.

2025-01-09T05:28:50.609Z,1736400530.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499406 target range: 257.799988 and range: 259.00 m.
2025-01-09T05:28:50.640Z,1736400530.640 [DAT](INFO): DAT read: Rx Time:05:28:49.2729

2025-01-09T05:28:50.640Z,1736400530.640 [DAT](INFO): Rx dataTimestamp_ set to:1736400530.639895
2025-01-09T05:28:50.641Z,1736400530.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275892
2025-01-09T05:28:50.892Z,1736400530.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527032
2025-01-09T05:28:50.967Z,1736400530.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:50.977Z,1736400530.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:50.996Z,1736400530.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 232.881897 m,
      bearing: 257.811306 deg,
      approach rate: 0.364114 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.796993 deg,
      new cmd heading: 257.811306 deg.

2025-01-09T05:28:50.997Z,1736400530.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499656 target range: 257.799988 and range: 259.00 m.
2025-01-09T05:28:51.147Z,1736400531.147 [DAT](INFO): DAT read: Range 10 to 50 : 261.8 m  (Round-trip  349.1 ms) speed -0.2 m/s

2025-01-09T05:28:51.149Z,1736400531.149 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:28:51.152Z,1736400531.152 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:51.152Z,1736400531.152 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:51.152Z,1736400531.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:51.397Z,1736400531.397 [DAT](INFO): DAT read: user:33>

2025-01-09T05:28:51.400Z,1736400531.400 [DAT](INFO): DAT read: Tx time:05:28:50.5197

2025-01-09T05:28:51.400Z,1736400531.400 [DAT](INFO): Ping request sent.
2025-01-09T05:28:51.401Z,1736400531.401 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:51.402Z,1736400531.402 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:51.413Z,1736400531.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.012090
2025-01-09T05:28:51.453Z,1736400531.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:51.466Z,1736400531.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 261.799988 m,
      deltaT: 4.030308 s,
      deltaX: 2.799988 m,
      approachRate: 0.694733 m/s,
      rangeRepo size: 4

2025-01-09T05:28:51.471Z,1736400531.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:51.473Z,1736400531.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 233.074905 m,
      bearing: 257.832376 deg,
      approach rate: 0.395124 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.811310 deg,
      new cmd heading: 257.832376 deg.

2025-01-09T05:28:51.474Z,1736400531.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500024 target range: 257.799988 and range: 261.80 m.
2025-01-09T05:28:51.648Z,1736400531.648 [DAT](INFO): DAT read: TxSync time:05:28:50.5189

2025-01-09T05:28:51.648Z,1736400531.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247856
2025-01-09T05:28:51.794Z,1736400531.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:51.801Z,1736400531.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:51.804Z,1736400531.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:51.807Z,1736400531.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 233.209259 m,
      bearing: 257.847789 deg,
      approach rate: 0.396186 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.832374 deg,
      new cmd heading: 257.847789 deg.

2025-01-09T05:28:51.808Z,1736400531.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500293 target range: 257.799988 and range: 261.80 m.
2025-01-09T05:28:51.903Z,1736400531.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502463
2025-01-09T05:28:52.153Z,1736400532.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752426
2025-01-09T05:28:52.196Z,1736400532.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:52.270Z,1736400532.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:52.276Z,1736400532.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 233.365417 m,
      bearing: 257.866790 deg,
      approach rate: 0.335703 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.847783 deg,
      new cmd heading: 257.866790 deg.

2025-01-09T05:28:52.277Z,1736400532.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500625 target range: 257.799988 and range: 261.80 m.
2025-01-09T05:28:52.405Z,1736400532.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004664
2025-01-09T05:28:52.649Z,1736400532.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:52.656Z,1736400532.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255206
2025-01-09T05:28:52.688Z,1736400532.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:52.696Z,1736400532.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 233.565811 m,
      bearing: 257.892055 deg,
      approach rate: 0.485594 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.866798 deg,
      new cmd heading: 257.892055 deg.

2025-01-09T05:28:52.697Z,1736400532.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501065 target range: 257.799988 and range: 261.80 m.
2025-01-09T05:28:52.908Z,1736400532.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506978
2025-01-09T05:28:53.030Z,1736400533.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:53.041Z,1736400533.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:53.044Z,1736400533.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 233.731796 m,
      bearing: 257.914099 deg,
      approach rate: 0.463327 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.892042 deg,
      new cmd heading: 257.914099 deg.

2025-01-09T05:28:53.045Z,1736400533.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501450 target range: 257.799988 and range: 261.80 m.
2025-01-09T05:28:53.161Z,1736400533.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760399
2025-01-09T05:28:53.413Z,1736400533.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012077
2025-01-09T05:28:53.508Z,1736400533.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:53.517Z,1736400533.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:53.521Z,1736400533.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 233.961823 m,
      bearing: 257.945524 deg,
      approach rate: 0.483177 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.914090 deg,
      new cmd heading: 257.945524 deg.

2025-01-09T05:28:53.522Z,1736400533.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501999 target range: 257.799988 and range: 261.80 m.
2025-01-09T05:28:53.664Z,1736400533.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262996
2025-01-09T05:28:53.838Z,1736400533.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:53.849Z,1736400533.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:53.852Z,1736400533.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:53.855Z,1736400533.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 234.119003 m,
      bearing: 257.968015 deg,
      approach rate: 0.470404 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.945536 deg,
      new cmd heading: 257.968015 deg.

2025-01-09T05:28:53.856Z,1736400533.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502391 target range: 257.799988 and range: 261.80 m.
2025-01-09T05:28:53.916Z,1736400533.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515654
2025-01-09T05:28:54.168Z,1736400534.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767748
2025-01-09T05:28:54.301Z,1736400534.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:54.310Z,1736400534.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:54.313Z,1736400534.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 234.336655 m,
      bearing: 258.000760 deg,
      approach rate: 0.473958 m/s,
      LOS rate: nan deg/s,
      cmd heading: 257.968021 deg,
      new cmd heading: 258.000760 deg.

2025-01-09T05:28:54.313Z,1736400534.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502963 target range: 257.799988 and range: 261.80 m.
2025-01-09T05:28:54.420Z,1736400534.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019846
2025-01-09T05:28:54.672Z,1736400534.672 [DAT](INFO): DAT read: Rx Time:05:28:53.2736

2025-01-09T05:28:54.674Z,1736400534.674 [DAT](INFO): Rx dataTimestamp_ set to:1736400534.672949
2025-01-09T05:28:54.677Z,1736400534.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276495
2025-01-09T05:28:54.678Z,1736400534.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:28:54.707Z,1736400534.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:54.728Z,1736400534.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:54.736Z,1736400534.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 234.507202 m,
      bearing: 258.027664 deg,
      approach rate: 0.407696 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.000752 deg,
      new cmd heading: 258.027664 deg.

2025-01-09T05:28:54.737Z,1736400534.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503432 target range: 257.799988 and range: 261.80 m.
2025-01-09T05:28:54.924Z,1736400534.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523175
2025-01-09T05:28:55.099Z,1736400535.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:28:55.099Z,1736400535.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:55.109Z,1736400535.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:55.112Z,1736400535.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 234.700150 m,
      bearing: 258.061334 deg,
      approach rate: 0.506180 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.027663 deg,
      new cmd heading: 258.061334 deg.

2025-01-09T05:28:55.113Z,1736400535.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504020 target range: 257.799988 and range: 261.80 m.
2025-01-09T05:28:55.178Z,1736400535.178 [DAT](INFO): DAT read: Range 10 to 50 : 262.3 m  (Round-trip  349.8 ms) speed -0.4 m/s

2025-01-09T05:28:55.179Z,1736400535.179 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:28:55.180Z,1736400535.180 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:55.180Z,1736400535.180 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:55.181Z,1736400535.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:55.428Z,1736400535.428 [DAT](INFO): DAT read: user:34>

2025-01-09T05:28:55.430Z,1736400535.430 [DAT](INFO): DAT read: Tx time:05:28:54.5697

2025-01-09T05:28:55.431Z,1736400535.431 [DAT](INFO): Ping request sent.
2025-01-09T05:28:55.431Z,1736400535.431 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:55.432Z,1736400535.432 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:55.433Z,1736400535.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001453
2025-01-09T05:28:55.556Z,1736400535.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:55.573Z,1736400535.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 262.299988 m,
      deltaT: 4.032083 s,
      deltaX: 0.500000 m,
      approachRate: 0.124005 m/s,
      rangeRepo size: 4

2025-01-09T05:28:55.574Z,1736400535.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:55.581Z,1736400535.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 234.938995 m,
      bearing: 258.105137 deg,
      approach rate: 0.515911 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.061322 deg,
      new cmd heading: 258.105137 deg.

2025-01-09T05:28:55.582Z,1736400535.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504785 target range: 257.799988 and range: 262.30 m.
2025-01-09T05:28:55.681Z,1736400535.681 [DAT](INFO): DAT read: TxSync time:05:28:54.5689

2025-01-09T05:28:55.682Z,1736400535.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250209
2025-01-09T05:28:55.909Z,1736400535.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:55.916Z,1736400535.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:55.920Z,1736400535.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:55.922Z,1736400535.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 235.120056 m,
      bearing: 258.140145 deg,
      approach rate: 0.521493 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.105144 deg,
      new cmd heading: 258.140145 deg.

2025-01-09T05:28:55.924Z,1736400535.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505395 target range: 257.799988 and range: 262.30 m.
2025-01-09T05:28:55.932Z,1736400535.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500162
2025-01-09T05:28:56.186Z,1736400536.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754868
2025-01-09T05:28:56.397Z,1736400536.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:56.414Z,1736400536.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:56.422Z,1736400536.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 235.372406 m,
      bearing: 258.190718 deg,
      approach rate: 0.510990 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.140142 deg,
      new cmd heading: 258.190718 deg.

2025-01-09T05:28:56.427Z,1736400536.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506278 target range: 257.799988 and range: 262.30 m.
2025-01-09T05:28:56.436Z,1736400536.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004381
2025-01-09T05:28:56.688Z,1736400536.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256204
2025-01-09T05:28:56.739Z,1736400536.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:56.770Z,1736400536.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:56.778Z,1736400536.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 235.541260 m,
      bearing: 258.228601 deg,
      approach rate: 0.473974 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.190713 deg,
      new cmd heading: 258.228601 deg.

2025-01-09T05:28:56.783Z,1736400536.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506939 target range: 257.799988 and range: 262.30 m.
2025-01-09T05:28:56.940Z,1736400536.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508587
2025-01-09T05:28:57.157Z,1736400537.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:57.186Z,1736400537.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:57.189Z,1736400537.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 235.747574 m,
      bearing: 258.274781 deg,
      approach rate: 0.497112 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.228607 deg,
      new cmd heading: 258.274781 deg.

2025-01-09T05:28:57.190Z,1736400537.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507745 target range: 257.799988 and range: 262.30 m.
2025-01-09T05:28:57.192Z,1736400537.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760569
2025-01-09T05:28:57.444Z,1736400537.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012299
2025-01-09T05:28:57.566Z,1736400537.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:57.576Z,1736400537.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:57.579Z,1736400537.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 235.941620 m,
      bearing: 258.320198 deg,
      approach rate: 0.496104 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.274779 deg,
      new cmd heading: 258.320198 deg.

2025-01-09T05:28:57.579Z,1736400537.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508538 target range: 257.799988 and range: 262.30 m.
2025-01-09T05:28:57.696Z,1736400537.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264819
2025-01-09T05:28:57.948Z,1736400537.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516266
2025-01-09T05:28:57.950Z,1736400537.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:57.960Z,1736400537.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:57.962Z,1736400537.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:57.965Z,1736400537.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 236.120102 m,
      bearing: 258.364006 deg,
      approach rate: 0.462458 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.320186 deg,
      new cmd heading: 258.364006 deg.

2025-01-09T05:28:57.966Z,1736400537.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509303 target range: 257.799988 and range: 262.30 m.
2025-01-09T05:28:58.201Z,1736400538.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769260
2025-01-09T05:28:58.449Z,1736400538.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:58.452Z,1736400538.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020550
2025-01-09T05:28:58.465Z,1736400538.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:58.468Z,1736400538.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 236.321915 m,
      bearing: 258.421104 deg,
      approach rate: 0.401082 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.364008 deg,
      new cmd heading: 258.421104 deg.

2025-01-09T05:28:58.469Z,1736400538.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510299 target range: 257.799988 and range: 262.30 m.
2025-01-09T05:28:58.704Z,1736400538.704 [DAT](INFO): DAT read: Rx Time:05:28:57.3074

2025-01-09T05:28:58.704Z,1736400538.704 [DAT](INFO): Rx dataTimestamp_ set to:1736400538.703992
2025-01-09T05:28:58.705Z,1736400538.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273381
2025-01-09T05:28:58.809Z,1736400538.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:58.830Z,1736400538.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:58.833Z,1736400538.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 236.463226 m,
      bearing: 258.463071 deg,
      approach rate: 0.387686 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.421109 deg,
      new cmd heading: 258.463071 deg.

2025-01-09T05:28:58.833Z,1736400538.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511032 target range: 257.799988 and range: 262.30 m.
2025-01-09T05:28:58.958Z,1736400538.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526187
2025-01-09T05:28:59.171Z,1736400539.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:59.208Z,1736400539.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:59.213Z,1736400539.213 [DAT](INFO): DAT read: Range 10 to 50 : 250.1 m  (Round-trip  333.5 ms) speed -0.5 m/s

2025-01-09T05:28:59.213Z,1736400539.213 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:28:59.214Z,1736400539.214 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:28:59.214Z,1736400539.214 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:28:59.215Z,1736400539.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:28:59.210Z,1736400539.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 236.601227 m,
      bearing: 258.506076 deg,
      approach rate: 0.364742 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.463074 deg,
      new cmd heading: 258.506076 deg.

2025-01-09T05:28:59.220Z,1736400539.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511782 target range: 257.799988 and range: 262.30 m.
2025-01-09T05:28:59.464Z,1736400539.464 [DAT](INFO): DAT read: user:35>

2025-01-09T05:28:59.464Z,1736400539.464 [DAT](INFO): DAT read: Tx time:05:28:58.6197

2025-01-09T05:28:59.465Z,1736400539.465 [DAT](INFO): Ping request sent.
2025-01-09T05:28:59.465Z,1736400539.465 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:28:59.465Z,1736400539.465 [DAT](INFO): publishing transmit ping time
2025-01-09T05:28:59.465Z,1736400539.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-01-09T05:28:59.598Z,1736400539.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:59.610Z,1736400539.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 250.100006 m,
      deltaT: 4.035925 s,
      deltaX: -12.199982 m,
      approachRate: -3.022846 m/s,
      rangeRepo size: 4

2025-01-09T05:28:59.610Z,1736400539.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:59.613Z,1736400539.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 236.744400 m,
      bearing: 258.553719 deg,
      approach rate: 0.357066 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.506076 deg,
      new cmd heading: 258.553719 deg.

2025-01-09T05:28:59.614Z,1736400539.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512614 target range: 257.799988 and range: 250.10 m.
2025-01-09T05:28:59.716Z,1736400539.716 [DAT](INFO): DAT read: TxSync time:05:28:58.6189

2025-01-09T05:28:59.717Z,1736400539.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251931
2025-01-09T05:28:59.969Z,1736400539.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504301
2025-01-09T05:28:59.979Z,1736400539.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:28:59.987Z,1736400539.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:28:59.989Z,1736400539.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:28:59.992Z,1736400539.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 236.867340 m,
      bearing: 258.596783 deg,
      approach rate: 0.323024 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.553724 deg,
      new cmd heading: 258.596783 deg.

2025-01-09T05:28:59.993Z,1736400539.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513365 target range: 257.799988 and range: 250.10 m.
2025-01-09T05:29:00.223Z,1736400540.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758280
2025-01-09T05:29:00.461Z,1736400540.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:00.469Z,1736400540.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:29:00.472Z,1736400540.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007002
2025-01-09T05:29:00.473Z,1736400540.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 237.002518 m,
      bearing: 258.647639 deg,
      approach rate: 0.281759 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.596781 deg,
      new cmd heading: 258.647639 deg.

2025-01-09T05:29:00.474Z,1736400540.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514253 target range: 257.799988 and range: 250.10 m.
2025-01-09T05:29:00.724Z,1736400540.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259510
2025-01-09T05:29:00.810Z,1736400540.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:00.821Z,1736400540.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:29:00.824Z,1736400540.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 237.096649 m,
      bearing: 258.685038 deg,
      approach rate: 0.267780 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.647653 deg,
      new cmd heading: 258.685038 deg.

2025-01-09T05:29:00.824Z,1736400540.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514905 target range: 257.799988 and range: 250.10 m.
2025-01-09T05:29:00.980Z,1736400540.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514886
2025-01-09T05:29:01.189Z,1736400541.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:01.197Z,1736400541.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:29:01.200Z,1736400541.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 237.195221 m,
      bearing: 258.726179 deg,
      approach rate: 0.261792 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.685027 deg,
      new cmd heading: 258.726179 deg.

2025-01-09T05:29:01.202Z,1736400541.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515624 target range: 257.799988 and range: 250.10 m.
2025-01-09T05:29:01.228Z,1736400541.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762929
2025-01-09T05:29:01.480Z,1736400541.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014986
2025-01-09T05:29:01.639Z,1736400541.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:01.669Z,1736400541.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:29:01.677Z,1736400541.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 237.299637 m,
      bearing: 258.772330 deg,
      approach rate: 0.221414 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.726172 deg,
      new cmd heading: 258.772330 deg.

2025-01-09T05:29:01.677Z,1736400541.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516429 target range: 257.799988 and range: 250.10 m.
2025-01-09T05:29:01.733Z,1736400541.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267847
2025-01-09T05:29:01.983Z,1736400541.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518795
2025-01-09T05:29:02.005Z,1736400542.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:02.012Z,1736400542.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:02.014Z,1736400542.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:29:02.017Z,1736400542.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 237.377686 m,
      bearing: 258.810623 deg,
      approach rate: 0.226066 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.772317 deg,
      new cmd heading: 258.810623 deg.

2025-01-09T05:29:02.019Z,1736400542.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517097 target range: 257.799988 and range: 250.10 m.
2025-01-09T05:29:02.236Z,1736400542.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771567
2025-01-09T05:29:02.466Z,1736400542.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:02.482Z,1736400542.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:29:02.486Z,1736400542.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 237.470917 m,
      bearing: 258.857370 deg,
      approach rate: 0.199192 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.810621 deg,
      new cmd heading: 258.857370 deg.

2025-01-09T05:29:02.489Z,1736400542.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024486
2025-01-09T05:29:02.507Z,1736400542.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517913 target range: 257.799988 and range: 250.10 m.
2025-01-09T05:29:02.740Z,1736400542.740 [DAT](INFO): DAT read: Rx Time:05:29:01.3418

2025-01-09T05:29:02.740Z,1736400542.740 [DAT](INFO): Rx dataTimestamp_ set to:1736400542.739861
2025-01-09T05:29:02.741Z,1736400542.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276287
2025-01-09T05:29:02.845Z,1736400542.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:02.862Z,1736400542.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:29:02.870Z,1736400542.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 237.544266 m,
      bearing: 258.896253 deg,
      approach rate: 0.193141 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.857367 deg,
      new cmd heading: 258.896253 deg.

2025-01-09T05:29:02.875Z,1736400542.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518592 target range: 257.799988 and range: 250.10 m.
2025-01-09T05:29:02.992Z,1736400542.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526944
2025-01-09T05:29:03.232Z,1736400543.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:03.242Z,1736400543.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.80 m.
2025-01-09T05:29:03.249Z,1736400543.249 [DAT](INFO): DAT read: 05:29:01.3418 LVL= 20112, 25969, 25266, 30643, AGC= 66, IDX= 261, 0.19,-2.807, 3.075, 1.153, 2.406, PHS= 1.158, 0.716,-1.256, RAW=  39.9,  -5.6, CAL=  41.7, -10.1, ROT= 108.3,  10.1

2025-01-09T05:29:03.250Z,1736400543.250 [DAT](INFO): got valid direction response:
 05:29:01.3418 LVL= 20112, 25969, 25266, 30643, AGC= 66, IDX= 261, 0.19,-2.807, 3.075, 1.153, 2.406, PHS= 1.158, 0.716,-1.256, RAW=  39.9,  -5.6, CAL=  41.7, -10.1, ROT= 108.3,  10.1

2025-01-09T05:29:03.253Z,1736400543.253 [DAT](INFO): DAT read: Bearing 108.3,  10.1 (Local)

2025-01-09T05:29:03.253Z,1736400543.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 108.3,  10.1 (Local)

2025-01-09T05:29:03.271Z,1736400543.271 [DAT](INFO): DAT read: Range 10 to 50 : 238.5 m  (Round-trip  318.0 ms) speed -0.7 m/s

2025-01-09T05:29:03.271Z,1736400543.271 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:03.272Z,1736400543.272 [DAT](INFO): direction in FSK: [-0.309127,0.934712,-0.175367]
2025-01-09T05:29:03.273Z,1736400543.273 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:03.276Z,1736400543.276 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:03.276Z,1736400543.276 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:03.277Z,1736400543.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:03.280Z,1736400543.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 257.799988 m,
      nav range: 237.615189 m,
      bearing: 258.936291 deg,
      approach rate: 0.186803 m/s,
      LOS rate: nan deg/s,
      cmd heading: 258.896244 deg,
      new cmd heading: 258.936291 deg.

2025-01-09T05:29:03.281Z,1736400543.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519291 target range: 257.799988 and range: 250.10 m.
2025-01-09T05:29:03.497Z,1736400543.497 [DAT](INFO): DAT read: user:36>

2025-01-09T05:29:03.497Z,1736400543.497 [DAT](INFO): DAT read: Tx time:05:29:02.6697

2025-01-09T05:29:03.498Z,1736400543.498 [DAT](INFO): Ping request sent.
2025-01-09T05:29:03.498Z,1736400543.498 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:03.498Z,1736400543.498 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:03.499Z,1736400543.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000709
2025-01-09T05:29:03.678Z,1736400543.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:03.721Z,1736400543.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 238.500000 m,
      deltaT: 4.031955 s,
      deltaX: -11.600006 m,
      approachRate: -2.877018 m/s,
      rangeRepo size: 4

2025-01-09T05:29:03.727Z,1736400543.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 238.500000 m,
      bearing: 257.868182 deg,
      lat: 36.903793 deg,
      lon: -122.118908 deg,
      deltaT: 24.199475 s,
      deltaX: -19.299988 m,
      approachRate: -0.797537 m/s,
      posRepo size: 2

2025-01-09T05:29:03.728Z,1736400543.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.50 m.
2025-01-09T05:29:03.729Z,1736400543.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 257.868182 deg.
2025-01-09T05:29:03.730Z,1736400543.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500649 target range: 238.500000 and range: 238.50 m.
2025-01-09T05:29:03.748Z,1736400543.748 [DAT](INFO): DAT read: TxSync time:05:29:02.6689

2025-01-09T05:29:03.750Z,1736400543.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251864
2025-01-09T05:29:03.000Z,1736400544.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501851
2025-01-09T05:29:04.053Z,1736400544.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:04.060Z,1736400544.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:04.062Z,1736400544.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.50 m.
2025-01-09T05:29:04.065Z,1736400544.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.500000 m,
      nav range: 236.645645 m,
      bearing: 258.970468 deg,
      approach rate: 0.185898 m/s,
      LOS rate: 0.117534 deg/s,
      cmd heading: 257.868191 deg,
      new cmd heading: 257.988793 deg.

2025-01-09T05:29:04.066Z,1736400544.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502754 target range: 238.500000 and range: 238.50 m.
2025-01-09T05:29:04.253Z,1736400544.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755099
2025-01-09T05:29:04.498Z,1736400544.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:04.505Z,1736400544.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007246
2025-01-09T05:29:04.533Z,1736400544.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.50 m.
2025-01-09T05:29:04.540Z,1736400544.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.500000 m,
      nav range: 236.732086 m,
      bearing: 259.019866 deg,
      approach rate: 0.183633 m/s,
      LOS rate: 0.104902 deg/s,
      cmd heading: 257.988785 deg,
      new cmd heading: 258.136925 deg.

2025-01-09T05:29:04.541Z,1736400544.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505339 target range: 238.500000 and range: 238.50 m.
2025-01-09T05:29:04.756Z,1736400544.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258290
2025-01-09T05:29:04.886Z,1736400544.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:04.905Z,1736400544.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.50 m.
2025-01-09T05:29:04.908Z,1736400544.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.500000 m,
      nav range: 236.807526 m,
      bearing: 259.062859 deg,
      approach rate: 0.202552 m/s,
      LOS rate: 0.115397 deg/s,
      cmd heading: 258.136918 deg,
      new cmd heading: 258.265855 deg.

2025-01-09T05:29:04.909Z,1736400544.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507589 target range: 238.500000 and range: 238.50 m.
2025-01-09T05:29:05.008Z,1736400545.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509981
2025-01-09T05:29:05.260Z,1736400545.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761991
2025-01-09T05:29:05.260Z,1736400545.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:05.286Z,1736400545.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.50 m.
2025-01-09T05:29:05.293Z,1736400545.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.500000 m,
      nav range: 236.871216 m,
      bearing: 259.105001 deg,
      approach rate: 0.167347 m/s,
      LOS rate: 0.110700 deg/s,
      cmd heading: 258.265845 deg,
      new cmd heading: 258.392238 deg.

2025-01-09T05:29:05.294Z,1736400545.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509795 target range: 238.500000 and range: 238.50 m.
2025-01-09T05:29:05.512Z,1736400545.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013871
2025-01-09T05:29:05.693Z,1736400545.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:05.704Z,1736400545.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.50 m.
2025-01-09T05:29:05.706Z,1736400545.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.500000 m,
      nav range: 236.955582 m,
      bearing: 259.157449 deg,
      approach rate: 0.202025 m/s,
      LOS rate: 0.125547 deg/s,
      cmd heading: 258.392231 deg,
      new cmd heading: 258.549517 deg.

2025-01-09T05:29:05.724Z,1736400545.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512540 target range: 238.500000 and range: 238.50 m.
2025-01-09T05:29:05.764Z,1736400545.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266549
2025-01-09T05:29:06.016Z,1736400546.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517987
2025-01-09T05:29:06.068Z,1736400546.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:06.092Z,1736400546.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:06.094Z,1736400546.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.50 m.
2025-01-09T05:29:06.097Z,1736400546.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.500000 m,
      nav range: 237.023987 m,
      bearing: 259.202900 deg,
      approach rate: 0.175288 m/s,
      LOS rate: 0.116435 deg/s,
      cmd heading: 258.549516 deg,
      new cmd heading: 258.685831 deg.

2025-01-09T05:29:06.098Z,1736400546.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514919 target range: 238.500000 and range: 238.50 m.
2025-01-09T05:29:06.269Z,1736400546.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770644
2025-01-09T05:29:06.520Z,1736400546.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021905
2025-01-09T05:29:06.531Z,1736400546.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:06.547Z,1736400546.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.50 m.
2025-01-09T05:29:06.550Z,1736400546.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.500000 m,
      nav range: 237.119141 m,
      bearing: 259.262208 deg,
      approach rate: 0.209846 m/s,
      LOS rate: 0.130742 deg/s,
      cmd heading: 258.685820 deg,
      new cmd heading: 258.863672 deg.

2025-01-09T05:29:06.551Z,1736400546.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518023 target range: 238.500000 and range: 238.50 m.
2025-01-09T05:29:06.772Z,1736400546.772 [DAT](INFO): DAT read: Rx Time:05:29:05.3941

2025-01-09T05:29:06.773Z,1736400546.773 [DAT](INFO): Rx dataTimestamp_ set to:1736400546.772497
2025-01-09T05:29:06.774Z,1736400546.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275953
2025-01-09T05:29:06.884Z,1736400546.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:06.894Z,1736400546.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.50 m.
2025-01-09T05:29:06.904Z,1736400546.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.500000 m,
      nav range: 237.187256 m,
      bearing: 259.307838 deg,
      approach rate: 0.196267 m/s,
      LOS rate: 0.131440 deg/s,
      cmd heading: 258.863678 deg,
      new cmd heading: 259.000528 deg.

2025-01-09T05:29:06.905Z,1736400546.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520412 target range: 238.500000 and range: 238.50 m.
2025-01-09T05:29:07.025Z,1736400547.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527344
2025-01-09T05:29:07.281Z,1736400547.281 [DAT](INFO): DAT read: 05:29:05.3941 LVL= 21184, 23249, 23858, 32051, AGC= 63, IDX= 443, 0.42,-2.400, 2.949, 1.424, 2.535, PHS= 1.436, 0.460,-1.114, RAW=  52.3,  -7.1, CAL=  57.8, -12.9, ROT=  92.2,  12.9

2025-01-09T05:29:07.282Z,1736400547.282 [DAT](INFO): got valid direction response:
 05:29:05.3941 LVL= 21184, 23249, 23858, 32051, AGC= 63, IDX= 443, 0.42,-2.400, 2.949, 1.424, 2.535, PHS= 1.436, 0.460,-1.114, RAW=  52.3,  -7.1, CAL=  57.8, -12.9, ROT=  92.2,  12.9

2025-01-09T05:29:07.283Z,1736400547.283 [DAT](INFO): DAT read: Bearing  92.2,  12.9 (Local)

2025-01-09T05:29:07.283Z,1736400547.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.2,  12.9 (Local)

2025-01-09T05:29:07.286Z,1736400547.286 [DAT](INFO): DAT read: Range 10 to 50 : 240.2 m  (Round-trip  320.3 ms) speed  0.0 m/s

2025-01-09T05:29:07.287Z,1736400547.287 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:07.288Z,1736400547.288 [DAT](INFO): direction in FSK: [-0.037419,0.974043,-0.223250]
2025-01-09T05:29:07.288Z,1736400547.288 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:07.300Z,1736400547.300 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:07.300Z,1736400547.300 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:07.301Z,1736400547.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:07.354Z,1736400547.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:07.413Z,1736400547.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 240.199997 m,
      deltaT: 4.031681 s,
      deltaX: 1.699997 m,
      approachRate: 0.421660 m/s,
      rangeRepo size: 4

2025-01-09T05:29:07.435Z,1736400547.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 240.199997 m,
      bearing: 254.808210 deg,
      lat: 36.903762 deg,
      lon: -122.118908 deg,
      deltaT: 4.031681 s,
      deltaX: 1.699997 m,
      approachRate: 0.421660 m/s,
      posRepo size: 3

2025-01-09T05:29:07.438Z,1736400547.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:07.487Z,1736400547.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 237.947311 m,
      bearing: 258.534358 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.131440 deg/s,
      cmd heading: 259.000527 deg,
      new cmd heading: 259.201560 deg.

2025-01-09T05:29:07.488Z,1736400547.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523921 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:07.528Z,1736400547.528 [DAT](INFO): DAT read: user:37>

2025-01-09T05:29:07.530Z,1736400547.530 [DAT](INFO): DAT read: Tx time:05:29:06.6698

2025-01-09T05:29:07.530Z,1736400547.530 [DAT](INFO): Ping request sent.
2025-01-09T05:29:07.530Z,1736400547.530 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:07.531Z,1736400547.531 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:07.532Z,1736400547.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001209
2025-01-09T05:29:07.780Z,1736400547.780 [DAT](INFO): DAT read: TxSync time:05:29:06.6690

2025-01-09T05:29:07.781Z,1736400547.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250964
2025-01-09T05:29:07.877Z,1736400547.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:07.887Z,1736400547.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:07.890Z,1736400547.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 238.036499 m,
      bearing: 258.606942 deg,
      approach rate: 0.184612 m/s,
      LOS rate: 0.150187 deg/s,
      cmd heading: 259.201554 deg,
      new cmd heading: 259.419222 deg.

2025-01-09T05:29:07.892Z,1736400547.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527719 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:08.032Z,1736400548.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501802
2025-01-09T05:29:08.220Z,1736400548.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:08.227Z,1736400548.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:08.229Z,1736400548.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:08.233Z,1736400548.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 238.089462 m,
      bearing: 258.654516 deg,
      approach rate: 0.154791 m/s,
      LOS rate: 0.139011 deg/s,
      cmd heading: 259.419218 deg,
      new cmd heading: 259.561910 deg.

2025-01-09T05:29:08.234Z,1736400548.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530210 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:08.284Z,1736400548.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753818
2025-01-09T05:29:08.536Z,1736400548.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005719
2025-01-09T05:29:08.640Z,1736400548.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:08.654Z,1736400548.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:08.672Z,1736400548.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 238.163452 m,
      bearing: 258.714916 deg,
      approach rate: 0.174447 m/s,
      LOS rate: 0.142361 deg/s,
      cmd heading: 259.561914 deg,
      new cmd heading: 259.743057 deg.

2025-01-09T05:29:08.673Z,1736400548.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533371 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:08.788Z,1736400548.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258347
2025-01-09T05:29:09.024Z,1736400549.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:09.032Z,1736400549.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:09.036Z,1736400549.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 238.218170 m,
      bearing: 258.770717 deg,
      approach rate: 0.144535 m/s,
      LOS rate: 0.147362 deg/s,
      cmd heading: 259.743051 deg,
      new cmd heading: 259.910415 deg.

2025-01-09T05:29:09.037Z,1736400549.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536293 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:09.040Z,1736400549.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509947
2025-01-09T05:29:09.292Z,1736400549.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762334
2025-01-09T05:29:09.430Z,1736400549.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:09.501Z,1736400549.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:09.509Z,1736400549.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 238.269196 m,
      bearing: 258.830153 deg,
      approach rate: 0.110371 m/s,
      LOS rate: 0.128535 deg/s,
      cmd heading: 259.910418 deg,
      new cmd heading: 260.088686 deg.

2025-01-09T05:29:09.510Z,1736400549.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539404 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:09.544Z,1736400549.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013647
2025-01-09T05:29:09.796Z,1736400549.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266328
2025-01-09T05:29:09.861Z,1736400549.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:09.871Z,1736400549.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:09.874Z,1736400549.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 238.320145 m,
      bearing: 258.893064 deg,
      approach rate: 0.135372 m/s,
      LOS rate: 0.167119 deg/s,
      cmd heading: 260.088686 deg,
      new cmd heading: 260.277378 deg.

2025-01-09T05:29:09.891Z,1736400549.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542697 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:10.048Z,1736400550.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517710
2025-01-09T05:29:10.233Z,1736400550.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:10.241Z,1736400550.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:10.243Z,1736400550.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:10.246Z,1736400550.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 238.357651 m,
      bearing: 258.947751 deg,
      approach rate: 0.100678 m/s,
      LOS rate: 0.146775 deg/s,
      cmd heading: 260.277390 deg,
      new cmd heading: 260.441426 deg.

2025-01-09T05:29:10.247Z,1736400550.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545560 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:10.301Z,1736400550.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770453
2025-01-09T05:29:10.552Z,1736400550.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021953
2025-01-09T05:29:10.687Z,1736400550.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:10.696Z,1736400550.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:10.699Z,1736400550.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 238.400070 m,
      bearing: 259.012924 deg,
      approach rate: 0.093748 m/s,
      LOS rate: 0.144007 deg/s,
      cmd heading: 260.441424 deg,
      new cmd heading: 260.636906 deg.

2025-01-09T05:29:10.700Z,1736400550.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548972 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:10.805Z,1736400550.805 [DAT](INFO): DAT read: Rx Time:05:29:09.3948

2025-01-09T05:29:10.806Z,1736400550.806 [DAT](INFO): Rx dataTimestamp_ set to:1736400550.805125
2025-01-09T05:29:10.807Z,1736400550.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276353
2025-01-09T05:29:11.056Z,1736400551.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525746
2025-01-09T05:29:11.058Z,1736400551.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:11.067Z,1736400551.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:11.071Z,1736400551.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 238.434921 m,
      bearing: 259.066090 deg,
      approach rate: 0.094043 m/s,
      LOS rate: 0.143443 deg/s,
      cmd heading: 260.636904 deg,
      new cmd heading: 260.796378 deg.

2025-01-09T05:29:11.072Z,1736400551.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551755 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:11.316Z,1736400551.316 [DAT](INFO): DAT read: 05:29:09.3948 LVL= 19808, 30529, 30882, 32627, AGC= 64, IDX= 450, 0.40,-0.088,-0.802,-2.150,-1.092, PHS= 1.093, 0.337,-1.061, RAW=  50.2,  -3.9, CAL=  53.2,  -8.2, ROT=  96.8,   8.2

2025-01-09T05:29:11.317Z,1736400551.317 [DAT](INFO): got valid direction response:
 05:29:09.3948 LVL= 19808, 30529, 30882, 32627, AGC= 64, IDX= 450, 0.40,-0.088,-0.802,-2.150,-1.092, PHS= 1.093, 0.337,-1.061, RAW=  50.2,  -3.9, CAL=  53.2,  -8.2, ROT=  96.8,   8.2

2025-01-09T05:29:11.319Z,1736400551.319 [DAT](INFO): DAT read: Bearing  96.8,   8.2 (Local)

2025-01-09T05:29:11.320Z,1736400551.320 [DAT](INFO): Local bearing/azimuth received:
 Bearing  96.8,   8.2 (Local)

2025-01-09T05:29:11.321Z,1736400551.321 [DAT](INFO): DAT read: Range 10 to 50 : 240.6 m  (Round-trip  320.8 ms) speed  0.0 m/s

2025-01-09T05:29:11.322Z,1736400551.322 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:11.324Z,1736400551.324 [DAT](INFO): direction in FSK: [-0.117193,0.982814,-0.142629]
2025-01-09T05:29:11.325Z,1736400551.325 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:11.329Z,1736400551.329 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:11.329Z,1736400551.329 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:11.329Z,1736400551.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:11.468Z,1736400551.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:11.550Z,1736400551.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 240.600006 m,
      deltaT: 4.034234 s,
      deltaX: 0.400009 m,
      approachRate: 0.099154 m/s,
      rangeRepo size: 4

2025-01-09T05:29:11.560Z,1736400551.560 [DAT](INFO): DAT read: user:38>

2025-01-09T05:29:11.560Z,1736400551.560 [DAT](INFO): DAT read: Tx time:05:29:10.7198

2025-01-09T05:29:11.561Z,1736400551.561 [DAT](INFO): Ping request sent.
2025-01-09T05:29:11.561Z,1736400551.561 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:11.561Z,1736400551.561 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:11.562Z,1736400551.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000717
2025-01-09T05:29:11.586Z,1736400551.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 240.600006 m,
      bearing: 277.362666 deg,
      lat: 36.903793 deg,
      lon: -122.118908 deg,
      deltaT: 4.034234 s,
      deltaX: 0.400009 m,
      approachRate: 0.099154 m/s,
      posRepo size: 4

2025-01-09T05:29:11.591Z,1736400551.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:11.600Z,1736400551.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 237.811859 m,
      bearing: 259.959188 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.143443 deg/s,
      cmd heading: 260.796375 deg,
      new cmd heading: 261.002642 deg.

2025-01-09T05:29:11.601Z,1736400551.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555356 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:11.812Z,1736400551.812 [DAT](INFO): DAT read: TxSync time:05:29:10.7190

2025-01-09T05:29:11.813Z,1736400551.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251747
2025-01-09T05:29:11.941Z,1736400551.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:11.966Z,1736400551.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:11.976Z,1736400551.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 237.818710 m,
      bearing: 260.026766 deg,
      approach rate: 0.016315 m/s,
      LOS rate: 0.160918 deg/s,
      cmd heading: 261.002647 deg,
      new cmd heading: 261.205376 deg.

2025-01-09T05:29:11.977Z,1736400551.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558894 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:12.064Z,1736400552.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502791
2025-01-09T05:29:12.312Z,1736400552.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:12.316Z,1736400552.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754902
2025-01-09T05:29:12.338Z,1736400552.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:12.341Z,1736400552.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:12.344Z,1736400552.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 237.818512 m,
      bearing: 260.079201 deg,
      approach rate: -0.000529 m/s,
      LOS rate: 0.139769 deg/s,
      cmd heading: 261.205367 deg,
      new cmd heading: 261.362671 deg.

2025-01-09T05:29:12.345Z,1736400552.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561639 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:12.568Z,1736400552.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007166
2025-01-09T05:29:12.822Z,1736400552.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261087
2025-01-09T05:29:12.824Z,1736400552.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:12.832Z,1736400552.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:12.837Z,1736400552.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 237.791061 m,
      bearing: 260.149118 deg,
      approach rate: -0.055831 m/s,
      LOS rate: 0.142220 deg/s,
      cmd heading: 261.362680 deg,
      new cmd heading: 261.572455 deg.

2025-01-09T05:29:12.838Z,1736400552.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565300 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:13.072Z,1736400553.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511164
2025-01-09T05:29:13.117Z,1736400553.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:13.127Z,1736400553.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:13.129Z,1736400553.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 237.770645 m,
      bearing: 260.188994 deg,
      approach rate: -0.069461 m/s,
      LOS rate: 0.135681 deg/s,
      cmd heading: 261.572449 deg,
      new cmd heading: 261.692089 deg.

2025-01-09T05:29:13.130Z,1736400553.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567389 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:13.324Z,1736400553.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762797
2025-01-09T05:29:13.576Z,1736400553.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015048
2025-01-09T05:29:13.606Z,1736400553.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:13.639Z,1736400553.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:13.641Z,1736400553.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 237.704880 m,
      bearing: 260.248784 deg,
      approach rate: -0.133690 m/s,
      LOS rate: 0.121575 deg/s,
      cmd heading: 261.692086 deg,
      new cmd heading: 261.871503 deg.

2025-01-09T05:29:13.642Z,1736400553.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570520 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:13.828Z,1736400553.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267294
2025-01-09T05:29:13.963Z,1736400553.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:13.973Z,1736400553.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:13.976Z,1736400553.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 237.651718 m,
      bearing: 260.292297 deg,
      approach rate: -0.149729 m/s,
      LOS rate: 0.122581 deg/s,
      cmd heading: 261.871502 deg,
      new cmd heading: 262.002070 deg.

2025-01-09T05:29:13.977Z,1736400553.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572799 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:14.081Z,1736400554.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520291
2025-01-09T05:29:14.332Z,1736400554.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770965
2025-01-09T05:29:14.369Z,1736400554.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:14.376Z,1736400554.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:14.378Z,1736400554.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:14.381Z,1736400554.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 237.586105 m,
      bearing: 260.341249 deg,
      approach rate: -0.162233 m/s,
      LOS rate: 0.121072 deg/s,
      cmd heading: 262.002068 deg,
      new cmd heading: 262.148965 deg.

2025-01-09T05:29:14.382Z,1736400554.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575363 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:14.587Z,1736400554.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026138
2025-01-09T05:29:14.836Z,1736400554.836 [DAT](INFO): DAT read: Rx Time:05:29:13.4447

2025-01-09T05:29:14.837Z,1736400554.837 [DAT](INFO): Rx dataTimestamp_ set to:1736400554.836478
2025-01-09T05:29:14.837Z,1736400554.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276449
2025-01-09T05:29:14.919Z,1736400554.919 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:29:15.007Z,1736400555.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:15.033Z,1736400555.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:15.041Z,1736400555.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 237.434418 m,
      bearing: 260.412529 deg,
      approach rate: -0.231388 m/s,
      LOS rate: 0.108802 deg/s,
      cmd heading: 262.148971 deg,
      new cmd heading: 262.362948 deg.

2025-01-09T05:29:15.042Z,1736400555.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579097 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:15.088Z,1736400555.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526947
2025-01-09T05:29:15.345Z,1736400555.345 [DAT](INFO): DAT read: 05:29:13.4447 LVL= 18864, 32753, 27346, 31635, AGC= 62, IDX= 433,-0.42,-2.476, 2.383, 1.720, 2.629, PHS= 1.267,-0.198,-0.912, RAW=  71.3,  -1.6, CAL=  77.2,  -6.4, ROT=  72.8,   6.4

2025-01-09T05:29:15.346Z,1736400555.346 [DAT](INFO): got valid direction response:
 05:29:13.4447 LVL= 18864, 32753, 27346, 31635, AGC= 62, IDX= 433,-0.42,-2.476, 2.383, 1.720, 2.629, PHS= 1.267,-0.198,-0.912, RAW=  71.3,  -1.6, CAL=  77.2,  -6.4, ROT=  72.8,   6.4

2025-01-09T05:29:15.347Z,1736400555.347 [DAT](INFO): DAT read: Bearing  72.8,   6.4 (Local)

2025-01-09T05:29:15.347Z,1736400555.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.8,   6.4 (Local)

2025-01-09T05:29:15.348Z,1736400555.348 [DAT](INFO): DAT read: Range 10 to 50 : 240.6 m  (Round-trip  320.8 ms) speed -0.2 m/s

2025-01-09T05:29:15.349Z,1736400555.349 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:15.350Z,1736400555.350 [DAT](INFO): direction in FSK: [0.293865,0.949325,-0.111469]
2025-01-09T05:29:15.350Z,1736400555.350 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:15.354Z,1736400555.354 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:15.355Z,1736400555.355 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:15.355Z,1736400555.355 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:15.570Z,1736400555.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:15.594Z,1736400555.594 [DAT](INFO): DAT read: user:39>

2025-01-09T05:29:15.595Z,1736400555.595 [DAT](INFO): DAT read: Tx time:05:29:14.7198

2025-01-09T05:29:15.595Z,1736400555.595 [DAT](INFO): Ping request sent.
2025-01-09T05:29:15.595Z,1736400555.595 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:15.595Z,1736400555.595 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:15.596Z,1736400555.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000935
2025-01-09T05:29:15.628Z,1736400555.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 240.600006 m,
      deltaT: 4.029706 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:29:15.630Z,1736400555.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 240.600006 m,
      bearing: 267.573150 deg,
      lat: 36.903793 deg,
      lon: -122.118908 deg,
      deltaT: 4.029706 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T05:29:15.635Z,1736400555.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:15.638Z,1736400555.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 237.300644 m,
      bearing: 260.475965 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.108802 deg/s,
      cmd heading: 262.362948 deg,
      new cmd heading: 262.556820 deg.

2025-01-09T05:29:15.643Z,1736400555.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582481 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:15.844Z,1736400555.844 [DAT](INFO): DAT read: TxSync time:05:29:14.7190

2025-01-09T05:29:15.846Z,1736400555.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250526
2025-01-09T05:29:15.923Z,1736400555.923 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:29:16.096Z,1736400556.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501039
2025-01-09T05:29:16.127Z,1736400556.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:16.145Z,1736400556.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:16.153Z,1736400556.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 237.127319 m,
      bearing: 260.533438 deg,
      approach rate: -0.335069 m/s,
      LOS rate: 0.111188 deg/s,
      cmd heading: 262.556816 deg,
      new cmd heading: 262.729360 deg.

2025-01-09T05:29:16.154Z,1736400556.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585493 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:16.348Z,1736400556.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752560
2025-01-09T05:29:16.489Z,1736400556.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:16.496Z,1736400556.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:16.498Z,1736400556.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:16.501Z,1736400556.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 237.012665 m,
      bearing: 260.571544 deg,
      approach rate: -0.324845 m/s,
      LOS rate: 0.108017 deg/s,
      cmd heading: 262.729374 deg,
      new cmd heading: 262.843747 deg.

2025-01-09T05:29:16.503Z,1736400556.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587489 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:16.604Z,1736400556.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007983
2025-01-09T05:29:16.853Z,1736400556.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257818
2025-01-09T05:29:16.908Z,1736400556.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:16.916Z,1736400556.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:16.921Z,1736400556.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 236.861603 m,
      bearing: 260.614487 deg,
      approach rate: -0.360837 m/s,
      LOS rate: 0.102643 deg/s,
      cmd heading: 262.843738 deg,
      new cmd heading: 262.972650 deg.

2025-01-09T05:29:16.922Z,1736400556.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589738 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:17.104Z,1736400557.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508580
2025-01-09T05:29:17.279Z,1736400557.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:17.289Z,1736400557.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:17.292Z,1736400557.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 236.723862 m,
      bearing: 260.651785 deg,
      approach rate: -0.369535 m/s,
      LOS rate: 0.100122 deg/s,
      cmd heading: 262.972638 deg,
      new cmd heading: 263.084596 deg.

2025-01-09T05:29:17.293Z,1736400557.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591692 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:17.357Z,1736400557.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761405
2025-01-09T05:29:17.611Z,1736400557.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015249
2025-01-09T05:29:17.731Z,1736400557.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:17.755Z,1736400557.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:17.765Z,1736400557.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 236.551773 m,
      bearing: 260.698478 deg,
      approach rate: -0.373256 m/s,
      LOS rate: 0.101349 deg/s,
      cmd heading: 263.084598 deg,
      new cmd heading: 263.224778 deg.

2025-01-09T05:29:17.766Z,1736400557.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594139 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:17.861Z,1736400557.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266041
2025-01-09T05:29:18.112Z,1736400558.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516524
2025-01-09T05:29:18.250Z,1736400558.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:18.260Z,1736400558.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:18.263Z,1736400558.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 236.347992 m,
      bearing: 260.751040 deg,
      approach rate: -0.399181 m/s,
      LOS rate: 0.103051 deg/s,
      cmd heading: 263.224781 deg,
      new cmd heading: 263.382603 deg.

2025-01-09T05:29:18.264Z,1736400558.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596894 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:18.365Z,1736400558.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769595
2025-01-09T05:29:18.619Z,1736400558.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023263
2025-01-09T05:29:18.717Z,1736400558.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:18.724Z,1736400558.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:18.726Z,1736400558.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:18.729Z,1736400558.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 236.177765 m,
      bearing: 260.801898 deg,
      approach rate: -0.365807 m/s,
      LOS rate: 0.109369 deg/s,
      cmd heading: 263.382613 deg,
      new cmd heading: 263.535296 deg.

2025-01-09T05:29:18.730Z,1736400558.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599559 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:18.869Z,1736400558.869 [DAT](INFO): DAT read: Rx Time:05:29:17.4442

2025-01-09T05:29:18.870Z,1736400558.870 [DAT](INFO): Rx dataTimestamp_ set to:1736400558.869484
2025-01-09T05:29:18.870Z,1736400558.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275284
2025-01-09T05:29:19.120Z,1736400559.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525435
2025-01-09T05:29:19.226Z,1736400559.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:19.257Z,1736400559.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.60 m.
2025-01-09T05:29:19.260Z,1736400559.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.600006 m,
      nav range: 235.975540 m,
      bearing: 260.853599 deg,
      approach rate: -0.380561 m/s,
      LOS rate: 0.097378 deg/s,
      cmd heading: 263.535309 deg,
      new cmd heading: 263.690544 deg.

2025-01-09T05:29:19.261Z,1736400559.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602268 target range: 240.600006 and range: 240.60 m.
2025-01-09T05:29:19.377Z,1736400559.377 [DAT](INFO): DAT read: 05:29:17.4442 LVL= 25376, 32753, 30338, 32755, AGC= 63, IDX= 429,-0.42,-0.014,-1.588,-1.461,-0.850, PHS= 0.925,-0.691,-0.613, RAW=  92.4,   4.9, CAL= 100.5,   3.6, ROT=  49.5,  -3.6

2025-01-09T05:29:19.378Z,1736400559.378 [DAT](INFO): got valid direction response:
 05:29:17.4442 LVL= 25376, 32753, 30338, 32755, AGC= 63, IDX= 429,-0.42,-0.014,-1.588,-1.461,-0.850, PHS= 0.925,-0.691,-0.613, RAW=  92.4,   4.9, CAL= 100.5,   3.6, ROT=  49.5,  -3.6

2025-01-09T05:29:19.379Z,1736400559.379 [DAT](INFO): DAT read: Bearing  49.5,  -3.6 (Local)

2025-01-09T05:29:19.379Z,1736400559.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.5,  -3.6 (Local)

2025-01-09T05:29:19.381Z,1736400559.381 [DAT](INFO): DAT read: Range 10 to 50 : 240.2 m  (Round-trip  320.3 ms) speed  0.3 m/s

2025-01-09T05:29:19.381Z,1736400559.381 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:19.382Z,1736400559.382 [DAT](INFO): direction in FSK: [0.648167,0.758905,0.062791]
2025-01-09T05:29:19.388Z,1736400559.388 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:19.392Z,1736400559.392 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:19.392Z,1736400559.392 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:19.392Z,1736400559.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:19.628Z,1736400559.628 [DAT](INFO): DAT read: user:40>

2025-01-09T05:29:19.632Z,1736400559.632 [DAT](INFO): DAT read: Tx time:05:29:18.7698

2025-01-09T05:29:19.634Z,1736400559.634 [DAT](INFO): Ping request sent.
2025-01-09T05:29:19.634Z,1736400559.634 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:19.635Z,1736400559.635 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:19.638Z,1736400559.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003469
2025-01-09T05:29:19.752Z,1736400559.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:19.794Z,1736400559.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 240.199997 m,
      deltaT: 4.032087 s,
      deltaX: -0.400009 m,
      approachRate: -0.099206 m/s,
      rangeRepo size: 4

2025-01-09T05:29:19.800Z,1736400559.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 240.199997 m,
      bearing: 258.980633 deg,
      lat: 36.903753 deg,
      lon: -122.118908 deg,
      deltaT: 4.032087 s,
      deltaX: -0.400009 m,
      approachRate: -0.099206 m/s,
      posRepo size: 4

2025-01-09T05:29:19.801Z,1736400559.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:19.809Z,1736400559.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 236.546051 m,
      bearing: 259.837583 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.097378 deg/s,
      cmd heading: 263.690545 deg,
      new cmd heading: 263.847023 deg.

2025-01-09T05:29:19.810Z,1736400559.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604999 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:19.878Z,1736400559.878 [DAT](INFO): DAT read: TxSync time:05:29:18.7690

2025-01-09T05:29:19.879Z,1736400559.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245216
2025-01-09T05:29:20.124Z,1736400560.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:20.128Z,1736400560.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494077
2025-01-09T05:29:20.135Z,1736400560.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:20.138Z,1736400560.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 236.407120 m,
      bearing: 259.875305 deg,
      approach rate: -0.407275 m/s,
      LOS rate: 0.110648 deg/s,
      cmd heading: 263.847011 deg,
      new cmd heading: 263.960245 deg.

2025-01-09T05:29:20.139Z,1736400560.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606976 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:20.380Z,1736400560.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746630
2025-01-09T05:29:20.518Z,1736400560.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:20.527Z,1736400560.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:20.530Z,1736400560.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 236.256729 m,
      bearing: 259.914134 deg,
      approach rate: -0.382303 m/s,
      LOS rate: 0.098769 deg/s,
      cmd heading: 263.960256 deg,
      new cmd heading: 264.076817 deg.

2025-01-09T05:29:20.531Z,1736400560.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609010 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:20.635Z,1736400560.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000238
2025-01-09T05:29:20.885Z,1736400560.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251539
2025-01-09T05:29:20.973Z,1736400560.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:20.979Z,1736400560.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:20.981Z,1736400560.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:20.986Z,1736400560.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 236.109619 m,
      bearing: 259.960831 deg,
      approach rate: -0.323985 m/s,
      LOS rate: 0.102907 deg/s,
      cmd heading: 264.076806 deg,
      new cmd heading: 264.216985 deg.

2025-01-09T05:29:20.988Z,1736400560.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611456 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:21.136Z,1736400561.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502880
2025-01-09T05:29:21.327Z,1736400561.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:21.337Z,1736400561.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:21.356Z,1736400561.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 235.991074 m,
      bearing: 259.996486 deg,
      approach rate: -0.333828 m/s,
      LOS rate: 0.100456 deg/s,
      cmd heading: 264.216989 deg,
      new cmd heading: 264.324007 deg.

2025-01-09T05:29:21.356Z,1736400561.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613324 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:21.390Z,1736400561.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756011
2025-01-09T05:29:21.643Z,1736400561.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008717
2025-01-09T05:29:21.783Z,1736400561.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:21.820Z,1736400561.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:21.827Z,1736400561.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 235.860001 m,
      bearing: 260.043046 deg,
      approach rate: -0.271090 m/s,
      LOS rate: 0.096349 deg/s,
      cmd heading: 264.324004 deg,
      new cmd heading: 264.463759 deg.

2025-01-09T05:29:21.828Z,1736400561.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615763 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:21.892Z,1736400561.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258162
2025-01-09T05:29:22.144Z,1736400562.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509970
2025-01-09T05:29:22.184Z,1736400562.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:22.194Z,1736400562.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:22.197Z,1736400562.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 235.744888 m,
      bearing: 260.084027 deg,
      approach rate: -0.307861 m/s,
      LOS rate: 0.109657 deg/s,
      cmd heading: 264.463750 deg,
      new cmd heading: 264.586755 deg.

2025-01-09T05:29:22.198Z,1736400562.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617910 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:22.396Z,1736400562.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761952
2025-01-09T05:29:22.560Z,1736400562.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:22.570Z,1736400562.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:22.573Z,1736400562.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 235.627472 m,
      bearing: 260.120896 deg,
      approach rate: -0.312008 m/s,
      LOS rate: 0.098019 deg/s,
      cmd heading: 264.586748 deg,
      new cmd heading: 264.697409 deg.

2025-01-09T05:29:22.591Z,1736400562.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619841 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:22.653Z,1736400562.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018285
2025-01-09T05:29:22.900Z,1736400562.900 [DAT](INFO): DAT read: Rx Time:05:29:21.4927

2025-01-09T05:29:22.900Z,1736400562.900 [DAT](INFO): Rx dataTimestamp_ set to:1736400562.899965
2025-01-09T05:29:22.901Z,1736400562.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267208
2025-01-09T05:29:23.004Z,1736400563.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:23.038Z,1736400563.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:23.040Z,1736400563.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:23.043Z,1736400563.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 235.508743 m,
      bearing: 260.163640 deg,
      approach rate: -0.252625 m/s,
      LOS rate: 0.090994 deg/s,
      cmd heading: 264.697397 deg,
      new cmd heading: 264.825692 deg.

2025-01-09T05:29:23.044Z,1736400563.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622080 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:23.153Z,1736400563.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519279
2025-01-09T05:29:23.373Z,1736400563.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:23.399Z,1736400563.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.20 m.
2025-01-09T05:29:23.409Z,1736400563.409 [DAT](INFO): DAT read: 05:29:21.4927 LVL= 24608, 32753, 32242, 32755, AGC= 65, IDX= 428, 0.03,-2.360, 2.232, 2.801,-3.110, PHS= 0.838,-0.894,-0.375, RAW= 107.0,   5.7, CAL= 117.6,   3.3, ROT=  32.4,  -3.3

2025-01-09T05:29:23.410Z,1736400563.410 [DAT](INFO): got valid direction response:
 05:29:21.4927 LVL= 24608, 32753, 32242, 32755, AGC= 65, IDX= 428, 0.03,-2.360, 2.232, 2.801,-3.110, PHS= 0.838,-0.894,-0.375, RAW= 107.0,   5.7, CAL= 117.6,   3.3, ROT=  32.4,  -3.3

2025-01-09T05:29:23.411Z,1736400563.411 [DAT](INFO): DAT read: Bearing  32.4,  -3.3 (Local)

2025-01-09T05:29:23.412Z,1736400563.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing  32.4,  -3.3 (Local)

2025-01-09T05:29:23.413Z,1736400563.413 [DAT](INFO): DAT read: Range 10 to 50 : 239.0 m  (Round-trip  318.7 ms) speed  0.3 m/s

2025-01-09T05:29:23.414Z,1736400563.414 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:23.415Z,1736400563.415 [DAT](INFO): direction in FSK: [0.842928,0.534938,0.057564]
2025-01-09T05:29:23.415Z,1736400563.415 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:23.420Z,1736400563.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.199997 m,
      nav range: 235.401245 m,
      bearing: 260.197734 deg,
      approach rate: -0.300164 m/s,
      LOS rate: 0.095244 deg/s,
      cmd heading: 264.825695 deg,
      new cmd heading: 264.928025 deg.

2025-01-09T05:29:23.421Z,1736400563.421 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:23.421Z,1736400563.421 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:23.421Z,1736400563.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:23.424Z,1736400563.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623866 target range: 240.199997 and range: 240.20 m.
2025-01-09T05:29:23.659Z,1736400563.659 [DAT](INFO): DAT read: user:41>

2025-01-09T05:29:23.662Z,1736400563.662 [DAT](INFO): DAT read: Tx time:05:29:22.8199

2025-01-09T05:29:23.664Z,1736400563.664 [DAT](INFO): Ping request sent.
2025-01-09T05:29:23.665Z,1736400563.665 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:23.665Z,1736400563.665 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:23.669Z,1736400563.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003858
2025-01-09T05:29:23.844Z,1736400563.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:23.876Z,1736400563.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 239.000000 m,
      deltaT: 4.032082 s,
      deltaX: -1.199997 m,
      approachRate: -0.297612 m/s,
      rangeRepo size: 4

2025-01-09T05:29:23.883Z,1736400563.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 239.000000 m,
      bearing: 260.217515 deg,
      lat: 36.903757 deg,
      lon: -122.118889 deg,
      deltaT: 4.032082 s,
      deltaX: -1.199997 m,
      approachRate: -0.297612 m/s,
      posRepo size: 4

2025-01-09T05:29:23.883Z,1736400563.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.00 m.
2025-01-09T05:29:23.886Z,1736400563.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.000000 m,
      nav range: 233.559540 m,
      bearing: 260.264900 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.095244 deg/s,
      cmd heading: 264.928011 deg,
      new cmd heading: 265.062820 deg.

2025-01-09T05:29:23.892Z,1736400563.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626219 target range: 239.000000 and range: 239.00 m.
2025-01-09T05:29:23.908Z,1736400563.908 [DAT](INFO): DAT read: TxSync time:05:29:22.8191

2025-01-09T05:29:23.909Z,1736400563.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244612
2025-01-09T05:29:24.161Z,1736400564.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496930
2025-01-09T05:29:24.218Z,1736400564.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:24.241Z,1736400564.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.00 m.
2025-01-09T05:29:24.244Z,1736400564.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.000000 m,
      nav range: 233.452042 m,
      bearing: 260.296031 deg,
      approach rate: -0.289755 m/s,
      LOS rate: 0.083950 deg/s,
      cmd heading: 265.062812 deg,
      new cmd heading: 265.156248 deg.

2025-01-09T05:29:24.245Z,1736400564.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627850 target range: 239.000000 and range: 239.00 m.
2025-01-09T05:29:24.412Z,1736400564.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747572
2025-01-09T05:29:24.622Z,1736400564.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:24.631Z,1736400564.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.00 m.
2025-01-09T05:29:24.634Z,1736400564.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.000000 m,
      nav range: 233.332031 m,
      bearing: 260.328907 deg,
      approach rate: -0.308196 m/s,
      LOS rate: 0.084472 deg/s,
      cmd heading: 265.156249 deg,
      new cmd heading: 265.254928 deg.

2025-01-09T05:29:24.637Z,1736400564.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629572 target range: 239.000000 and range: 239.00 m.
2025-01-09T05:29:24.664Z,1736400564.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000150
2025-01-09T05:29:24.924Z,1736400564.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259512
2025-01-09T05:29:25.058Z,1736400565.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:25.065Z,1736400565.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:25.068Z,1736400565.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.00 m.
2025-01-09T05:29:25.071Z,1736400565.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.000000 m,
      nav range: 233.193024 m,
      bearing: 260.358685 deg,
      approach rate: -0.318422 m/s,
      LOS rate: 0.068251 deg/s,
      cmd heading: 265.254932 deg,
      new cmd heading: 265.344317 deg.

2025-01-09T05:29:25.072Z,1736400565.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631132 target range: 239.000000 and range: 239.00 m.
2025-01-09T05:29:25.177Z,1736400565.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513047
2025-01-09T05:29:25.428Z,1736400565.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763655
2025-01-09T05:29:25.431Z,1736400565.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:25.440Z,1736400565.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.00 m.
2025-01-09T05:29:25.444Z,1736400565.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.000000 m,
      nav range: 233.070419 m,
      bearing: 260.383297 deg,
      approach rate: -0.328674 m/s,
      LOS rate: 0.066015 deg/s,
      cmd heading: 265.344325 deg,
      new cmd heading: 265.418201 deg.

2025-01-09T05:29:25.445Z,1736400565.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632421 target range: 239.000000 and range: 239.00 m.
2025-01-09T05:29:25.684Z,1736400565.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019190
2025-01-09T05:29:25.884Z,1736400565.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:25.892Z,1736400565.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.00 m.
2025-01-09T05:29:25.895Z,1736400565.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.000000 m,
      nav range: 232.899124 m,
      bearing: 260.406533 deg,
      approach rate: -0.378772 m/s,
      LOS rate: 0.051417 deg/s,
      cmd heading: 265.418201 deg,
      new cmd heading: 265.487959 deg.

2025-01-09T05:29:25.896Z,1736400565.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633639 target range: 239.000000 and range: 239.00 m.
2025-01-09T05:29:25.933Z,1736400565.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268971
2025-01-09T05:29:26.184Z,1736400566.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519488
2025-01-09T05:29:26.262Z,1736400566.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:26.271Z,1736400566.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.00 m.
2025-01-09T05:29:26.274Z,1736400566.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.000000 m,
      nav range: 232.754074 m,
      bearing: 260.424719 deg,
      approach rate: -0.383295 m/s,
      LOS rate: 0.048088 deg/s,
      cmd heading: 265.487950 deg,
      new cmd heading: 265.542544 deg.

2025-01-09T05:29:26.275Z,1736400566.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634592 target range: 239.000000 and range: 239.00 m.
2025-01-09T05:29:26.436Z,1736400566.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772088
2025-01-09T05:29:26.660Z,1736400566.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:26.670Z,1736400566.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.00 m.
2025-01-09T05:29:26.673Z,1736400566.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.000000 m,
      nav range: 232.596329 m,
      bearing: 260.441574 deg,
      approach rate: -0.395541 m/s,
      LOS rate: 0.042292 deg/s,
      cmd heading: 265.542537 deg,
      new cmd heading: 265.593136 deg.

2025-01-09T05:29:26.673Z,1736400566.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635475 target range: 239.000000 and range: 239.00 m.
2025-01-09T05:29:26.691Z,1736400566.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026851
2025-01-09T05:29:26.940Z,1736400566.940 [DAT](INFO): DAT read: Rx Time:05:29:25.5408

2025-01-09T05:29:26.940Z,1736400566.940 [DAT](INFO): Rx dataTimestamp_ set to:1736400566.939948
2025-01-09T05:29:26.941Z,1736400566.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276736
2025-01-09T05:29:27.065Z,1736400567.065 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   79,  -102,A
2025-01-09T05:29:27.074Z,1736400567.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:29:27.075Z,1736400567.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:27.081Z,1736400567.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:27.083Z,1736400567.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.00 m.
2025-01-09T05:29:27.107Z,1736400567.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.000000 m,
      nav range: 232.430450 m,
      bearing: 260.457932 deg,
      approach rate: -0.400889 m/s,
      LOS rate: 0.039562 deg/s,
      cmd heading: 265.593135 deg,
      new cmd heading: 265.642245 deg.

2025-01-09T05:29:27.108Z,1736400567.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636332 target range: 239.000000 and range: 239.00 m.
2025-01-09T05:29:27.193Z,1736400567.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528325
2025-01-09T05:29:27.449Z,1736400567.449 [DAT](INFO): DAT read: 05:29:25.5408 LVL= 30240, 32753, 32754, 32755, AGC= 64, IDX= 423,-0.03, 0.609,-0.895,-0.135, 0.027, PHS= 0.669,-0.875,-0.166, RAW= 117.3,   5.6, CAL= 127.1,   1.7, ROT=  22.9,  -1.7

2025-01-09T05:29:27.450Z,1736400567.450 [DAT](INFO): got valid direction response:
 05:29:25.5408 LVL= 30240, 32753, 32754, 32755, AGC= 64, IDX= 423,-0.03, 0.609,-0.895,-0.135, 0.027, PHS= 0.669,-0.875,-0.166, RAW= 117.3,   5.6, CAL= 127.1,   1.7, ROT=  22.9,  -1.7

2025-01-09T05:29:27.452Z,1736400567.452 [DAT](INFO): DAT read: Bearing  22.9,  -1.7 (Local)

2025-01-09T05:29:27.453Z,1736400567.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing  22.9,  -1.7 (Local)

2025-01-09T05:29:27.454Z,1736400567.454 [DAT](INFO): DAT read: Range 10 to 50 : 237.5 m  (Round-trip  316.7 ms) speed  0.3 m/s

2025-01-09T05:29:27.455Z,1736400567.455 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:27.455Z,1736400567.455 [DAT](INFO): direction in FSK: [0.920780,0.388953,0.029666]
2025-01-09T05:29:27.456Z,1736400567.456 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:27.464Z,1736400567.464 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:27.464Z,1736400567.464 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:27.464Z,1736400567.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:27.539Z,1736400567.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T05:29:27.539Z,1736400567.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:27.572Z,1736400567.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.500000 m,
      deltaT: 4.039982 s,
      deltaX: -1.500000 m,
      approachRate: -0.371289 m/s,
      rangeRepo size: 4

2025-01-09T05:29:27.577Z,1736400567.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 237.500000 m,
      bearing: 268.722410 deg,
      lat: 36.904055 deg,
      lon: -122.118934 deg,
      deltaT: 4.039982 s,
      deltaX: -1.500000 m,
      approachRate: -0.371289 m/s,
      posRepo size: 4

2025-01-09T05:29:27.577Z,1736400567.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.50 m.
2025-01-09T05:29:27.580Z,1736400567.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.500000 m,
      nav range: 233.125229 m,
      bearing: 268.721431 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.039562 deg/s,
      cmd heading: 265.642258 deg,
      new cmd heading: 265.699626 deg.

2025-01-09T05:29:27.581Z,1736400567.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637333 target range: 237.500000 and range: 237.50 m.
2025-01-09T05:29:27.697Z,1736400567.697 [DAT](INFO): DAT read: user:42>

2025-01-09T05:29:27.698Z,1736400567.698 [DAT](INFO): DAT read: Tx time:05:29:26.8699

2025-01-09T05:29:27.699Z,1736400567.699 [DAT](INFO): Ping request sent.
2025-01-09T05:29:27.699Z,1736400567.699 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:27.699Z,1736400567.699 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:27.700Z,1736400567.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-01-09T05:29:27.948Z,1736400567.948 [DAT](INFO): DAT read: TxSync time:05:29:26.8691

2025-01-09T05:29:27.949Z,1736400567.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249740
2025-01-09T05:29:28.001Z,1736400568.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:28.029Z,1736400568.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.50 m.
2025-01-09T05:29:28.036Z,1736400568.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.500000 m,
      nav range: 232.867615 m,
      bearing: 268.737324 deg,
      approach rate: -0.557900 m/s,
      LOS rate: 0.034455 deg/s,
      cmd heading: 265.699632 deg,
      new cmd heading: 265.747361 deg.

2025-01-09T05:29:28.037Z,1736400568.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638166 target range: 237.500000 and range: 237.50 m.
2025-01-09T05:29:28.200Z,1736400568.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500697
2025-01-09T05:29:28.340Z,1736400568.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:28.349Z,1736400568.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.50 m.
2025-01-09T05:29:28.353Z,1736400568.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.500000 m,
      nav range: 232.681915 m,
      bearing: 268.747482 deg,
      approach rate: -0.580264 m/s,
      LOS rate: 0.031767 deg/s,
      cmd heading: 265.747361 deg,
      new cmd heading: 265.777860 deg.

2025-01-09T05:29:28.354Z,1736400568.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638699 target range: 237.500000 and range: 237.50 m.
2025-01-09T05:29:28.453Z,1736400568.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754116
2025-01-09T05:29:28.704Z,1736400568.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004606
2025-01-09T05:29:28.810Z,1736400568.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:28.820Z,1736400568.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.50 m.
2025-01-09T05:29:28.822Z,1736400568.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.500000 m,
      nav range: 232.423569 m,
      bearing: 268.759887 deg,
      approach rate: -0.549671 m/s,
      LOS rate: 0.026423 deg/s,
      cmd heading: 265.777851 deg,
      new cmd heading: 265.815107 deg.

2025-01-09T05:29:28.832Z,1736400568.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639349 target range: 237.500000 and range: 237.50 m.
2025-01-09T05:29:28.957Z,1736400568.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257810
2025-01-09T05:29:29.171Z,1736400569.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:29.177Z,1736400569.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:29.180Z,1736400569.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.50 m.
2025-01-09T05:29:29.182Z,1736400569.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.500000 m,
      nav range: 232.198944 m,
      bearing: 268.767565 deg,
      approach rate: -0.621996 m/s,
      LOS rate: 0.021281 deg/s,
      cmd heading: 265.815116 deg,
      new cmd heading: 265.838173 deg.

2025-01-09T05:29:29.184Z,1736400569.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639751 target range: 237.500000 and range: 237.50 m.
2025-01-09T05:29:29.228Z,1736400569.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.529525
2025-01-09T05:29:29.480Z,1736400569.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.780601
2025-01-09T05:29:29.561Z,1736400569.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:29.571Z,1736400569.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.50 m.
2025-01-09T05:29:29.574Z,1736400569.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.500000 m,
      nav range: 231.955292 m,
      bearing: 268.774340 deg,
      approach rate: -0.623090 m/s,
      LOS rate: 0.017346 deg/s,
      cmd heading: 265.838175 deg,
      new cmd heading: 265.858524 deg.

2025-01-09T05:29:29.583Z,1736400569.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640107 target range: 237.500000 and range: 237.50 m.
2025-01-09T05:29:29.732Z,1736400569.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.032727
2025-01-09T05:29:29.984Z,1736400569.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.284757
2025-01-09T05:29:29.985Z,1736400569.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:29.995Z,1736400569.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.50 m.
2025-01-09T05:29:30.000Z,1736400570.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.500000 m,
      nav range: 231.672302 m,
      bearing: 268.783082 deg,
      approach rate: -0.669104 m/s,
      LOS rate: 0.020693 deg/s,
      cmd heading: 265.858529 deg,
      new cmd heading: 265.884785 deg.

2025-01-09T05:29:30.002Z,1736400570.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640565 target range: 237.500000 and range: 237.50 m.
2025-01-09T05:29:30.237Z,1736400570.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.537744
2025-01-09T05:29:30.357Z,1736400570.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:30.366Z,1736400570.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.50 m.
2025-01-09T05:29:30.370Z,1736400570.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.500000 m,
      nav range: 231.423889 m,
      bearing: 268.789313 deg,
      approach rate: -0.667415 m/s,
      LOS rate: 0.016759 deg/s,
      cmd heading: 265.884784 deg,
      new cmd heading: 265.903498 deg.

2025-01-09T05:29:30.387Z,1736400570.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640892 target range: 237.500000 and range: 237.50 m.
2025-01-09T05:29:30.488Z,1736400570.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.788866
2025-01-09T05:29:30.741Z,1736400570.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.042164
2025-01-09T05:29:30.859Z,1736400570.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:30.884Z,1736400570.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.50 m.
2025-01-09T05:29:30.891Z,1736400570.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.500000 m,
      nav range: 231.091034 m,
      bearing: 268.802355 deg,
      approach rate: -0.642500 m/s,
      LOS rate: 0.025211 deg/s,
      cmd heading: 265.903499 deg,
      new cmd heading: 265.942682 deg.

2025-01-09T05:29:30.892Z,1736400570.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641575 target range: 237.500000 and range: 237.50 m.
2025-01-09T05:29:30.993Z,1736400570.993 [DAT](INFO): DAT read: Rx Time:05:29:29.6066

2025-01-09T05:29:30.994Z,1736400570.994 [DAT](INFO): Rx dataTimestamp_ set to:1736400570.993262
2025-01-09T05:29:30.995Z,1736400570.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.295138
2025-01-09T05:29:31.166Z,1736400571.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:31.192Z,1736400571.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.50 m.
2025-01-09T05:29:31.199Z,1736400571.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.500000 m,
      nav range: 230.887100 m,
      bearing: 268.808077 deg,
      approach rate: -0.661910 m/s,
      LOS rate: 0.018589 deg/s,
      cmd heading: 265.942677 deg,
      new cmd heading: 265.959859 deg.

2025-01-09T05:29:31.200Z,1736400571.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641875 target range: 237.500000 and range: 237.50 m.
2025-01-09T05:29:31.244Z,1736400571.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.544976
2025-01-09T05:29:31.502Z,1736400571.502 [DAT](INFO): DAT read: 05:29:29.6066 LVL= 18080, 22849, 16754, 21043, AGC= 64, IDX=  90,-0.31,-1.486,-2.871,-1.538,-2.402, PHS= 1.004,-0.423, 0.860, RAW= 144.8, -20.5, CAL= 150.1, -27.8, ROT= 359.9,  27.8

2025-01-09T05:29:31.504Z,1736400571.504 [DAT](INFO): got valid direction response:
 05:29:29.6066 LVL= 18080, 22849, 16754, 21043, AGC= 64, IDX=  90,-0.31,-1.486,-2.871,-1.538,-2.402, PHS= 1.004,-0.423, 0.860, RAW= 144.8, -20.5, CAL= 150.1, -27.8, ROT= 359.9,  27.8

2025-01-09T05:29:31.505Z,1736400571.505 [DAT](INFO): DAT read: Bearing 359.9,  27.8 (Local)

2025-01-09T05:29:31.505Z,1736400571.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  27.8 (Local)

2025-01-09T05:29:31.510Z,1736400571.510 [DAT](INFO): DAT read: Range 10 to 50 : 249.4 m  (Round-trip  332.6 ms) speed  0.7 m/s

2025-01-09T05:29:31.511Z,1736400571.511 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:31.512Z,1736400571.512 [DAT](INFO): direction in FSK: [0.884580,-0.001544,-0.466387]
2025-01-09T05:29:31.512Z,1736400571.512 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:31.520Z,1736400571.520 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:31.520Z,1736400571.520 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:31.520Z,1736400571.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:31.627Z,1736400571.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:31.665Z,1736400571.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 249.399994 m,
      deltaT: 4.051819 s,
      deltaX: 11.899994 m,
      approachRate: 2.936951 m/s,
      rangeRepo size: 4

2025-01-09T05:29:31.671Z,1736400571.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 249.399994 m,
      bearing: 267.753692 deg,
      lat: 36.904017 deg,
      lon: -122.118925 deg,
      deltaT: 4.051819 s,
      deltaX: 11.899994 m,
      approachRate: 2.936951 m/s,
      posRepo size: 4

2025-01-09T05:29:31.672Z,1736400571.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.40 m.
2025-01-09T05:29:31.679Z,1736400571.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.399994 m,
      nav range: 229.895599 m,
      bearing: 267.754469 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018589 deg/s,
      cmd heading: 265.959862 deg,
      new cmd heading: 265.986186 deg.

2025-01-09T05:29:31.680Z,1736400571.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642335 target range: 249.399994 and range: 249.40 m.
2025-01-09T05:29:31.751Z,1736400571.751 [DAT](INFO): DAT read: user:43>

2025-01-09T05:29:31.752Z,1736400571.752 [DAT](INFO): DAT read: Tx time:05:29:30.9199

2025-01-09T05:29:31.752Z,1736400571.752 [DAT](INFO): Ping request sent.
2025-01-09T05:29:31.753Z,1736400571.753 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:31.753Z,1736400571.753 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:31.754Z,1736400571.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001144
2025-01-09T05:29:31.000Z,1736400572.000 [DAT](INFO): DAT read: TxSync time:05:29:30.9191

2025-01-09T05:29:32.000Z,1736400572.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247863
2025-01-09T05:29:32.065Z,1736400572.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:32.093Z,1736400572.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:32.097Z,1736400572.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.40 m.
2025-01-09T05:29:32.108Z,1736400572.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.399994 m,
      nav range: 229.621033 m,
      bearing: 267.763871 deg,
      approach rate: -0.637913 m/s,
      LOS rate: 0.021871 deg/s,
      cmd heading: 265.986199 deg,
      new cmd heading: 266.014440 deg.

2025-01-09T05:29:32.109Z,1736400572.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642828 target range: 249.399994 and range: 249.40 m.
2025-01-09T05:29:32.252Z,1736400572.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499797
2025-01-09T05:29:32.403Z,1736400572.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:32.411Z,1736400572.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.40 m.
2025-01-09T05:29:32.414Z,1736400572.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.399994 m,
      nav range: 229.410736 m,
      bearing: 267.769165 deg,
      approach rate: -0.664949 m/s,
      LOS rate: 0.016753 deg/s,
      cmd heading: 266.014449 deg,
      new cmd heading: 266.030344 deg.

2025-01-09T05:29:32.415Z,1736400572.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643106 target range: 249.399994 and range: 249.40 m.
2025-01-09T05:29:32.504Z,1736400572.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751074
2025-01-09T05:29:32.757Z,1736400572.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004078
2025-01-09T05:29:32.883Z,1736400572.883 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 260.17, 214.27, 227.54
2025-01-09T05:29:32.891Z,1736400572.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T05:29:32.891Z,1736400572.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:32.901Z,1736400572.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.40 m.
2025-01-09T05:29:32.905Z,1736400572.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.399994 m,
      nav range: 229.105972 m,
      bearing: 267.775721 deg,
      approach rate: -0.622456 m/s,
      LOS rate: 0.013409 deg/s,
      cmd heading: 266.030349 deg,
      new cmd heading: 266.050045 deg.

2025-01-09T05:29:32.906Z,1736400572.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643449 target range: 249.399994 and range: 249.40 m.
2025-01-09T05:29:33.009Z,1736400573.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256344
2025-01-09T05:29:33.260Z,1736400573.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507853
2025-01-09T05:29:33.341Z,1736400573.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T05:29:33.341Z,1736400573.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:33.356Z,1736400573.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.40 m.
2025-01-09T05:29:33.358Z,1736400573.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.399994 m,
      nav range: 228.824844 m,
      bearing: 267.780948 deg,
      approach rate: -0.617463 m/s,
      LOS rate: 0.011495 deg/s,
      cmd heading: 266.050048 deg,
      new cmd heading: 266.065748 deg.

2025-01-09T05:29:33.360Z,1736400573.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643723 target range: 249.399994 and range: 249.40 m.
2025-01-09T05:29:33.512Z,1736400573.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759223
2025-01-09T05:29:33.757Z,1736400573.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s.
2025-01-09T05:29:33.757Z,1736400573.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:33.764Z,1736400573.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011445
2025-01-09T05:29:33.773Z,1736400573.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.40 m.
2025-01-09T05:29:33.792Z,1736400573.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.399994 m,
      nav range: 228.565521 m,
      bearing: 267.785782 deg,
      approach rate: -0.621710 m/s,
      LOS rate: 0.011601 deg/s,
      cmd heading: 266.065757 deg,
      new cmd heading: 266.080274 deg.

2025-01-09T05:29:33.794Z,1736400573.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643977 target range: 249.399994 and range: 249.40 m.
2025-01-09T05:29:34.017Z,1736400574.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264447
2025-01-09T05:29:34.179Z,1736400574.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:34.191Z,1736400574.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:34.193Z,1736400574.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.40 m.
2025-01-09T05:29:34.212Z,1736400574.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.399994 m,
      nav range: 228.361893 m,
      bearing: 267.793600 deg,
      approach rate: -0.484552 m/s,
      LOS rate: 0.018620 deg/s,
      cmd heading: 266.080264 deg,
      new cmd heading: 266.103739 deg.

2025-01-09T05:29:34.213Z,1736400574.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644386 target range: 249.399994 and range: 249.40 m.
2025-01-09T05:29:34.269Z,1736400574.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516518
2025-01-09T05:29:34.520Z,1736400574.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767401
2025-01-09T05:29:34.560Z,1736400574.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:34.577Z,1736400574.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.40 m.
2025-01-09T05:29:34.584Z,1736400574.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.399994 m,
      nav range: 228.178406 m,
      bearing: 267.800262 deg,
      approach rate: -0.478156 m/s,
      LOS rate: 0.017375 deg/s,
      cmd heading: 266.103733 deg,
      new cmd heading: 266.123735 deg.

2025-01-09T05:29:34.586Z,1736400574.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644735 target range: 249.399994 and range: 249.40 m.
2025-01-09T05:29:34.772Z,1736400574.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019429
2025-01-09T05:29:34.979Z,1736400574.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:34.988Z,1736400574.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.40 m.
2025-01-09T05:29:34.991Z,1736400574.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.399994 m,
      nav range: 228.002045 m,
      bearing: 267.806078 deg,
      approach rate: -0.429079 m/s,
      LOS rate: 0.014160 deg/s,
      cmd heading: 266.123732 deg,
      new cmd heading: 266.141192 deg.

2025-01-09T05:29:34.992Z,1736400574.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645040 target range: 249.399994 and range: 249.40 m.
2025-01-09T05:29:35.024Z,1736400575.024 [DAT](INFO): DAT read: Rx Time:05:29:33.6541

2025-01-09T05:29:35.025Z,1736400575.025 [DAT](INFO): Rx dataTimestamp_ set to:1736400575.024654
2025-01-09T05:29:35.025Z,1736400575.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272814
2025-01-09T05:29:35.276Z,1736400575.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523282
2025-01-09T05:29:35.361Z,1736400575.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:35.381Z,1736400575.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.40 m.
2025-01-09T05:29:35.404Z,1736400575.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.399994 m,
      nav range: 227.841599 m,
      bearing: 267.811129 deg,
      approach rate: -0.407647 m/s,
      LOS rate: 0.012844 deg/s,
      cmd heading: 266.141190 deg,
      new cmd heading: 266.156355 deg.

2025-01-09T05:29:35.413Z,1736400575.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645305 target range: 249.399994 and range: 249.40 m.
2025-01-09T05:29:35.536Z,1736400575.536 [DAT](INFO): DAT read: 05:29:33.6541 LVL= 21152, 25393, 18290, 27235, AGC= 65, IDX= 416, 0.10,-2.530, 2.490,-2.549,-3.044, PHS= 0.602,-0.702, 0.492, RAW= 145.7,  -6.3, CAL= 151.3, -15.2, ROT= 358.7,  15.2

2025-01-09T05:29:35.537Z,1736400575.537 [DAT](INFO): got valid direction response:
 05:29:33.6541 LVL= 21152, 25393, 18290, 27235, AGC= 65, IDX= 416, 0.10,-2.530, 2.490,-2.549,-3.044, PHS= 0.602,-0.702, 0.492, RAW= 145.7,  -6.3, CAL= 151.3, -15.2, ROT= 358.7,  15.2

2025-01-09T05:29:35.538Z,1736400575.538 [DAT](INFO): DAT read: Bearing 358.7,  15.2 (Local)

2025-01-09T05:29:35.539Z,1736400575.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.7,  15.2 (Local)

2025-01-09T05:29:35.541Z,1736400575.541 [DAT](INFO): DAT read: Range 10 to 50 : 247.5 m  (Round-trip  330.0 ms) speed  0.3 m/s

2025-01-09T05:29:35.541Z,1736400575.541 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:35.545Z,1736400575.545 [DAT](INFO): direction in FSK: [0.964768,-0.021894,-0.262189]
2025-01-09T05:29:35.545Z,1736400575.545 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:35.550Z,1736400575.550 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:35.550Z,1736400575.550 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:35.551Z,1736400575.551 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:35.769Z,1736400575.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:35.780Z,1736400575.780 [DAT](INFO): DAT read: user:44>

2025-01-09T05:29:35.780Z,1736400575.780 [DAT](INFO): DAT read: Tx time:05:29:34.9199

2025-01-09T05:29:35.781Z,1736400575.781 [DAT](INFO): Ping request sent.
2025-01-09T05:29:35.781Z,1736400575.781 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:35.781Z,1736400575.781 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:35.781Z,1736400575.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715
2025-01-09T05:29:35.812Z,1736400575.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 247.500000 m,
      deltaT: 4.033650 s,
      deltaX: -1.899994 m,
      approachRate: -0.471036 m/s,
      rangeRepo size: 4

2025-01-09T05:29:35.819Z,1736400575.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 247.500000 m,
      bearing: 268.830187 deg,
      lat: 36.904017 deg,
      lon: -122.118925 deg,
      deltaT: 4.033650 s,
      deltaX: -1.899994 m,
      approachRate: -0.471036 m/s,
      posRepo size: 4

2025-01-09T05:29:35.820Z,1736400575.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.50 m.
2025-01-09T05:29:35.822Z,1736400575.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.500000 m,
      nav range: 227.669739 m,
      bearing: 267.816328 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012844 deg/s,
      cmd heading: 266.156353 deg,
      new cmd heading: 266.172938 deg.

2025-01-09T05:29:35.830Z,1736400575.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645594 target range: 247.500000 and range: 247.50 m.
2025-01-09T05:29:36.032Z,1736400576.032 [DAT](INFO): DAT read: TxSync time:05:29:34.9191

2025-01-09T05:29:36.033Z,1736400576.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251872
2025-01-09T05:29:36.193Z,1736400576.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:36.201Z,1736400576.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:36.204Z,1736400576.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.50 m.
2025-01-09T05:29:36.207Z,1736400576.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.500000 m,
      nav range: 227.502655 m,
      bearing: 267.819654 deg,
      approach rate: -0.425686 m/s,
      LOS rate: 0.008479 deg/s,
      cmd heading: 266.172936 deg,
      new cmd heading: 266.182921 deg.

2025-01-09T05:29:36.208Z,1736400576.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645768 target range: 247.500000 and range: 247.50 m.
2025-01-09T05:29:36.285Z,1736400576.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503956
2025-01-09T05:29:36.536Z,1736400576.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755320
2025-01-09T05:29:36.569Z,1736400576.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:36.598Z,1736400576.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.50 m.
2025-01-09T05:29:36.612Z,1736400576.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.500000 m,
      nav range: 227.354630 m,
      bearing: 267.822544 deg,
      approach rate: -0.375885 m/s,
      LOS rate: 0.007344 deg/s,
      cmd heading: 266.182908 deg,
      new cmd heading: 266.191585 deg.

2025-01-09T05:29:36.613Z,1736400576.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645920 target range: 247.500000 and range: 247.50 m.
2025-01-09T05:29:36.788Z,1736400576.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006890
2025-01-09T05:29:37.010Z,1736400577.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:37.020Z,1736400577.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.50 m.
2025-01-09T05:29:37.023Z,1736400577.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.500000 m,
      nav range: 227.174820 m,
      bearing: 267.822855 deg,
      approach rate: -0.426171 m/s,
      LOS rate: 0.000737 deg/s,
      cmd heading: 266.191596 deg,
      new cmd heading: 266.192530 deg.

2025-01-09T05:29:37.024Z,1736400577.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645936 target range: 247.500000 and range: 247.50 m.
2025-01-09T05:29:37.058Z,1736400577.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.276804
2025-01-09T05:29:37.308Z,1736400577.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526923
2025-01-09T05:29:37.386Z,1736400577.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:37.395Z,1736400577.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.50 m.
2025-01-09T05:29:37.398Z,1736400577.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.500000 m,
      nav range: 227.021164 m,
      bearing: 267.823073 deg,
      approach rate: -0.410059 m/s,
      LOS rate: 0.000585 deg/s,
      cmd heading: 266.192525 deg,
      new cmd heading: 266.193183 deg.

2025-01-09T05:29:37.399Z,1736400577.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645947 target range: 247.500000 and range: 247.50 m.
2025-01-09T05:29:37.560Z,1736400577.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778963
2025-01-09T05:29:37.813Z,1736400577.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.031969
2025-01-09T05:29:37.821Z,1736400577.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:37.849Z,1736400577.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.50 m.
2025-01-09T05:29:37.866Z,1736400577.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.500000 m,
      nav range: 226.843460 m,
      bearing: 267.823327 deg,
      approach rate: -0.390863 m/s,
      LOS rate: 0.000558 deg/s,
      cmd heading: 266.193181 deg,
      new cmd heading: 266.193942 deg.

2025-01-09T05:29:37.879Z,1736400577.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645961 target range: 247.500000 and range: 247.50 m.
2025-01-09T05:29:38.064Z,1736400578.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283028
2025-01-09T05:29:38.233Z,1736400578.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:38.241Z,1736400578.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:38.243Z,1736400578.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.50 m.
2025-01-09T05:29:38.246Z,1736400578.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.500000 m,
      nav range: 226.657440 m,
      bearing: 267.821012 deg,
      approach rate: -0.472175 m/s,
      LOS rate: -0.005880 deg/s,
      cmd heading: 266.193946 deg,
      new cmd heading: 266.186997 deg.

2025-01-09T05:29:38.268Z,1736400578.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645840 target range: 247.500000 and range: 247.50 m.
2025-01-09T05:29:38.316Z,1736400578.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535669
2025-01-09T05:29:38.569Z,1736400578.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787689
2025-01-09T05:29:38.604Z,1736400578.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:38.612Z,1736400578.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.50 m.
2025-01-09T05:29:38.635Z,1736400578.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.500000 m,
      nav range: 226.489792 m,
      bearing: 267.819023 deg,
      approach rate: -0.454498 m/s,
      LOS rate: -0.005397 deg/s,
      cmd heading: 266.187007 deg,
      new cmd heading: 266.181034 deg.

2025-01-09T05:29:38.638Z,1736400578.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645735 target range: 247.500000 and range: 247.50 m.
2025-01-09T05:29:38.820Z,1736400578.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039321
2025-01-09T05:29:39.029Z,1736400579.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:39.063Z,1736400579.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.50 m.
2025-01-09T05:29:39.066Z,1736400579.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.500000 m,
      nav range: 226.268631 m,
      bearing: 267.814221 deg,
      approach rate: -0.490092 m/s,
      LOS rate: -0.010652 deg/s,
      cmd heading: 266.181023 deg,
      new cmd heading: 266.166603 deg.

2025-01-09T05:29:39.073Z,1736400579.073 [DAT](INFO): DAT read: Rx Time:05:29:37.6695

2025-01-09T05:29:39.074Z,1736400579.074 [DAT](INFO): Rx dataTimestamp_ set to:1736400579.073311
2025-01-09T05:29:39.075Z,1736400579.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294282
2025-01-09T05:29:39.078Z,1736400579.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645483 target range: 247.500000 and range: 247.50 m.
2025-01-09T05:29:39.324Z,1736400579.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543533
2025-01-09T05:29:39.470Z,1736400579.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:39.478Z,1736400579.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 247.50 m.
2025-01-09T05:29:39.481Z,1736400579.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 247.500000 m,
      nav range: 226.039215 m,
      bearing: 267.809229 deg,
      approach rate: -0.553241 m/s,
      LOS rate: -0.012050 deg/s,
      cmd heading: 266.166598 deg,
      new cmd heading: 266.151608 deg.

2025-01-09T05:29:39.482Z,1736400579.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645222 target range: 247.500000 and range: 247.50 m.
2025-01-09T05:29:39.582Z,1736400579.582 [DAT](INFO): DAT read: 05:29:37.6695 LVL= 22256, 29025, 16978, 18211, AGC= 64, IDX=  93, 0.07,-1.862,-2.978,-1.787,-2.606, PHS= 0.832,-0.325, 0.815, RAW= 149.3, -22.1, CAL= 154.1, -29.0, ROT= 355.9,  29.0

2025-01-09T05:29:39.585Z,1736400579.585 [DAT](INFO): got valid direction response:
 05:29:37.6695 LVL= 22256, 29025, 16978, 18211, AGC= 64, IDX=  93, 0.07,-1.862,-2.978,-1.787,-2.606, PHS= 0.832,-0.325, 0.815, RAW= 149.3, -22.1, CAL= 154.1, -29.0, ROT= 355.9,  29.0

2025-01-09T05:29:39.586Z,1736400579.586 [DAT](INFO): DAT read: Bearing 355.9,  29.0 (Local)

2025-01-09T05:29:39.586Z,1736400579.586 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,  29.0 (Local)

2025-01-09T05:29:39.588Z,1736400579.588 [DAT](INFO): DAT read: Range 10 to 50 : 259.0 m  (Round-trip  345.4 ms) speed  0.4 m/s

2025-01-09T05:29:39.588Z,1736400579.588 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:39.589Z,1736400579.589 [DAT](INFO): direction in FSK: [0.872381,-0.062533,-0.484810]
2025-01-09T05:29:39.590Z,1736400579.590 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:39.602Z,1736400579.602 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:39.602Z,1736400579.602 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:39.607Z,1736400579.607 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:39.815Z,1736400579.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:39.828Z,1736400579.828 [DAT](INFO): DAT read: user:45>

2025-01-09T05:29:39.828Z,1736400579.828 [DAT](INFO): DAT read: Tx time:05:29:38.9700

2025-01-09T05:29:39.829Z,1736400579.829 [DAT](INFO): Ping request sent.
2025-01-09T05:29:39.829Z,1736400579.829 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:39.829Z,1736400579.829 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:39.830Z,1736400579.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001088
2025-01-09T05:29:39.835Z,1736400579.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 259.000000 m,
      deltaT: 4.047247 s,
      deltaX: 11.500000 m,
      approachRate: 2.841438 m/s,
      rangeRepo size: 4

2025-01-09T05:29:39.837Z,1736400579.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 259.000000 m,
      bearing: 266.940674 deg,
      lat: 36.904017 deg,
      lon: -122.118938 deg,
      deltaT: 4.047247 s,
      deltaX: 11.500000 m,
      approachRate: 2.841438 m/s,
      posRepo size: 4

2025-01-09T05:29:39.838Z,1736400579.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.00 m.
2025-01-09T05:29:39.840Z,1736400579.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.000000 m,
      nav range: 226.995377 m,
      bearing: 267.816692 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012050 deg/s,
      cmd heading: 266.151599 deg,
      new cmd heading: 266.138769 deg.

2025-01-09T05:29:39.841Z,1736400579.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644998 target range: 259.000000 and range: 259.00 m.
2025-01-09T05:29:40.080Z,1736400580.080 [DAT](INFO): DAT read: TxSync time:05:29:38.9692

2025-01-09T05:29:40.080Z,1736400580.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251759
2025-01-09T05:29:40.272Z,1736400580.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:40.278Z,1736400580.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:40.280Z,1736400580.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.00 m.
2025-01-09T05:29:40.283Z,1736400580.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.000000 m,
      nav range: 226.725815 m,
      bearing: 267.812118 deg,
      approach rate: -0.602676 m/s,
      LOS rate: -0.010239 deg/s,
      cmd heading: 266.138758 deg,
      new cmd heading: 266.125019 deg.

2025-01-09T05:29:40.286Z,1736400580.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644758 target range: 259.000000 and range: 259.00 m.
2025-01-09T05:29:40.333Z,1736400580.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503891
2025-01-09T05:29:40.584Z,1736400580.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754825
2025-01-09T05:29:40.623Z,1736400580.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:40.632Z,1736400580.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.00 m.
2025-01-09T05:29:40.636Z,1736400580.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.000000 m,
      nav range: 226.518158 m,
      bearing: 267.808932 deg,
      approach rate: -0.590619 m/s,
      LOS rate: -0.009069 deg/s,
      cmd heading: 266.125016 deg,
      new cmd heading: 266.115450 deg.

2025-01-09T05:29:40.637Z,1736400580.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644591 target range: 259.000000 and range: 259.00 m.
2025-01-09T05:29:40.837Z,1736400580.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007985
2025-01-09T05:29:41.088Z,1736400581.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258942
2025-01-09T05:29:41.107Z,1736400581.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:41.131Z,1736400581.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.00 m.
2025-01-09T05:29:41.134Z,1736400581.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.000000 m,
      nav range: 226.208725 m,
      bearing: 267.804194 deg,
      approach rate: -0.621007 m/s,
      LOS rate: -0.009522 deg/s,
      cmd heading: 266.115454 deg,
      new cmd heading: 266.101220 deg.

2025-01-09T05:29:41.135Z,1736400581.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644342 target range: 259.000000 and range: 259.00 m.
2025-01-09T05:29:41.340Z,1736400581.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510886
2025-01-09T05:29:41.489Z,1736400581.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:41.497Z,1736400581.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.00 m.
2025-01-09T05:29:41.500Z,1736400581.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.000000 m,
      nav range: 225.958359 m,
      bearing: 267.800670 deg,
      approach rate: -0.682626 m/s,
      LOS rate: -0.009619 deg/s,
      cmd heading: 266.101219 deg,
      new cmd heading: 266.090636 deg.

2025-01-09T05:29:41.503Z,1736400581.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644158 target range: 259.000000 and range: 259.00 m.
2025-01-09T05:29:41.592Z,1736400581.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763026
2025-01-09T05:29:41.844Z,1736400581.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015494
2025-01-09T05:29:41.881Z,1736400581.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:41.944Z,1736400581.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.00 m.
2025-01-09T05:29:41.972Z,1736400581.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.000000 m,
      nav range: 225.704300 m,
      bearing: 267.797487 deg,
      approach rate: -0.575591 m/s,
      LOS rate: -0.007220 deg/s,
      cmd heading: 266.090646 deg,
      new cmd heading: 266.081085 deg.

2025-01-09T05:29:41.981Z,1736400581.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643991 target range: 259.000000 and range: 259.00 m.
2025-01-09T05:29:42.096Z,1736400582.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267575
2025-01-09T05:29:42.340Z,1736400582.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:42.348Z,1736400582.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518923
2025-01-09T05:29:42.356Z,1736400582.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:42.358Z,1736400582.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.00 m.
2025-01-09T05:29:42.375Z,1736400582.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.000000 m,
      nav range: 225.396683 m,
      bearing: 267.796818 deg,
      approach rate: -0.732563 m/s,
      LOS rate: -0.001595 deg/s,
      cmd heading: 266.081084 deg,
      new cmd heading: 266.079075 deg.

2025-01-09T05:29:42.376Z,1736400582.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643956 target range: 259.000000 and range: 259.00 m.
2025-01-09T05:29:42.602Z,1736400582.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772760
2025-01-09T05:29:42.688Z,1736400582.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:42.705Z,1736400582.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.00 m.
2025-01-09T05:29:42.708Z,1736400582.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.000000 m,
      nav range: 225.162903 m,
      bearing: 267.796629 deg,
      approach rate: -0.673781 m/s,
      LOS rate: -0.000547 deg/s,
      cmd heading: 266.079062 deg,
      new cmd heading: 266.078493 deg.

2025-01-09T05:29:42.709Z,1736400582.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643946 target range: 259.000000 and range: 259.00 m.
2025-01-09T05:29:42.852Z,1736400582.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023639
2025-01-09T05:29:43.104Z,1736400583.104 [DAT](INFO): DAT read: Rx Time:05:29:41.7168

2025-01-09T05:29:43.104Z,1736400583.104 [DAT](INFO): Rx dataTimestamp_ set to:1736400583.104166
2025-01-09T05:29:43.105Z,1736400583.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276223
2025-01-09T05:29:43.177Z,1736400583.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:43.194Z,1736400583.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.00 m.
2025-01-09T05:29:43.202Z,1736400583.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.000000 m,
      nav range: 224.831482 m,
      bearing: 267.799696 deg,
      approach rate: -0.678020 m/s,
      LOS rate: 0.006286 deg/s,
      cmd heading: 266.078489 deg,
      new cmd heading: 266.087706 deg.

2025-01-09T05:29:43.207Z,1736400583.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644106 target range: 259.000000 and range: 259.00 m.
2025-01-09T05:29:43.356Z,1736400583.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526888
2025-01-09T05:29:43.542Z,1736400583.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:43.552Z,1736400583.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.00 m.
2025-01-09T05:29:43.554Z,1736400583.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.000000 m,
      nav range: 224.584808 m,
      bearing: 267.802383 deg,
      approach rate: -0.690434 m/s,
      LOS rate: 0.007527 deg/s,
      cmd heading: 266.087696 deg,
      new cmd heading: 266.095764 deg.

2025-01-09T05:29:43.572Z,1736400583.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644247 target range: 259.000000 and range: 259.00 m.
2025-01-09T05:29:43.619Z,1736400583.619 [DAT](INFO): DAT read: 05:29:41.7168 LVL= 21216, 23441, 21346, 28147, AGC= 64, IDX= 417,-0.05,-1.634,-2.900,-1.548,-2.508, PHS= 0.961,-0.346, 0.956, RAW= 149.8, -23.1, CAL= 154.4, -29.8, ROT= 355.6,  29.8

2025-01-09T05:29:43.620Z,1736400583.620 [DAT](INFO): got valid direction response:
 05:29:41.7168 LVL= 21216, 23441, 21346, 28147, AGC= 64, IDX= 417,-0.05,-1.634,-2.900,-1.548,-2.508, PHS= 0.961,-0.346, 0.956, RAW= 149.8, -23.1, CAL= 154.4, -29.8, ROT= 355.6,  29.8

2025-01-09T05:29:43.622Z,1736400583.622 [DAT](INFO): DAT read: Bearing 355.6,  29.8 (Local)

2025-01-09T05:29:43.622Z,1736400583.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  29.8 (Local)

2025-01-09T05:29:43.626Z,1736400583.626 [DAT](INFO): DAT read: Range 10 to 50 : 257.0 m  (Round-trip  342.7 ms) speed  0.4 m/s

2025-01-09T05:29:43.627Z,1736400583.627 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:43.629Z,1736400583.629 [DAT](INFO): direction in FSK: [0.865208,-0.066574,-0.496974]
2025-01-09T05:29:43.629Z,1736400583.629 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:43.657Z,1736400583.657 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:43.657Z,1736400583.657 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:43.658Z,1736400583.658 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:43.863Z,1736400583.863 [DAT](INFO): DAT read: user:46>

2025-01-09T05:29:43.864Z,1736400583.864 [DAT](INFO): DAT read: Tx time:05:29:43.0700

2025-01-09T05:29:43.864Z,1736400583.864 [DAT](INFO): Ping request sent.
2025-01-09T05:29:43.865Z,1736400583.865 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:43.865Z,1736400583.865 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:43.865Z,1736400583.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000716
2025-01-09T05:29:43.969Z,1736400583.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:44.037Z,1736400584.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 257.000000 m,
      deltaT: 4.034351 s,
      deltaX: -2.000000 m,
      approachRate: -0.495743 m/s,
      rangeRepo size: 4

2025-01-09T05:29:44.043Z,1736400584.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 257.000000 m,
      bearing: 264.051443 deg,
      lat: 36.904017 deg,
      lon: -122.119038 deg,
      deltaT: 4.034351 s,
      deltaX: -2.000000 m,
      approachRate: -0.495743 m/s,
      posRepo size: 4

2025-01-09T05:29:44.044Z,1736400584.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-01-09T05:29:44.052Z,1736400584.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.000000 m,
      nav range: 233.205078 m,
      bearing: 267.889567 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007527 deg/s,
      cmd heading: 266.095755 deg,
      new cmd heading: 266.106706 deg.

2025-01-09T05:29:44.053Z,1736400584.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644438 target range: 257.000000 and range: 257.00 m.
2025-01-09T05:29:44.117Z,1736400584.117 [DAT](INFO): DAT read: TxSync time:05:29:43.0692

2025-01-09T05:29:44.118Z,1736400584.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253223
2025-01-09T05:29:44.369Z,1736400584.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504074
2025-01-09T05:29:44.374Z,1736400584.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:44.381Z,1736400584.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:44.384Z,1736400584.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-01-09T05:29:44.412Z,1736400584.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.000000 m,
      nav range: 232.930008 m,
      bearing: 267.895220 deg,
      approach rate: -0.792077 m/s,
      LOS rate: 0.016299 deg/s,
      cmd heading: 266.106711 deg,
      new cmd heading: 266.123692 deg.

2025-01-09T05:29:44.413Z,1736400584.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644735 target range: 257.000000 and range: 257.00 m.
2025-01-09T05:29:44.620Z,1736400584.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755603
2025-01-09T05:29:44.751Z,1736400584.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:44.795Z,1736400584.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-01-09T05:29:44.798Z,1736400584.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.000000 m,
      nav range: 232.676361 m,
      bearing: 267.900689 deg,
      approach rate: -0.615909 m/s,
      LOS rate: 0.013294 deg/s,
      cmd heading: 266.123704 deg,
      new cmd heading: 266.140129 deg.

2025-01-09T05:29:44.804Z,1736400584.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645021 target range: 257.000000 and range: 257.00 m.
2025-01-09T05:29:44.872Z,1736400584.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007623
2025-01-09T05:29:45.124Z,1736400585.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258952
2025-01-09T05:29:45.167Z,1736400585.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:45.200Z,1736400585.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-01-09T05:29:45.202Z,1736400585.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.000000 m,
      nav range: 232.407211 m,
      bearing: 267.907879 deg,
      approach rate: -0.665802 m/s,
      LOS rate: 0.017807 deg/s,
      cmd heading: 266.140124 deg,
      new cmd heading: 266.161719 deg.

2025-01-09T05:29:45.211Z,1736400585.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645398 target range: 257.000000 and range: 257.00 m.
2025-01-09T05:29:45.376Z,1736400585.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511030
2025-01-09T05:29:45.553Z,1736400585.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:45.580Z,1736400585.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-01-09T05:29:45.589Z,1736400585.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.000000 m,
      nav range: 232.157547 m,
      bearing: 267.914669 deg,
      approach rate: -0.660006 m/s,
      LOS rate: 0.017969 deg/s,
      cmd heading: 266.161708 deg,
      new cmd heading: 266.182099 deg.

2025-01-09T05:29:45.590Z,1736400585.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645754 target range: 257.000000 and range: 257.00 m.
2025-01-09T05:29:45.628Z,1736400585.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763268
2025-01-09T05:29:45.880Z,1736400585.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014961
2025-01-09T05:29:45.957Z,1736400585.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:45.969Z,1736400585.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-01-09T05:29:45.972Z,1736400585.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.000000 m,
      nav range: 231.897034 m,
      bearing: 267.921776 deg,
      approach rate: -0.665867 m/s,
      LOS rate: 0.018187 deg/s,
      cmd heading: 266.182089 deg,
      new cmd heading: 266.203435 deg.

2025-01-09T05:29:45.997Z,1736400585.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646126 target range: 257.000000 and range: 257.00 m.
2025-01-09T05:29:46.047Z,1736400586.047 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:29:46.132Z,1736400586.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267728
2025-01-09T05:29:46.384Z,1736400586.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519444
2025-01-09T05:29:46.448Z,1736400586.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:46.463Z,1736400586.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:46.465Z,1736400586.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-01-09T05:29:46.472Z,1736400586.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.000000 m,
      nav range: 231.592834 m,
      bearing: 267.932161 deg,
      approach rate: -0.613328 m/s,
      LOS rate: 0.020965 deg/s,
      cmd heading: 266.203426 deg,
      new cmd heading: 266.234621 deg.

2025-01-09T05:29:46.473Z,1736400586.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646671 target range: 257.000000 and range: 257.00 m.
2025-01-09T05:29:46.636Z,1736400586.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771026
2025-01-09T05:29:46.822Z,1736400586.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:46.831Z,1736400586.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-01-09T05:29:46.833Z,1736400586.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.000000 m,
      nav range: 231.361877 m,
      bearing: 267.939858 deg,
      approach rate: -0.631954 m/s,
      LOS rate: 0.021081 deg/s,
      cmd heading: 266.234627 deg,
      new cmd heading: 266.257740 deg.

2025-01-09T05:29:46.852Z,1736400586.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647074 target range: 257.000000 and range: 257.00 m.
2025-01-09T05:29:46.888Z,1736400586.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023104
2025-01-09T05:29:47.054Z,1736400587.054 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:29:47.140Z,1736400587.140 [DAT](INFO): DAT read: Rx Time:05:29:45.8146

2025-01-09T05:29:47.140Z,1736400587.140 [DAT](INFO): Rx dataTimestamp_ set to:1736400587.139916
2025-01-09T05:29:47.141Z,1736400587.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276099
2025-01-09T05:29:47.272Z,1736400587.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:47.283Z,1736400587.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-01-09T05:29:47.287Z,1736400587.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.000000 m,
      nav range: 231.092636 m,
      bearing: 267.949108 deg,
      approach rate: -0.594602 m/s,
      LOS rate: 0.020452 deg/s,
      cmd heading: 266.257740 deg,
      new cmd heading: 266.285523 deg.

2025-01-09T05:29:47.288Z,1736400587.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647559 target range: 257.000000 and range: 257.00 m.
2025-01-09T05:29:47.392Z,1736400587.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527808
2025-01-09T05:29:47.638Z,1736400587.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:47.652Z,1736400587.652 [DAT](INFO): DAT read: 05:29:45.8146 LVL= 21728, 25873, 20530, 32755, AGC= 63, IDX= 410, 0.10, 0.652,-0.453, 0.527,-0.424, PHS= 1.163, 0.018, 0.948, RAW= 139.8, -35.5, CAL= 143.7, -38.9, ROT=   6.3,  38.9

2025-01-09T05:29:47.671Z,1736400587.671 [DAT](INFO): got valid direction response:
 05:29:45.8146 LVL= 21728, 25873, 20530, 32755, AGC= 63, IDX= 410, 0.10, 0.652,-0.453, 0.527,-0.424, PHS= 1.163, 0.018, 0.948, RAW= 139.8, -35.5, CAL= 143.7, -38.9, ROT=   6.3,  38.9

2025-01-09T05:29:47.672Z,1736400587.672 [DAT](INFO): DAT read: Bearing   6.3,  38.9 (Local)

2025-01-09T05:29:47.673Z,1736400587.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  38.9 (Local)

2025-01-09T05:29:47.682Z,1736400587.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.00 m.
2025-01-09T05:29:47.683Z,1736400587.683 [DAT](INFO): DAT read: Range 10 to 50 : 255.3 m  (Round-trip  340.5 ms) speed  0.4 m/s

2025-01-09T05:29:47.684Z,1736400587.684 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:47.686Z,1736400587.686 [DAT](INFO): direction in FSK: [0.773543,0.085400,-0.627963]
2025-01-09T05:29:47.686Z,1736400587.686 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:47.693Z,1736400587.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 257.000000 m,
      nav range: 230.873444 m,
      bearing: 267.956363 deg,
      approach rate: -0.550211 m/s,
      LOS rate: 0.018231 deg/s,
      cmd heading: 266.285525 deg,
      new cmd heading: 266.307313 deg.

2025-01-09T05:29:47.694Z,1736400587.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647939 target range: 257.000000 and range: 257.00 m.
2025-01-09T05:29:47.697Z,1736400587.697 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:47.697Z,1736400587.697 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:47.698Z,1736400587.698 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:47.896Z,1736400587.896 [DAT](INFO): DAT read: user:47>

2025-01-09T05:29:47.897Z,1736400587.897 [DAT](INFO): DAT read: Tx time:05:29:47.0700

2025-01-09T05:29:47.898Z,1736400587.898 [DAT](INFO): Ping request sent.
2025-01-09T05:29:47.898Z,1736400587.898 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:47.898Z,1736400587.898 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:47.901Z,1736400587.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002770
2025-01-09T05:29:48.139Z,1736400588.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:48.148Z,1736400588.148 [DAT](INFO): DAT read: TxSync time:05:29:47.0692

2025-01-09T05:29:48.149Z,1736400588.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250784
2025-01-09T05:29:48.168Z,1736400588.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 255.300003 m,
      deltaT: 4.032899 s,
      deltaX: -1.699997 m,
      approachRate: -0.421532 m/s,
      rangeRepo size: 4

2025-01-09T05:29:48.170Z,1736400588.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 255.300003 m,
      bearing: 276.231555 deg,
      lat: 36.904017 deg,
      lon: -122.119038 deg,
      deltaT: 4.032899 s,
      deltaX: -1.699997 m,
      approachRate: -0.421532 m/s,
      posRepo size: 4

2025-01-09T05:29:48.175Z,1736400588.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:48.178Z,1736400588.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 230.587280 m,
      bearing: 267.964902 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018231 deg/s,
      cmd heading: 266.307300 deg,
      new cmd heading: 266.333870 deg.

2025-01-09T05:29:48.187Z,1736400588.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648403 target range: 255.300003 and range: 255.30 m.
2025-01-09T05:29:48.400Z,1736400588.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501724
2025-01-09T05:29:48.462Z,1736400588.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:48.470Z,1736400588.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:48.473Z,1736400588.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:48.476Z,1736400588.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 230.402771 m,
      bearing: 267.970445 deg,
      approach rate: -0.604202 m/s,
      LOS rate: 0.018165 deg/s,
      cmd heading: 266.333883 deg,
      new cmd heading: 266.350525 deg.

2025-01-09T05:29:48.477Z,1736400588.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648694 target range: 255.300003 and range: 255.30 m.
2025-01-09T05:29:48.653Z,1736400588.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754901
2025-01-09T05:29:48.867Z,1736400588.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:48.877Z,1736400588.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:48.880Z,1736400588.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 230.172058 m,
      bearing: 267.977299 deg,
      approach rate: -0.570793 m/s,
      LOS rate: 0.016973 deg/s,
      cmd heading: 266.350521 deg,
      new cmd heading: 266.371103 deg.

2025-01-09T05:29:48.881Z,1736400588.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649053 target range: 255.300003 and range: 255.30 m.
2025-01-09T05:29:48.904Z,1736400588.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006098
2025-01-09T05:29:49.156Z,1736400589.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258010
2025-01-09T05:29:49.301Z,1736400589.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:49.310Z,1736400589.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:49.317Z,1736400589.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 229.929062 m,
      bearing: 267.982564 deg,
      approach rate: -0.561199 m/s,
      LOS rate: 0.012174 deg/s,
      cmd heading: 266.371094 deg,
      new cmd heading: 266.386908 deg.

2025-01-09T05:29:49.319Z,1736400589.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649329 target range: 255.300003 and range: 255.30 m.
2025-01-09T05:29:49.408Z,1736400589.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510504
2025-01-09T05:29:49.660Z,1736400589.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761762
2025-01-09T05:29:49.693Z,1736400589.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:49.703Z,1736400589.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:49.706Z,1736400589.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 229.710327 m,
      bearing: 267.987075 deg,
      approach rate: -0.557381 m/s,
      LOS rate: 0.011506 deg/s,
      cmd heading: 266.386913 deg,
      new cmd heading: 266.400459 deg.

2025-01-09T05:29:49.707Z,1736400589.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649565 target range: 255.300003 and range: 255.30 m.
2025-01-09T05:29:49.915Z,1736400589.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017004
2025-01-09T05:29:50.139Z,1736400590.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:50.148Z,1736400590.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:50.152Z,1736400590.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 229.466843 m,
      bearing: 267.990062 deg,
      approach rate: -0.546985 m/s,
      LOS rate: 0.006717 deg/s,
      cmd heading: 266.400464 deg,
      new cmd heading: 266.409434 deg.

2025-01-09T05:29:50.153Z,1736400590.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649722 target range: 255.300003 and range: 255.30 m.
2025-01-09T05:29:50.164Z,1736400590.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265929
2025-01-09T05:29:50.416Z,1736400590.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517855
2025-01-09T05:29:50.484Z,1736400590.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:50.492Z,1736400590.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:50.494Z,1736400590.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:50.497Z,1736400590.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 229.279190 m,
      bearing: 267.992240 deg,
      approach rate: -0.541639 m/s,
      LOS rate: 0.006291 deg/s,
      cmd heading: 266.409425 deg,
      new cmd heading: 266.415964 deg.

2025-01-09T05:29:50.498Z,1736400590.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649836 target range: 255.300003 and range: 255.30 m.
2025-01-09T05:29:50.668Z,1736400590.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770303
2025-01-09T05:29:50.888Z,1736400590.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:50.917Z,1736400590.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:50.920Z,1736400590.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022161
2025-01-09T05:29:50.923Z,1736400590.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 229.058838 m,
      bearing: 267.994630 deg,
      approach rate: -0.521614 m/s,
      LOS rate: 0.005662 deg/s,
      cmd heading: 266.415955 deg,
      new cmd heading: 266.423130 deg.

2025-01-09T05:29:50.924Z,1736400590.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649961 target range: 255.300003 and range: 255.30 m.
2025-01-09T05:29:51.172Z,1736400591.172 [DAT](INFO): DAT read: Rx Time:05:29:49.8118

2025-01-09T05:29:51.172Z,1736400591.172 [DAT](INFO): Rx dataTimestamp_ set to:1736400591.172024
2025-01-09T05:29:51.173Z,1736400591.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275023
2025-01-09T05:29:51.345Z,1736400591.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:51.357Z,1736400591.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:51.360Z,1736400591.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 228.813431 m,
      bearing: 267.995072 deg,
      approach rate: -0.557031 m/s,
      LOS rate: 0.001005 deg/s,
      cmd heading: 266.423140 deg,
      new cmd heading: 266.424468 deg.

2025-01-09T05:29:51.361Z,1736400591.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649984 target range: 255.300003 and range: 255.30 m.
2025-01-09T05:29:51.425Z,1736400591.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526747
2025-01-09T05:29:51.676Z,1736400591.676 [DAT](INFO): DAT read: Range 10 to 50 : 253.1 m  (Round-trip  337.5 ms) speed  0.5 m/s

2025-01-09T05:29:51.677Z,1736400591.677 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:29:51.678Z,1736400591.678 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:51.678Z,1736400591.678 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:51.678Z,1736400591.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:51.791Z,1736400591.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:51.800Z,1736400591.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 253.100006 m,
      deltaT: 4.031879 s,
      deltaX: -2.199997 m,
      approachRate: -0.545651 m/s,
      rangeRepo size: 4

2025-01-09T05:29:51.802Z,1736400591.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:51.805Z,1736400591.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 228.573944 m,
      bearing: 267.995383 deg,
      approach rate: -0.541584 m/s,
      LOS rate: 0.000705 deg/s,
      cmd heading: 266.424479 deg,
      new cmd heading: 266.425414 deg.

2025-01-09T05:29:51.806Z,1736400591.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650001 target range: 255.300003 and range: 253.10 m.
2025-01-09T05:29:51.928Z,1736400591.928 [DAT](INFO): DAT read: user:48>

2025-01-09T05:29:51.929Z,1736400591.929 [DAT](INFO): DAT read: Tx time:05:29:51.0701

2025-01-09T05:29:51.929Z,1736400591.929 [DAT](INFO): Ping request sent.
2025-01-09T05:29:51.929Z,1736400591.929 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:51.929Z,1736400591.929 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:51.930Z,1736400591.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001144
2025-01-09T05:29:52.181Z,1736400592.181 [DAT](INFO): DAT read: TxSync time:05:29:51.0693

2025-01-09T05:29:52.182Z,1736400592.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253098
2025-01-09T05:29:52.234Z,1736400592.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:52.242Z,1736400592.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:52.245Z,1736400592.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 228.328079 m,
      bearing: 267.993761 deg,
      approach rate: -0.555516 m/s,
      LOS rate: -0.003669 deg/s,
      cmd heading: 266.425408 deg,
      new cmd heading: 266.420536 deg.

2025-01-09T05:29:52.246Z,1736400592.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649916 target range: 255.300003 and range: 253.10 m.
2025-01-09T05:29:52.432Z,1736400592.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502867
2025-01-09T05:29:52.651Z,1736400592.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:52.658Z,1736400592.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:52.660Z,1736400592.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:52.663Z,1736400592.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 228.097000 m,
      bearing: 267.992283 deg,
      approach rate: -0.552306 m/s,
      LOS rate: -0.003537 deg/s,
      cmd heading: 266.420544 deg,
      new cmd heading: 266.416105 deg.

2025-01-09T05:29:52.664Z,1736400592.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649838 target range: 255.300003 and range: 253.10 m.
2025-01-09T05:29:52.703Z,1736400592.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.773706
2025-01-09T05:29:52.936Z,1736400592.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007080
2025-01-09T05:29:53.049Z,1736400593.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:53.060Z,1736400593.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:53.063Z,1736400593.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 227.876129 m,
      bearing: 267.990852 deg,
      approach rate: -0.552516 m/s,
      LOS rate: -0.003583 deg/s,
      cmd heading: 266.416091 deg,
      new cmd heading: 266.411794 deg.

2025-01-09T05:29:53.064Z,1736400593.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649763 target range: 255.300003 and range: 253.10 m.
2025-01-09T05:29:53.188Z,1736400593.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258719
2025-01-09T05:29:53.440Z,1736400593.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510596
2025-01-09T05:29:53.503Z,1736400593.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:53.532Z,1736400593.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:53.540Z,1736400593.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 227.624527 m,
      bearing: 267.989704 deg,
      approach rate: -0.533357 m/s,
      LOS rate: -0.002437 deg/s,
      cmd heading: 266.411802 deg,
      new cmd heading: 266.408354 deg.

2025-01-09T05:29:53.540Z,1736400593.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649703 target range: 255.300003 and range: 253.10 m.
2025-01-09T05:29:53.692Z,1736400593.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762617
2025-01-09T05:29:53.866Z,1736400593.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:53.880Z,1736400593.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:53.883Z,1736400593.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 227.424164 m,
      bearing: 267.988639 deg,
      approach rate: -0.575335 m/s,
      LOS rate: -0.003060 deg/s,
      cmd heading: 266.408359 deg,
      new cmd heading: 266.405163 deg.

2025-01-09T05:29:53.885Z,1736400593.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649647 target range: 255.300003 and range: 253.10 m.
2025-01-09T05:29:53.944Z,1736400593.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015203
2025-01-09T05:29:54.196Z,1736400594.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266462
2025-01-09T05:29:54.295Z,1736400594.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:54.303Z,1736400594.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:54.306Z,1736400594.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 227.179840 m,
      bearing: 267.988099 deg,
      approach rate: -0.577819 m/s,
      LOS rate: -0.001279 deg/s,
      cmd heading: 266.405163 deg,
      new cmd heading: 266.403541 deg.

2025-01-09T05:29:54.307Z,1736400594.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649619 target range: 255.300003 and range: 253.10 m.
2025-01-09T05:29:54.449Z,1736400594.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519624
2025-01-09T05:29:54.673Z,1736400594.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:54.700Z,1736400594.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770634
2025-01-09T05:29:54.702Z,1736400594.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:54.705Z,1736400594.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:54.708Z,1736400594.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 226.964325 m,
      bearing: 267.987561 deg,
      approach rate: -0.536450 m/s,
      LOS rate: -0.001339 deg/s,
      cmd heading: 266.403551 deg,
      new cmd heading: 266.401937 deg.

2025-01-09T05:29:54.709Z,1736400594.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649591 target range: 255.300003 and range: 253.10 m.
2025-01-09T05:29:54.954Z,1736400594.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025256
2025-01-09T05:29:55.093Z,1736400595.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:55.103Z,1736400595.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:55.109Z,1736400595.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 226.724731 m,
      bearing: 267.986963 deg,
      approach rate: -0.601670 m/s,
      LOS rate: -0.001505 deg/s,
      cmd heading: 266.401939 deg,
      new cmd heading: 266.400141 deg.

2025-01-09T05:29:55.133Z,1736400595.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649559 target range: 255.300003 and range: 253.10 m.
2025-01-09T05:29:55.208Z,1736400595.208 [DAT](INFO): DAT read: Rx Time:05:29:53.7886

2025-01-09T05:29:55.209Z,1736400595.209 [DAT](INFO): Rx dataTimestamp_ set to:1736400595.208343
2025-01-09T05:29:55.209Z,1736400595.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280048
2025-01-09T05:29:55.461Z,1736400595.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532175
2025-01-09T05:29:55.568Z,1736400595.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:55.603Z,1736400595.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.30 m.
2025-01-09T05:29:55.606Z,1736400595.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.300003 m,
      nav range: 226.446655 m,
      bearing: 267.987443 deg,
      approach rate: -0.560921 m/s,
      LOS rate: 0.000970 deg/s,
      cmd heading: 266.400136 deg,
      new cmd heading: 266.401579 deg.

2025-01-09T05:29:55.611Z,1736400595.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649585 target range: 255.300003 and range: 253.10 m.
2025-01-09T05:29:55.720Z,1736400595.720 [DAT](INFO): DAT read: 05:29:53.7886 LVL= 20320, 22705, 19010, 29603, AGC= 65, IDX= 208, 0.13,-2.190, 2.403,-2.384,-3.008, PHS= 0.906,-0.825, 0.621, RAW= 141.2,  -8.8, CAL= 147.7, -18.4, ROT=   2.3,  18.4

2025-01-09T05:29:55.721Z,1736400595.721 [DAT](INFO): got valid direction response:
 05:29:53.7886 LVL= 20320, 22705, 19010, 29603, AGC= 65, IDX= 208, 0.13,-2.190, 2.403,-2.384,-3.008, PHS= 0.906,-0.825, 0.621, RAW= 141.2,  -8.8, CAL= 147.7, -18.4, ROT=   2.3,  18.4

2025-01-09T05:29:55.722Z,1736400595.722 [DAT](INFO): DAT read: Bearing   2.3,  18.4 (Local)

2025-01-09T05:29:55.722Z,1736400595.722 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,  18.4 (Local)

2025-01-09T05:29:55.724Z,1736400595.724 [DAT](INFO): DAT read: Range 10 to 50 : 235.8 m  (Round-trip  314.4 ms) speed  0.4 m/s

2025-01-09T05:29:55.724Z,1736400595.724 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:55.725Z,1736400595.725 [DAT](INFO): direction in FSK: [0.948112,0.038080,-0.315649]
2025-01-09T05:29:55.725Z,1736400595.725 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:55.730Z,1736400595.730 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:55.730Z,1736400595.730 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:55.730Z,1736400595.730 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:55.920Z,1736400595.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:55.933Z,1736400595.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 235.800003 m,
      deltaT: 4.036469 s,
      deltaX: -17.300003 m,
      approachRate: -4.285925 m/s,
      rangeRepo size: 4

2025-01-09T05:29:55.937Z,1736400595.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 235.800003 m,
      bearing: 270.602011 deg,
      lat: 36.904051 deg,
      lon: -122.119059 deg,
      deltaT: 8.068348 s,
      deltaX: -19.500000 m,
      approachRate: -2.416852 m/s,
      posRepo size: 4

2025-01-09T05:29:55.937Z,1736400595.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.80 m.
2025-01-09T05:29:55.940Z,1736400595.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.800003 m,
      nav range: 227.977722 m,
      bearing: 268.937583 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000970 deg/s,
      cmd heading: 266.401584 deg,
      new cmd heading: 266.402555 deg.

2025-01-09T05:29:55.941Z,1736400595.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649602 target range: 235.800003 and range: 235.80 m.
2025-01-09T05:29:55.972Z,1736400595.972 [DAT](INFO): DAT read: user:49>

2025-01-09T05:29:55.973Z,1736400595.973 [DAT](INFO): DAT read: Tx time:05:29:55.1201

2025-01-09T05:29:55.974Z,1736400595.974 [DAT](INFO): Ping request sent.
2025-01-09T05:29:55.974Z,1736400595.974 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:29:55.974Z,1736400595.974 [DAT](INFO): publishing transmit ping time
2025-01-09T05:29:55.975Z,1736400595.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001264
2025-01-09T05:29:56.224Z,1736400596.224 [DAT](INFO): DAT read: TxSync time:05:29:55.1193

2025-01-09T05:29:56.225Z,1736400596.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250659
2025-01-09T05:29:56.323Z,1736400596.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:56.332Z,1736400596.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.80 m.
2025-01-09T05:29:56.335Z,1736400596.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.800003 m,
      nav range: 227.731598 m,
      bearing: 268.939578 deg,
      approach rate: -0.616233 m/s,
      LOS rate: 0.005002 deg/s,
      cmd heading: 266.402567 deg,
      new cmd heading: 266.408561 deg.

2025-01-09T05:29:56.336Z,1736400596.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649706 target range: 235.800003 and range: 235.80 m.
2025-01-09T05:29:56.477Z,1736400596.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502901
2025-01-09T05:29:56.727Z,1736400596.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753382
2025-01-09T05:29:56.738Z,1736400596.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:56.749Z,1736400596.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:56.753Z,1736400596.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.80 m.
2025-01-09T05:29:56.757Z,1736400596.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.800003 m,
      nav range: 227.478363 m,
      bearing: 268.941636 deg,
      approach rate: -0.601078 m/s,
      LOS rate: 0.004890 deg/s,
      cmd heading: 266.408551 deg,
      new cmd heading: 266.414731 deg.

2025-01-09T05:29:56.779Z,1736400596.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649814 target range: 235.800003 and range: 235.80 m.
2025-01-09T05:29:56.980Z,1736400596.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005796
2025-01-09T05:29:57.111Z,1736400597.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:57.120Z,1736400597.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.80 m.
2025-01-09T05:29:57.123Z,1736400597.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.800003 m,
      nav range: 227.251190 m,
      bearing: 268.943859 deg,
      approach rate: -0.618848 m/s,
      LOS rate: 0.006062 deg/s,
      cmd heading: 266.414725 deg,
      new cmd heading: 266.421401 deg.

2025-01-09T05:29:57.124Z,1736400597.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649930 target range: 235.800003 and range: 235.80 m.
2025-01-09T05:29:57.232Z,1736400597.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257721
2025-01-09T05:29:57.485Z,1736400597.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511124
2025-01-09T05:29:57.556Z,1736400597.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:57.566Z,1736400597.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.80 m.
2025-01-09T05:29:57.570Z,1736400597.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.800003 m,
      nav range: 226.975769 m,
      bearing: 268.948312 deg,
      approach rate: -0.617981 m/s,
      LOS rate: 0.010002 deg/s,
      cmd heading: 266.421391 deg,
      new cmd heading: 266.434765 deg.

2025-01-09T05:29:57.571Z,1736400597.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650164 target range: 235.800003 and range: 235.80 m.
2025-01-09T05:29:57.737Z,1736400597.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762476
2025-01-09T05:29:57.936Z,1736400597.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:57.945Z,1736400597.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.80 m.
2025-01-09T05:29:57.948Z,1736400597.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.800003 m,
      nav range: 226.740417 m,
      bearing: 268.952125 deg,
      approach rate: -0.620255 m/s,
      LOS rate: 0.010061 deg/s,
      cmd heading: 266.434751 deg,
      new cmd heading: 266.446204 deg.

2025-01-09T05:29:57.949Z,1736400597.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650363 target range: 235.800003 and range: 235.80 m.
2025-01-09T05:29:57.988Z,1736400597.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013851
2025-01-09T05:29:58.240Z,1736400598.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265517
2025-01-09T05:29:58.370Z,1736400598.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:58.379Z,1736400598.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.80 m.
2025-01-09T05:29:58.381Z,1736400598.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.800003 m,
      nav range: 226.462402 m,
      bearing: 268.956554 deg,
      approach rate: -0.641778 m/s,
      LOS rate: 0.010237 deg/s,
      cmd heading: 266.446199 deg,
      new cmd heading: 266.459502 deg.

2025-01-09T05:29:58.383Z,1736400598.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650596 target range: 235.800003 and range: 235.80 m.
2025-01-09T05:29:58.493Z,1736400598.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518218
2025-01-09T05:29:58.728Z,1736400598.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:58.744Z,1736400598.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770011
2025-01-09T05:29:58.765Z,1736400598.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:29:58.773Z,1736400598.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.80 m.
2025-01-09T05:29:58.780Z,1736400598.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.800003 m,
      nav range: 226.233459 m,
      bearing: 268.960140 deg,
      approach rate: -0.581423 m/s,
      LOS rate: 0.009116 deg/s,
      cmd heading: 266.459504 deg,
      new cmd heading: 266.470273 deg.

2025-01-09T05:29:58.781Z,1736400598.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650784 target range: 235.800003 and range: 235.80 m.
2025-01-09T05:29:58.997Z,1736400598.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022499
2025-01-09T05:29:59.148Z,1736400599.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:59.158Z,1736400599.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.80 m.
2025-01-09T05:29:59.160Z,1736400599.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.800003 m,
      nav range: 225.964188 m,
      bearing: 268.964367 deg,
      approach rate: -0.698732 m/s,
      LOS rate: 0.010982 deg/s,
      cmd heading: 266.470268 deg,
      new cmd heading: 266.482964 deg.

2025-01-09T05:29:59.161Z,1736400599.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651005 target range: 235.800003 and range: 235.80 m.
2025-01-09T05:29:59.252Z,1736400599.252 [DAT](INFO): DAT read: Rx Time:05:29:57.8369

2025-01-09T05:29:59.253Z,1736400599.253 [DAT](INFO): Rx dataTimestamp_ set to:1736400599.252781
2025-01-09T05:29:59.267Z,1736400599.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291923
2025-01-09T05:29:59.500Z,1736400599.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525526
2025-01-09T05:29:59.591Z,1736400599.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:59.643Z,1736400599.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.80 m.
2025-01-09T05:29:59.646Z,1736400599.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.800003 m,
      nav range: 225.682144 m,
      bearing: 268.970517 deg,
      approach rate: -0.580591 m/s,
      LOS rate: 0.012674 deg/s,
      cmd heading: 266.482972 deg,
      new cmd heading: 266.501443 deg.

2025-01-09T05:29:59.648Z,1736400599.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651328 target range: 235.800003 and range: 235.80 m.
2025-01-09T05:29:59.766Z,1736400599.766 [DAT](INFO): DAT read: 05:29:57.8369 LVL= 20752, 31281, 19954, 32755, AGC= 63, IDX= 442,-0.26,-2.548, 2.840,-2.416, 2.804, PHS= 1.019, 0.083, 1.061, RAW= 152.1, -38.6, CAL= 154.7, -42.1, ROT= 355.3,  42.1

2025-01-09T05:29:59.769Z,1736400599.769 [DAT](INFO): got valid direction response:
 05:29:57.8369 LVL= 20752, 31281, 19954, 32755, AGC= 63, IDX= 442,-0.26,-2.548, 2.840,-2.416, 2.804, PHS= 1.019, 0.083, 1.061, RAW= 152.1, -38.6, CAL= 154.7, -42.1, ROT= 355.3,  42.1

2025-01-09T05:29:59.771Z,1736400599.771 [DAT](INFO): DAT read: Bearing 355.3,  42.1 (Local)

2025-01-09T05:29:59.771Z,1736400599.771 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.3,  42.1 (Local)

2025-01-09T05:29:59.773Z,1736400599.773 [DAT](INFO): DAT read: Range 10 to 50 : 234.4 m  (Round-trip  312.6 ms) speed  0.4 m/s

2025-01-09T05:29:59.774Z,1736400599.774 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:29:59.780Z,1736400599.780 [DAT](INFO): direction in FSK: [0.739481,-0.060796,-0.670427]
2025-01-09T05:29:59.780Z,1736400599.780 [DAT](INFO): publishing direction and range info
2025-01-09T05:29:59.794Z,1736400599.794 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:29:59.794Z,1736400599.794 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:29:59.794Z,1736400599.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:29:59.954Z,1736400599.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:29:59.997Z,1736400599.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 234.399994 m,
      deltaT: 4.045858 s,
      deltaX: -1.400009 m,
      approachRate: -0.346035 m/s,
      rangeRepo size: 4

2025-01-09T05:29:59.000Z,1736400600.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 234.399994 m,
      bearing: 267.533564 deg,
      lat: 36.904008 deg,
      lon: -122.119038 deg,
      deltaT: 4.045858 s,
      deltaX: -1.400009 m,
      approachRate: -0.346035 m/s,
      posRepo size: 4

2025-01-09T05:30:00.001Z,1736400600.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-01-09T05:30:00.005Z,1736400600.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.399994 m,
      nav range: 223.742950 m,
      bearing: 267.748380 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012674 deg/s,
      cmd heading: 266.501441 deg,
      new cmd heading: 266.514476 deg.

2025-01-09T05:30:00.006Z,1736400600.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651555 target range: 234.399994 and range: 234.40 m.
2025-01-09T05:30:00.012Z,1736400600.012 [DAT](INFO): DAT read: user:50>

2025-01-09T05:30:00.012Z,1736400600.012 [DAT](INFO): DAT read: Tx time:05:29:59.1701

2025-01-09T05:30:00.013Z,1736400600.013 [DAT](INFO): Ping request sent.
2025-01-09T05:30:00.013Z,1736400600.013 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:00.013Z,1736400600.013 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:00.014Z,1736400600.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000717
2025-01-09T05:30:00.265Z,1736400600.265 [DAT](INFO): DAT read: TxSync time:05:29:59.1693

2025-01-09T05:30:00.265Z,1736400600.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252511
2025-01-09T05:30:00.376Z,1736400600.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:00.384Z,1736400600.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-01-09T05:30:00.387Z,1736400600.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.399994 m,
      nav range: 223.478195 m,
      bearing: 267.754176 deg,
      approach rate: -0.665124 m/s,
      LOS rate: 0.014579 deg/s,
      cmd heading: 266.514473 deg,
      new cmd heading: 266.531883 deg.

2025-01-09T05:30:00.388Z,1736400600.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651859 target range: 234.399994 and range: 234.40 m.
2025-01-09T05:30:00.516Z,1736400600.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502908
2025-01-09T05:30:00.750Z,1736400600.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:00.769Z,1736400600.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755913
2025-01-09T05:30:00.785Z,1736400600.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:00.791Z,1736400600.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-01-09T05:30:00.794Z,1736400600.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.399994 m,
      nav range: 223.243744 m,
      bearing: 267.759418 deg,
      approach rate: -0.575953 m/s,
      LOS rate: 0.012891 deg/s,
      cmd heading: 266.531877 deg,
      new cmd heading: 266.547619 deg.

2025-01-09T05:30:00.799Z,1736400600.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652133 target range: 234.399994 and range: 234.40 m.
2025-01-09T05:30:01.020Z,1736400601.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007102
2025-01-09T05:30:01.153Z,1736400601.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:01.162Z,1736400601.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-01-09T05:30:01.165Z,1736400601.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.399994 m,
      nav range: 222.990829 m,
      bearing: 267.765175 deg,
      approach rate: -0.682313 m/s,
      LOS rate: 0.015549 deg/s,
      cmd heading: 266.547613 deg,
      new cmd heading: 266.564904 deg.

2025-01-09T05:30:01.166Z,1736400601.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652435 target range: 234.399994 and range: 234.40 m.
2025-01-09T05:30:01.276Z,1736400601.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262687
2025-01-09T05:30:01.524Z,1736400601.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510825
2025-01-09T05:30:01.596Z,1736400601.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:01.605Z,1736400601.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-01-09T05:30:01.608Z,1736400601.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.399994 m,
      nav range: 222.719681 m,
      bearing: 267.770734 deg,
      approach rate: -0.612017 m/s,
      LOS rate: 0.012561 deg/s,
      cmd heading: 266.564907 deg,
      new cmd heading: 266.581603 deg.

2025-01-09T05:30:01.609Z,1736400601.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652727 target range: 234.399994 and range: 234.40 m.
2025-01-09T05:30:01.777Z,1736400601.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763372
2025-01-09T05:30:01.974Z,1736400601.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:01.983Z,1736400601.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-01-09T05:30:01.988Z,1736400601.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.399994 m,
      nav range: 222.487320 m,
      bearing: 267.775315 deg,
      approach rate: -0.615222 m/s,
      LOS rate: 0.012141 deg/s,
      cmd heading: 266.581600 deg,
      new cmd heading: 266.595357 deg.

2025-01-09T05:30:01.989Z,1736400601.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652967 target range: 234.399994 and range: 234.40 m.
2025-01-09T05:30:02.028Z,1736400602.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015628
2025-01-09T05:30:02.283Z,1736400602.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269226
2025-01-09T05:30:02.389Z,1736400602.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:02.413Z,1736400602.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-01-09T05:30:02.427Z,1736400602.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.399994 m,
      nav range: 222.241898 m,
      bearing: 267.780819 deg,
      approach rate: -0.570032 m/s,
      LOS rate: 0.012799 deg/s,
      cmd heading: 266.595370 deg,
      new cmd heading: 266.611901 deg.

2025-01-09T05:30:02.428Z,1736400602.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653255 target range: 234.399994 and range: 234.40 m.
2025-01-09T05:30:02.533Z,1736400602.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519779
2025-01-09T05:30:02.782Z,1736400602.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:02.785Z,1736400602.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771831
2025-01-09T05:30:02.792Z,1736400602.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:02.794Z,1736400602.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-01-09T05:30:02.797Z,1736400602.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.399994 m,
      nav range: 222.009338 m,
      bearing: 267.785899 deg,
      approach rate: -0.611271 m/s,
      LOS rate: 0.013367 deg/s,
      cmd heading: 266.611899 deg,
      new cmd heading: 266.627156 deg.

2025-01-09T05:30:02.798Z,1736400602.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653522 target range: 234.399994 and range: 234.40 m.
2025-01-09T05:30:03.036Z,1736400603.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023046
2025-01-09T05:30:03.173Z,1736400603.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:03.182Z,1736400603.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-01-09T05:30:03.207Z,1736400603.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.399994 m,
      nav range: 221.777451 m,
      bearing: 267.790833 deg,
      approach rate: -0.597929 m/s,
      LOS rate: 0.012735 deg/s,
      cmd heading: 266.627144 deg,
      new cmd heading: 266.641960 deg.

2025-01-09T05:30:03.208Z,1736400603.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653780 target range: 234.399994 and range: 234.40 m.
2025-01-09T05:30:03.291Z,1736400603.291 [DAT](INFO): DAT read: Rx Time:05:30:01.8833

2025-01-09T05:30:03.293Z,1736400603.293 [DAT](INFO): Rx dataTimestamp_ set to:1736400603.291817
2025-01-09T05:30:03.295Z,1736400603.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281288
2025-01-09T05:30:03.540Z,1736400603.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526774
2025-01-09T05:30:03.673Z,1736400603.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:03.689Z,1736400603.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.40 m.
2025-01-09T05:30:03.696Z,1736400603.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.399994 m,
      nav range: 221.481033 m,
      bearing: 267.795350 deg,
      approach rate: -0.583895 m/s,
      LOS rate: 0.008911 deg/s,
      cmd heading: 266.641952 deg,
      new cmd heading: 266.655523 deg.

2025-01-09T05:30:03.697Z,1736400603.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654017 target range: 234.399994 and range: 234.40 m.
2025-01-09T05:30:03.800Z,1736400603.800 [DAT](INFO): DAT read: 05:30:01.8833 LVL= 22000, 26705, 20210, 30131, AGC= 59, IDX= 409,-0.09, 0.023,-1.664,-0.128,-0.767, PHS= 0.878,-0.850, 0.636, RAW= 142.6,  -8.2, CAL= 149.1, -17.5, ROT=   0.9,  17.5

2025-01-09T05:30:03.802Z,1736400603.802 [DAT](INFO): got valid direction response:
 05:30:01.8833 LVL= 22000, 26705, 20210, 30131, AGC= 59, IDX= 409,-0.09, 0.023,-1.664,-0.128,-0.767, PHS= 0.878,-0.850, 0.636, RAW= 142.6,  -8.2, CAL= 149.1, -17.5, ROT=   0.9,  17.5

2025-01-09T05:30:03.803Z,1736400603.803 [DAT](INFO): DAT read: Bearing   0.9,  17.5 (Local)

2025-01-09T05:30:03.804Z,1736400603.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,  17.5 (Local)

2025-01-09T05:30:03.805Z,1736400603.805 [DAT](INFO): DAT read: Range 10 to 50 : 231.7 m  (Round-trip  309.0 ms) speed  0.4 m/s

2025-01-09T05:30:03.805Z,1736400603.805 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:30:03.806Z,1736400603.806 [DAT](INFO): direction in FSK: [0.953599,0.014980,-0.300706]
2025-01-09T05:30:03.807Z,1736400603.807 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:03.810Z,1736400603.810 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:03.810Z,1736400603.810 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:03.815Z,1736400603.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:03.992Z,1736400603.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:04.020Z,1736400604.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 231.699997 m,
      deltaT: 4.034460 s,
      deltaX: -2.699997 m,
      approachRate: -0.669234 m/s,
      rangeRepo size: 4

2025-01-09T05:30:04.022Z,1736400604.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 231.699997 m,
      bearing: 269.414467 deg,
      lat: 36.904063 deg,
      lon: -122.119059 deg,
      deltaT: 4.034460 s,
      deltaX: -2.699997 m,
      approachRate: -0.669234 m/s,
      posRepo size: 4

2025-01-09T05:30:04.027Z,1736400604.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.70 m.
2025-01-09T05:30:04.029Z,1736400604.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.699997 m,
      nav range: 222.983337 m,
      bearing: 269.394303 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008911 deg/s,
      cmd heading: 266.655530 deg,
      new cmd heading: 266.664110 deg.

2025-01-09T05:30:04.030Z,1736400604.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654167 target range: 231.699997 and range: 231.70 m.
2025-01-09T05:30:04.043Z,1736400604.043 [DAT](INFO): DAT read: user:51>

2025-01-09T05:30:04.044Z,1736400604.044 [DAT](INFO): DAT read: Tx time:05:30:03.2201

2025-01-09T05:30:04.044Z,1736400604.044 [DAT](INFO): Ping request sent.
2025-01-09T05:30:04.045Z,1736400604.045 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:04.045Z,1736400604.045 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:04.045Z,1736400604.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721
2025-01-09T05:30:04.299Z,1736400604.299 [DAT](INFO): DAT read: TxSync time:05:30:03.2193

2025-01-09T05:30:04.302Z,1736400604.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257046
2025-01-09T05:30:04.416Z,1736400604.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:04.428Z,1736400604.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.70 m.
2025-01-09T05:30:04.431Z,1736400604.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.699997 m,
      nav range: 222.730545 m,
      bearing: 269.399121 deg,
      approach rate: -0.604827 m/s,
      LOS rate: 0.011540 deg/s,
      cmd heading: 266.664109 deg,
      new cmd heading: 266.678579 deg.

2025-01-09T05:30:04.432Z,1736400604.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654419 target range: 231.699997 and range: 231.70 m.
2025-01-09T05:30:04.548Z,1736400604.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503729
2025-01-09T05:30:04.793Z,1736400604.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:04.800Z,1736400604.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755043
2025-01-09T05:30:04.802Z,1736400604.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:04.804Z,1736400604.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.70 m.
2025-01-09T05:30:04.807Z,1736400604.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.699997 m,
      nav range: 222.505417 m,
      bearing: 269.403444 deg,
      approach rate: -0.598290 m/s,
      LOS rate: 0.011501 deg/s,
      cmd heading: 266.678589 deg,
      new cmd heading: 266.691572 deg.

2025-01-09T05:30:04.808Z,1736400604.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654646 target range: 231.699997 and range: 231.70 m.
2025-01-09T05:30:05.053Z,1736400605.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008247
2025-01-09T05:30:05.205Z,1736400605.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:05.214Z,1736400605.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.70 m.
2025-01-09T05:30:05.216Z,1736400605.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.699997 m,
      nav range: 222.259445 m,
      bearing: 269.408095 deg,
      approach rate: -0.601267 m/s,
      LOS rate: 0.011380 deg/s,
      cmd heading: 266.691566 deg,
      new cmd heading: 266.705533 deg.

2025-01-09T05:30:05.219Z,1736400605.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654890 target range: 231.699997 and range: 231.70 m.
2025-01-09T05:30:05.308Z,1736400605.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262457
2025-01-09T05:30:05.557Z,1736400605.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512506
2025-01-09T05:30:05.642Z,1736400605.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:05.671Z,1736400605.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.70 m.
2025-01-09T05:30:05.673Z,1736400605.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.699997 m,
      nav range: 221.987320 m,
      bearing: 269.410953 deg,
      approach rate: -0.600634 m/s,
      LOS rate: 0.006316 deg/s,
      cmd heading: 266.705527 deg,
      new cmd heading: 266.714112 deg.

2025-01-09T05:30:05.679Z,1736400605.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655039 target range: 231.699997 and range: 231.70 m.
2025-01-09T05:30:05.808Z,1736400605.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763116
2025-01-09T05:30:06.004Z,1736400606.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:06.013Z,1736400606.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.70 m.
2025-01-09T05:30:06.016Z,1736400606.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.699997 m,
      nav range: 221.761810 m,
      bearing: 269.413133 deg,
      approach rate: -0.650551 m/s,
      LOS rate: 0.006296 deg/s,
      cmd heading: 266.714106 deg,
      new cmd heading: 266.720654 deg.

2025-01-09T05:30:06.018Z,1736400606.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655154 target range: 231.699997 and range: 231.70 m.
2025-01-09T05:30:06.060Z,1736400606.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015165
2025-01-09T05:30:06.315Z,1736400606.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269538
2025-01-09T05:30:06.431Z,1736400606.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:06.441Z,1736400606.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.70 m.
2025-01-09T05:30:06.444Z,1736400606.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.699997 m,
      nav range: 221.484329 m,
      bearing: 269.413902 deg,
      approach rate: -0.648869 m/s,
      LOS rate: 0.001800 deg/s,
      cmd heading: 266.720663 deg,
      new cmd heading: 266.722973 deg.

2025-01-09T05:30:06.445Z,1736400606.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655194 target range: 231.699997 and range: 231.70 m.
2025-01-09T05:30:06.565Z,1736400606.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520601
2025-01-09T05:30:06.813Z,1736400606.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:06.816Z,1736400606.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771124
2025-01-09T05:30:06.828Z,1736400606.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:06.832Z,1736400606.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.70 m.
2025-01-09T05:30:06.837Z,1736400606.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.699997 m,
      nav range: 221.235825 m,
      bearing: 269.414479 deg,
      approach rate: -0.636366 m/s,
      LOS rate: 0.001477 deg/s,
      cmd heading: 266.722985 deg,
      new cmd heading: 266.724716 deg.

2025-01-09T05:30:06.840Z,1736400606.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655224 target range: 231.699997 and range: 231.70 m.
2025-01-09T05:30:07.068Z,1736400607.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023836
2025-01-09T05:30:07.228Z,1736400607.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:07.238Z,1736400607.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.70 m.
2025-01-09T05:30:07.241Z,1736400607.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.699997 m,
      nav range: 220.966141 m,
      bearing: 269.415105 deg,
      approach rate: -0.663573 m/s,
      LOS rate: 0.001544 deg/s,
      cmd heading: 266.724706 deg,
      new cmd heading: 266.726589 deg.

2025-01-09T05:30:07.242Z,1736400607.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655257 target range: 231.699997 and range: 231.70 m.
2025-01-09T05:30:07.324Z,1736400607.324 [DAT](INFO): DAT read: Rx Time:05:30:05.9308

2025-01-09T05:30:07.326Z,1736400607.326 [DAT](INFO): Rx dataTimestamp_ set to:1736400607.324873
2025-01-09T05:30:07.328Z,1736400607.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283091
2025-01-09T05:30:07.572Z,1736400607.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527033
2025-01-09T05:30:07.669Z,1736400607.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:07.728Z,1736400607.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.70 m.
2025-01-09T05:30:07.735Z,1736400607.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.699997 m,
      nav range: 220.670853 m,
      bearing: 269.414421 deg,
      approach rate: -0.602760 m/s,
      LOS rate: -0.001399 deg/s,
      cmd heading: 266.726592 deg,
      new cmd heading: 266.724536 deg.

2025-01-09T05:30:07.736Z,1736400607.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655221 target range: 231.699997 and range: 231.70 m.
2025-01-09T05:30:07.829Z,1736400607.829 [DAT](INFO): DAT read: 05:30:05.9308 LVL= 32608, 32753, 24146, 23987, AGC= 63, IDX= 194,-0.05,-0.816,-2.520,-0.983,-1.635, PHS= 0.907,-0.838, 0.649, RAW= 142.1,  -8.8, CAL= 148.8, -18.3, ROT=   1.2,  18.3

2025-01-09T05:30:07.830Z,1736400607.830 [DAT](INFO): got valid direction response:
 05:30:05.9308 LVL= 32608, 32753, 24146, 23987, AGC= 63, IDX= 194,-0.05,-0.816,-2.520,-0.983,-1.635, PHS= 0.907,-0.838, 0.649, RAW= 142.1,  -8.8, CAL= 148.8, -18.3, ROT=   1.2,  18.3

2025-01-09T05:30:07.832Z,1736400607.832 [DAT](INFO): DAT read: Bearing   1.2,  18.3 (Local)

2025-01-09T05:30:07.832Z,1736400607.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  18.3 (Local)

2025-01-09T05:30:07.833Z,1736400607.833 [DAT](INFO): DAT read: Range 10 to 50 : 229.9 m  (Round-trip  306.6 ms) speed  0.0 m/s

2025-01-09T05:30:07.835Z,1736400607.835 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:30:07.836Z,1736400607.836 [DAT](INFO): direction in FSK: [0.949217,0.019883,-0.313992]
2025-01-09T05:30:07.836Z,1736400607.836 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:07.840Z,1736400607.840 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:07.840Z,1736400607.840 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:07.840Z,1736400607.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:08.058Z,1736400608.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:08.076Z,1736400608.076 [DAT](INFO): DAT read: user:52>

2025-01-09T05:30:08.077Z,1736400608.077 [DAT](INFO): DAT read: Tx time:05:30:07.2201

2025-01-09T05:30:08.077Z,1736400608.077 [DAT](INFO): Ping request sent.
2025-01-09T05:30:08.077Z,1736400608.077 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:08.077Z,1736400608.077 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:08.080Z,1736400608.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002301
2025-01-09T05:30:08.107Z,1736400608.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 229.899994 m,
      deltaT: 4.031321 s,
      deltaX: -1.800003 m,
      approachRate: -0.446505 m/s,
      rangeRepo size: 4

2025-01-09T05:30:08.110Z,1736400608.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 229.899994 m,
      bearing: 270.671982 deg,
      lat: 36.904108 deg,
      lon: -122.119135 deg,
      deltaT: 4.031321 s,
      deltaX: -1.800003 m,
      approachRate: -0.446505 m/s,
      posRepo size: 4

2025-01-09T05:30:08.110Z,1736400608.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.90 m.
2025-01-09T05:30:08.121Z,1736400608.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.899994 m,
      nav range: 227.244583 m,
      bearing: 270.676969 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001399 deg/s,
      cmd heading: 266.724542 deg,
      new cmd heading: 266.722956 deg.

2025-01-09T05:30:08.122Z,1736400608.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655194 target range: 229.899994 and range: 229.90 m.
2025-01-09T05:30:08.331Z,1736400608.331 [DAT](INFO): DAT read: TxSync time:05:30:07.2193

2025-01-09T05:30:08.334Z,1736400608.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256209
2025-01-09T05:30:08.485Z,1736400608.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:08.496Z,1736400608.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.90 m.
2025-01-09T05:30:08.499Z,1736400608.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.899994 m,
      nav range: 226.954681 m,
      bearing: 270.677807 deg,
      approach rate: -0.742820 m/s,
      LOS rate: 0.002149 deg/s,
      cmd heading: 266.722958 deg,
      new cmd heading: 266.725474 deg.

2025-01-09T05:30:08.500Z,1736400608.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655238 target range: 229.899994 and range: 229.90 m.
2025-01-09T05:30:08.584Z,1736400608.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507477
2025-01-09T05:30:08.836Z,1736400608.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758856
2025-01-09T05:30:08.849Z,1736400608.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:08.858Z,1736400608.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:08.860Z,1736400608.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.90 m.
2025-01-09T05:30:08.863Z,1736400608.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.899994 m,
      nav range: 226.706039 m,
      bearing: 270.678760 deg,
      approach rate: -0.682670 m/s,
      LOS rate: 0.002620 deg/s,
      cmd heading: 266.725471 deg,
      new cmd heading: 266.728334 deg.

2025-01-09T05:30:08.864Z,1736400608.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655288 target range: 229.899994 and range: 229.90 m.
2025-01-09T05:30:09.089Z,1736400609.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011672
2025-01-09T05:30:09.259Z,1736400609.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:09.273Z,1736400609.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.90 m.
2025-01-09T05:30:09.276Z,1736400609.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.899994 m,
      nav range: 226.427628 m,
      bearing: 270.679869 deg,
      approach rate: -0.674598 m/s,
      LOS rate: 0.002691 deg/s,
      cmd heading: 266.728340 deg,
      new cmd heading: 266.731671 deg.

2025-01-09T05:30:09.277Z,1736400609.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655346 target range: 229.899994 and range: 229.90 m.
2025-01-09T05:30:09.340Z,1736400609.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262645
2025-01-09T05:30:09.592Z,1736400609.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514989
2025-01-09T05:30:09.713Z,1736400609.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:09.747Z,1736400609.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.90 m.
2025-01-09T05:30:09.752Z,1736400609.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.899994 m,
      nav range: 226.127106 m,
      bearing: 270.681884 deg,
      approach rate: -0.634891 m/s,
      LOS rate: 0.004262 deg/s,
      cmd heading: 266.731673 deg,
      new cmd heading: 266.737726 deg.

2025-01-09T05:30:09.754Z,1736400609.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655452 target range: 229.899994 and range: 229.90 m.
2025-01-09T05:30:09.845Z,1736400609.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768129
2025-01-09T05:30:10.066Z,1736400610.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:10.077Z,1736400610.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.90 m.
2025-01-09T05:30:10.080Z,1736400610.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.899994 m,
      nav range: 225.893372 m,
      bearing: 270.683609 deg,
      approach rate: -0.706948 m/s,
      LOS rate: 0.005225 deg/s,
      cmd heading: 266.737738 deg,
      new cmd heading: 266.742921 deg.

2025-01-09T05:30:10.081Z,1736400610.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655542 target range: 229.899994 and range: 229.90 m.
2025-01-09T05:30:10.096Z,1736400610.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018712
2025-01-09T05:30:10.351Z,1736400610.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272947
2025-01-09T05:30:10.499Z,1736400610.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:10.509Z,1736400610.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.90 m.
2025-01-09T05:30:10.512Z,1736400610.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.899994 m,
      nav range: 225.620407 m,
      bearing: 270.686965 deg,
      approach rate: -0.632304 m/s,
      LOS rate: 0.007782 deg/s,
      cmd heading: 266.742929 deg,
      new cmd heading: 266.753008 deg.

2025-01-09T05:30:10.513Z,1736400610.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655718 target range: 229.899994 and range: 229.90 m.
2025-01-09T05:30:10.600Z,1736400610.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523281
2025-01-09T05:30:10.853Z,1736400610.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775580
2025-01-09T05:30:10.887Z,1736400610.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:10.894Z,1736400610.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:10.896Z,1736400610.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.90 m.
2025-01-09T05:30:10.899Z,1736400610.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.899994 m,
      nav range: 225.375183 m,
      bearing: 270.690129 deg,
      approach rate: -0.632603 m/s,
      LOS rate: 0.008171 deg/s,
      cmd heading: 266.753011 deg,
      new cmd heading: 266.762513 deg.

2025-01-09T05:30:10.900Z,1736400610.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655884 target range: 229.899994 and range: 229.90 m.
2025-01-09T05:30:11.105Z,1736400611.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028179
2025-01-09T05:30:11.277Z,1736400611.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:11.287Z,1736400611.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.90 m.
2025-01-09T05:30:11.290Z,1736400611.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.899994 m,
      nav range: 225.128922 m,
      bearing: 270.693395 deg,
      approach rate: -0.630622 m/s,
      LOS rate: 0.008374 deg/s,
      cmd heading: 266.762518 deg,
      new cmd heading: 266.772329 deg.

2025-01-09T05:30:11.291Z,1736400611.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656055 target range: 229.899994 and range: 229.90 m.
2025-01-09T05:30:11.361Z,1736400611.361 [DAT](INFO): DAT read: Rx Time:05:30:09.9283

2025-01-09T05:30:11.362Z,1736400611.362 [DAT](INFO): Rx dataTimestamp_ set to:1736400611.361686
2025-01-09T05:30:11.364Z,1736400611.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286381
2025-01-09T05:30:11.609Z,1736400611.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532131
2025-01-09T05:30:11.764Z,1736400611.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:11.795Z,1736400611.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.90 m.
2025-01-09T05:30:11.798Z,1736400611.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.899994 m,
      nav range: 224.839645 m,
      bearing: 270.697432 deg,
      approach rate: -0.568805 m/s,
      LOS rate: 0.007947 deg/s,
      cmd heading: 266.772326 deg,
      new cmd heading: 266.784451 deg.

2025-01-09T05:30:11.803Z,1736400611.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656267 target range: 229.899994 and range: 229.90 m.
2025-01-09T05:30:11.869Z,1736400611.869 [DAT](INFO): DAT read: 05:30:09.9283 LVL= 21424, 29025, 17986, 30771, AGC= 63, IDX= 420, 0.41,-1.115,-2.609,-1.195,-1.866, PHS= 0.839,-0.697, 0.668, RAW= 144.2, -11.1, CAL= 151.4, -20.1, ROT= 358.6,  20.1

2025-01-09T05:30:11.870Z,1736400611.870 [DAT](INFO): got valid direction response:
 05:30:09.9283 LVL= 21424, 29025, 17986, 30771, AGC= 63, IDX= 420, 0.41,-1.115,-2.609,-1.195,-1.866, PHS= 0.839,-0.697, 0.668, RAW= 144.2, -11.1, CAL= 151.4, -20.1, ROT= 358.6,  20.1

2025-01-09T05:30:11.872Z,1736400611.872 [DAT](INFO): DAT read: Bearing 358.6,  20.1 (Local)

2025-01-09T05:30:11.872Z,1736400611.872 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  20.1 (Local)

2025-01-09T05:30:11.874Z,1736400611.874 [DAT](INFO): DAT read: Range 10 to 50 : 228.0 m  (Round-trip  304.0 ms) speed  0.4 m/s

2025-01-09T05:30:11.874Z,1736400611.874 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:30:11.876Z,1736400611.876 [DAT](INFO): direction in FSK: [0.938814,-0.022944,-0.343660]
2025-01-09T05:30:11.877Z,1736400611.877 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:11.886Z,1736400611.886 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:11.886Z,1736400611.886 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:11.886Z,1736400611.886 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:12.089Z,1736400612.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:12.105Z,1736400612.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 228.000000 m,
      deltaT: 4.036447 s,
      deltaX: -1.899994 m,
      approachRate: -0.470709 m/s,
      rangeRepo size: 4

2025-01-09T05:30:12.107Z,1736400612.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 228.000000 m,
      bearing: 267.318951 deg,
      lat: 36.904063 deg,
      lon: -122.119144 deg,
      deltaT: 4.036447 s,
      deltaX: -1.899994 m,
      approachRate: -0.470709 m/s,
      posRepo size: 4

2025-01-09T05:30:12.108Z,1736400612.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-09T05:30:12.110Z,1736400612.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 225.385651 m,
      bearing: 269.442071 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007947 deg/s,
      cmd heading: 266.784457 deg,
      new cmd heading: 266.791818 deg.

2025-01-09T05:30:12.112Z,1736400612.112 [DAT](INFO): DAT read: user:53>

2025-01-09T05:30:12.112Z,1736400612.112 [DAT](INFO): DAT read: Tx time:05:30:11.2702

2025-01-09T05:30:12.113Z,1736400612.113 [DAT](INFO): Ping request sent.
2025-01-09T05:30:12.113Z,1736400612.113 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:12.113Z,1736400612.113 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:12.114Z,1736400612.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715
2025-01-09T05:30:12.131Z,1736400612.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656395 target range: 228.000000 and range: 228.00 m.
2025-01-09T05:30:12.364Z,1736400612.364 [DAT](INFO): DAT read: TxSync time:05:30:11.2694

2025-01-09T05:30:12.364Z,1736400612.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251546
2025-01-09T05:30:12.529Z,1736400612.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:12.539Z,1736400612.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-09T05:30:12.542Z,1736400612.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 225.144394 m,
      bearing: 269.446313 deg,
      approach rate: -0.555033 m/s,
      LOS rate: 0.009772 deg/s,
      cmd heading: 266.791806 deg,
      new cmd heading: 266.804548 deg.

2025-01-09T05:30:12.543Z,1736400612.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656618 target range: 228.000000 and range: 228.00 m.
2025-01-09T05:30:12.617Z,1736400612.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503745
2025-01-09T05:30:12.869Z,1736400612.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755906
2025-01-09T05:30:12.910Z,1736400612.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:12.930Z,1736400612.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:12.933Z,1736400612.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-09T05:30:12.937Z,1736400612.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 224.935349 m,
      bearing: 269.449997 deg,
      approach rate: -0.530497 m/s,
      LOS rate: 0.009356 deg/s,
      cmd heading: 266.804538 deg,
      new cmd heading: 266.815599 deg.

2025-01-09T05:30:12.938Z,1736400612.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656811 target range: 228.000000 and range: 228.00 m.
2025-01-09T05:30:13.120Z,1736400613.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006796
2025-01-09T05:30:13.304Z,1736400613.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:13.312Z,1736400613.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-09T05:30:13.315Z,1736400613.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 224.719620 m,
      bearing: 269.453645 deg,
      approach rate: -0.568581 m/s,
      LOS rate: 0.009625 deg/s,
      cmd heading: 266.815603 deg,
      new cmd heading: 266.826559 deg.

2025-01-09T05:30:13.316Z,1736400613.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657002 target range: 228.000000 and range: 228.00 m.
2025-01-09T05:30:13.373Z,1736400613.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260126
2025-01-09T05:30:13.624Z,1736400613.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510863
2025-01-09T05:30:13.739Z,1736400613.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:13.773Z,1736400613.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-09T05:30:13.780Z,1736400613.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 224.497726 m,
      bearing: 269.458691 deg,
      approach rate: -0.482351 m/s,
      LOS rate: 0.010980 deg/s,
      cmd heading: 266.826558 deg,
      new cmd heading: 266.841711 deg.

2025-01-09T05:30:13.781Z,1736400613.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657267 target range: 228.000000 and range: 228.00 m.
2025-01-09T05:30:13.876Z,1736400613.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763423
2025-01-09T05:30:14.108Z,1736400614.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:14.117Z,1736400614.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-09T05:30:14.121Z,1736400614.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 224.309067 m,
      bearing: 269.462785 deg,
      approach rate: -0.547900 m/s,
      LOS rate: 0.011899 deg/s,
      cmd heading: 266.841721 deg,
      new cmd heading: 266.854013 deg.

2025-01-09T05:30:14.122Z,1736400614.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657481 target range: 228.000000 and range: 228.00 m.
2025-01-09T05:30:14.128Z,1736400614.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014890
2025-01-09T05:30:14.380Z,1736400614.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266907
2025-01-09T05:30:14.538Z,1736400614.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:14.547Z,1736400614.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-09T05:30:14.549Z,1736400614.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 224.089600 m,
      bearing: 269.467186 deg,
      approach rate: -0.510555 m/s,
      LOS rate: 0.010247 deg/s,
      cmd heading: 266.854016 deg,
      new cmd heading: 266.867230 deg.

2025-01-09T05:30:14.553Z,1736400614.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657712 target range: 228.000000 and range: 228.00 m.
2025-01-09T05:30:14.632Z,1736400614.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518936
2025-01-09T05:30:14.885Z,1736400614.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772198
2025-01-09T05:30:14.930Z,1736400614.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:14.938Z,1736400614.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:14.940Z,1736400614.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-09T05:30:14.943Z,1736400614.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 223.889236 m,
      bearing: 269.471031 deg,
      approach rate: -0.509080 m/s,
      LOS rate: 0.009778 deg/s,
      cmd heading: 266.867239 deg,
      new cmd heading: 266.878784 deg.

2025-01-09T05:30:14.944Z,1736400614.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657914 target range: 228.000000 and range: 228.00 m.
2025-01-09T05:30:15.136Z,1736400615.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023168
2025-01-09T05:30:15.319Z,1736400615.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:15.328Z,1736400615.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-09T05:30:15.331Z,1736400615.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 223.690308 m,
      bearing: 269.474696 deg,
      approach rate: -0.512697 m/s,
      LOS rate: 0.009456 deg/s,
      cmd heading: 266.878795 deg,
      new cmd heading: 266.889803 deg.

2025-01-09T05:30:15.332Z,1736400615.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658106 target range: 228.000000 and range: 228.00 m.
2025-01-09T05:30:15.388Z,1736400615.388 [DAT](INFO): DAT read: Rx Time:05:30:13.9745

2025-01-09T05:30:15.389Z,1736400615.389 [DAT](INFO): Rx dataTimestamp_ set to:1736400615.388626
2025-01-09T05:30:15.390Z,1736400615.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276937
2025-01-09T05:30:15.640Z,1736400615.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526755
2025-01-09T05:30:15.820Z,1736400615.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:15.828Z,1736400615.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-09T05:30:15.831Z,1736400615.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 223.422302 m,
      bearing: 269.477667 deg,
      approach rate: -0.535909 m/s,
      LOS rate: 0.005947 deg/s,
      cmd heading: 266.889806 deg,
      new cmd heading: 266.898727 deg.

2025-01-09T05:30:15.832Z,1736400615.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658262 target range: 228.000000 and range: 228.00 m.
2025-01-09T05:30:15.899Z,1736400615.899 [DAT](INFO): DAT read: 05:30:13.9745 LVL= 22336, 26577, 19554, 23875, AGC= 61, IDX= 397, 0.17, 1.265,-0.394, 1.110, 0.468, PHS= 0.885,-0.815, 0.639, RAW= 142.3,  -9.0, CAL= 149.0, -18.3, ROT=   1.0,  18.3

2025-01-09T05:30:15.900Z,1736400615.900 [DAT](INFO): got valid direction response:
 05:30:13.9745 LVL= 22336, 26577, 19554, 23875, AGC= 61, IDX= 397, 0.17, 1.265,-0.394, 1.110, 0.468, PHS= 0.885,-0.815, 0.639, RAW= 142.3,  -9.0, CAL= 149.0, -18.3, ROT=   1.0,  18.3

2025-01-09T05:30:15.901Z,1736400615.901 [DAT](INFO): DAT read: Bearing   1.0,  18.3 (Local)

2025-01-09T05:30:15.902Z,1736400615.902 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  18.3 (Local)

2025-01-09T05:30:15.903Z,1736400615.903 [DAT](INFO): DAT read: Range 10 to 50 : 225.0 m  (Round-trip  300.1 ms) speed  0.5 m/s

2025-01-09T05:30:15.904Z,1736400615.904 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:30:15.905Z,1736400615.905 [DAT](INFO): direction in FSK: [0.949281,0.016570,-0.313992]
2025-01-09T05:30:15.905Z,1736400615.905 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:15.909Z,1736400615.909 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:15.909Z,1736400615.909 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:15.909Z,1736400615.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:16.132Z,1736400616.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:16.144Z,1736400616.144 [DAT](INFO): DAT read: user:54>

2025-01-09T05:30:16.145Z,1736400616.145 [DAT](INFO): DAT read: Tx time:05:30:15.2702

2025-01-09T05:30:16.145Z,1736400616.145 [DAT](INFO): Ping request sent.
2025-01-09T05:30:16.145Z,1736400616.145 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:16.145Z,1736400616.145 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:16.148Z,1736400616.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002166
2025-01-09T05:30:16.172Z,1736400616.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 225.000000 m,
      deltaT: 4.031820 s,
      deltaX: -3.000000 m,
      approachRate: -0.744081 m/s,
      rangeRepo size: 4

2025-01-09T05:30:16.179Z,1736400616.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 225.000000 m,
      bearing: 270.864634 deg,
      lat: 36.904063 deg,
      lon: -122.119147 deg,
      deltaT: 4.031820 s,
      deltaX: -3.000000 m,
      approachRate: -0.744081 m/s,
      posRepo size: 4

2025-01-09T05:30:16.179Z,1736400616.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.00 m.
2025-01-09T05:30:16.182Z,1736400616.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.000000 m,
      nav range: 223.524841 m,
      bearing: 269.480082 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005947 deg/s,
      cmd heading: 266.898740 deg,
      new cmd heading: 266.904869 deg.

2025-01-09T05:30:16.187Z,1736400616.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658369 target range: 225.000000 and range: 225.00 m.
2025-01-09T05:30:16.396Z,1736400616.396 [DAT](INFO): DAT read: TxSync time:05:30:15.2694

2025-01-09T05:30:16.396Z,1736400616.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251472
2025-01-09T05:30:16.558Z,1736400616.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:16.570Z,1736400616.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.00 m.
2025-01-09T05:30:16.573Z,1736400616.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.000000 m,
      nav range: 223.276184 m,
      bearing: 269.482628 deg,
      approach rate: -0.624252 m/s,
      LOS rate: 0.006400 deg/s,
      cmd heading: 266.904859 deg,
      new cmd heading: 266.912507 deg.

2025-01-09T05:30:16.574Z,1736400616.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658502 target range: 225.000000 and range: 225.00 m.
2025-01-09T05:30:16.649Z,1736400616.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504149
2025-01-09T05:30:16.900Z,1736400616.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754641
2025-01-09T05:30:16.956Z,1736400616.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:16.963Z,1736400616.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:16.965Z,1736400616.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.00 m.
2025-01-09T05:30:16.969Z,1736400616.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.000000 m,
      nav range: 223.043991 m,
      bearing: 269.485011 deg,
      approach rate: -0.587938 m/s,
      LOS rate: 0.006041 deg/s,
      cmd heading: 266.912509 deg,
      new cmd heading: 266.919666 deg.

2025-01-09T05:30:16.970Z,1736400616.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658627 target range: 225.000000 and range: 225.00 m.
2025-01-09T05:30:17.152Z,1736400617.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007571
2025-01-09T05:30:17.171Z,1736400617.171 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:30:17.336Z,1736400617.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:17.345Z,1736400617.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.00 m.
2025-01-09T05:30:17.348Z,1736400617.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.000000 m,
      nav range: 222.822449 m,
      bearing: 269.487477 deg,
      approach rate: -0.582939 m/s,
      LOS rate: 0.006494 deg/s,
      cmd heading: 266.919667 deg,
      new cmd heading: 266.927071 deg.

2025-01-09T05:30:17.349Z,1736400617.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658756 target range: 225.000000 and range: 225.00 m.
2025-01-09T05:30:17.404Z,1736400617.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258898
2025-01-09T05:30:17.656Z,1736400617.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510639
2025-01-09T05:30:17.862Z,1736400617.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:17.872Z,1736400617.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.00 m.
2025-01-09T05:30:17.875Z,1736400617.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.000000 m,
      nav range: 222.480225 m,
      bearing: 269.488441 deg,
      approach rate: -0.649367 m/s,
      LOS rate: 0.001832 deg/s,
      cmd heading: 266.927071 deg,
      new cmd heading: 266.929968 deg.

2025-01-09T05:30:17.876Z,1736400617.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658807 target range: 225.000000 and range: 225.00 m.
2025-01-09T05:30:17.908Z,1736400617.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763013
2025-01-09T05:30:18.160Z,1736400618.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014664
2025-01-09T05:30:18.175Z,1736400618.175 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:30:18.281Z,1736400618.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:18.310Z,1736400618.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.00 m.
2025-01-09T05:30:18.313Z,1736400618.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.000000 m,
      nav range: 222.207535 m,
      bearing: 269.489142 deg,
      approach rate: -0.622254 m/s,
      LOS rate: 0.001603 deg/s,
      cmd heading: 266.929967 deg,
      new cmd heading: 266.932074 deg.

2025-01-09T05:30:18.314Z,1736400618.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658844 target range: 225.000000 and range: 225.00 m.
2025-01-09T05:30:18.413Z,1736400618.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267934
2025-01-09T05:30:18.664Z,1736400618.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518895
2025-01-09T05:30:18.759Z,1736400618.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:18.787Z,1736400618.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.00 m.
2025-01-09T05:30:18.790Z,1736400618.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.000000 m,
      nav range: 221.871368 m,
      bearing: 269.489299 deg,
      approach rate: -0.709537 m/s,
      LOS rate: 0.000332 deg/s,
      cmd heading: 266.932071 deg,
      new cmd heading: 266.932543 deg.

2025-01-09T05:30:18.791Z,1736400618.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658852 target range: 225.000000 and range: 225.00 m.
2025-01-09T05:30:18.916Z,1736400618.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770723
2025-01-09T05:30:19.104Z,1736400619.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:19.113Z,1736400619.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:19.116Z,1736400619.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.00 m.
2025-01-09T05:30:19.120Z,1736400619.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.000000 m,
      nav range: 221.617416 m,
      bearing: 269.489514 deg,
      approach rate: -0.765621 m/s,
      LOS rate: 0.000648 deg/s,
      cmd heading: 266.932535 deg,
      new cmd heading: 266.933180 deg.

2025-01-09T05:30:19.121Z,1736400619.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658863 target range: 225.000000 and range: 225.00 m.
2025-01-09T05:30:19.169Z,1736400619.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023728
2025-01-09T05:30:19.420Z,1736400619.420 [DAT](INFO): DAT read: Rx Time:05:30:17.9713

2025-01-09T05:30:19.420Z,1736400619.420 [DAT](INFO): Rx dataTimestamp_ set to:1736400619.420019
2025-01-09T05:30:19.421Z,1736400619.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275907
2025-01-09T05:30:19.566Z,1736400619.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:19.579Z,1736400619.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 225.00 m.
2025-01-09T05:30:19.582Z,1736400619.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 225.000000 m,
      nav range: 221.286423 m,
      bearing: 269.489795 deg,
      approach rate: -0.714183 m/s,
      LOS rate: 0.000606 deg/s,
      cmd heading: 266.933191 deg,
      new cmd heading: 266.934034 deg.

2025-01-09T05:30:19.584Z,1736400619.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658878 target range: 225.000000 and range: 225.00 m.
2025-01-09T05:30:19.672Z,1736400619.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527120
2025-01-09T05:30:19.931Z,1736400619.931 [DAT](INFO): DAT read: 05:30:17.9713 LVL= 19808, 28481, 17618, 25555, AGC= 64, IDX= 414,-0.26, 0.280,-0.633, 0.489,-0.670, PHS= 1.038, 0.085, 1.156, RAW= 155.8, -38.4, CAL= 157.9, -42.3, ROT= 352.1,  42.3

2025-01-09T05:30:19.932Z,1736400619.932 [DAT](INFO): got valid direction response:
 05:30:17.9713 LVL= 19808, 28481, 17618, 25555, AGC= 64, IDX= 414,-0.26, 0.280,-0.633, 0.489,-0.670, PHS= 1.038, 0.085, 1.156, RAW= 155.8, -38.4, CAL= 157.9, -42.3, ROT= 352.1,  42.3

2025-01-09T05:30:19.933Z,1736400619.933 [DAT](INFO): DAT read: Bearing 352.1,  42.3 (Local)

2025-01-09T05:30:19.933Z,1736400619.933 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.1,  42.3 (Local)

2025-01-09T05:30:19.936Z,1736400619.936 [DAT](INFO): DAT read: Range 10 to 50 : 222.7 m  (Round-trip  297.0 ms) speed  0.3 m/s

2025-01-09T05:30:19.936Z,1736400619.936 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:30:19.937Z,1736400619.937 [DAT](INFO): direction in FSK: [0.732612,-0.101658,-0.673013]
2025-01-09T05:30:19.938Z,1736400619.938 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:19.941Z,1736400619.941 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:19.941Z,1736400619.941 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:19.942Z,1736400619.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:20.012Z,1736400620.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:20.047Z,1736400620.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 222.699997 m,
      deltaT: 4.033592 s,
      deltaX: -2.300003 m,
      approachRate: -0.570212 m/s,
      rangeRepo size: 4

2025-01-09T05:30:20.049Z,1736400620.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 222.699997 m,
      bearing: 266.403578 deg,
      lat: 36.904063 deg,
      lon: -122.119147 deg,
      deltaT: 4.033592 s,
      deltaX: -2.300003 m,
      approachRate: -0.570212 m/s,
      posRepo size: 4

2025-01-09T05:30:20.050Z,1736400620.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.70 m.
2025-01-09T05:30:20.057Z,1736400620.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.699997 m,
      nav range: 220.946930 m,
      bearing: 269.489893 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000606 deg/s,
      cmd heading: 266.934038 deg,
      new cmd heading: 266.934880 deg.

2025-01-09T05:30:20.058Z,1736400620.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658893 target range: 222.699997 and range: 222.70 m.
2025-01-09T05:30:20.176Z,1736400620.176 [DAT](INFO): DAT read: user:55>

2025-01-09T05:30:20.178Z,1736400620.178 [DAT](INFO): DAT read: Tx time:05:30:19.3202

2025-01-09T05:30:20.178Z,1736400620.178 [DAT](INFO): Ping request sent.
2025-01-09T05:30:20.178Z,1736400620.178 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:20.178Z,1736400620.178 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:20.179Z,1736400620.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000998
2025-01-09T05:30:20.393Z,1736400620.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:20.413Z,1736400620.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.70 m.
2025-01-09T05:30:20.416Z,1736400620.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.699997 m,
      nav range: 220.657532 m,
      bearing: 269.490579 deg,
      approach rate: -0.779683 m/s,
      LOS rate: 0.001849 deg/s,
      cmd heading: 266.934885 deg,
      new cmd heading: 266.936944 deg.

2025-01-09T05:30:20.419Z,1736400620.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658928 target range: 222.699997 and range: 222.70 m.
2025-01-09T05:30:20.428Z,1736400620.428 [DAT](INFO): DAT read: TxSync time:05:30:19.3194

2025-01-09T05:30:20.429Z,1736400620.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250541
2025-01-09T05:30:20.680Z,1736400620.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501520
2025-01-09T05:30:20.790Z,1736400620.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:20.800Z,1736400620.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.70 m.
2025-01-09T05:30:20.803Z,1736400620.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.699997 m,
      nav range: 220.354630 m,
      bearing: 269.492131 deg,
      approach rate: -0.784260 m/s,
      LOS rate: 0.004025 deg/s,
      cmd heading: 266.936934 deg,
      new cmd heading: 266.941597 deg.

2025-01-09T05:30:20.805Z,1736400620.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659010 target range: 222.699997 and range: 222.70 m.
2025-01-09T05:30:20.932Z,1736400620.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753802
2025-01-09T05:30:21.185Z,1736400621.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006428
2025-01-09T05:30:21.240Z,1736400621.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:21.246Z,1736400621.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:21.248Z,1736400621.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.70 m.
2025-01-09T05:30:21.253Z,1736400621.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.699997 m,
      nav range: 220.011383 m,
      bearing: 269.494071 deg,
      approach rate: -0.764535 m/s,
      LOS rate: 0.004328 deg/s,
      cmd heading: 266.941606 deg,
      new cmd heading: 266.947435 deg.

2025-01-09T05:30:21.254Z,1736400621.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659111 target range: 222.699997 and range: 222.70 m.
2025-01-09T05:30:21.436Z,1736400621.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258037
2025-01-09T05:30:21.669Z,1736400621.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:21.678Z,1736400621.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.70 m.
2025-01-09T05:30:21.681Z,1736400621.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.699997 m,
      nav range: 219.686920 m,
      bearing: 269.496170 deg,
      approach rate: -0.756045 m/s,
      LOS rate: 0.004898 deg/s,
      cmd heading: 266.947425 deg,
      new cmd heading: 266.953732 deg.

2025-01-09T05:30:21.681Z,1736400621.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659222 target range: 222.699997 and range: 222.70 m.
2025-01-09T05:30:21.688Z,1736400621.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509681
2025-01-09T05:30:21.940Z,1736400621.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761592
2025-01-09T05:30:22.037Z,1736400622.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:22.045Z,1736400622.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.70 m.
2025-01-09T05:30:22.049Z,1736400622.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.699997 m,
      nav range: 219.408386 m,
      bearing: 269.497981 deg,
      approach rate: -0.757306 m/s,
      LOS rate: 0.004929 deg/s,
      cmd heading: 266.953736 deg,
      new cmd heading: 266.959175 deg.

2025-01-09T05:30:22.050Z,1736400622.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659317 target range: 222.699997 and range: 222.70 m.
2025-01-09T05:30:22.192Z,1736400622.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013520
2025-01-09T05:30:22.444Z,1736400622.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265912
2025-01-09T05:30:22.464Z,1736400622.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:22.474Z,1736400622.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.70 m.
2025-01-09T05:30:22.476Z,1736400622.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.699997 m,
      nav range: 219.085587 m,
      bearing: 269.500192 deg,
      approach rate: -0.753934 m/s,
      LOS rate: 0.005173 deg/s,
      cmd heading: 266.959173 deg,
      new cmd heading: 266.965817 deg.

2025-01-09T05:30:22.477Z,1736400622.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659432 target range: 222.699997 and range: 222.70 m.
2025-01-09T05:30:22.696Z,1736400622.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517630
2025-01-09T05:30:22.925Z,1736400622.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:22.934Z,1736400622.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.70 m.
2025-01-09T05:30:22.937Z,1736400622.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.699997 m,
      nav range: 218.759430 m,
      bearing: 269.503641 deg,
      approach rate: -0.709087 m/s,
      LOS rate: 0.007509 deg/s,
      cmd heading: 266.965812 deg,
      new cmd heading: 266.976173 deg.

2025-01-09T05:30:22.938Z,1736400622.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659613 target range: 222.699997 and range: 222.70 m.
2025-01-09T05:30:22.948Z,1736400622.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769609
2025-01-09T05:30:23.200Z,1736400623.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021493
2025-01-09T05:30:23.297Z,1736400623.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:23.306Z,1736400623.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:23.308Z,1736400623.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.70 m.
2025-01-09T05:30:23.311Z,1736400623.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.699997 m,
      nav range: 218.495529 m,
      bearing: 269.506491 deg,
      approach rate: -0.704573 m/s,
      LOS rate: 0.007620 deg/s,
      cmd heading: 266.976167 deg,
      new cmd heading: 266.984729 deg.

2025-01-09T05:30:23.312Z,1736400623.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659762 target range: 222.699997 and range: 222.70 m.
2025-01-09T05:30:23.452Z,1736400623.452 [DAT](INFO): DAT read: Rx Time:05:30:22.0188

2025-01-09T05:30:23.453Z,1736400623.453 [DAT](INFO): Rx dataTimestamp_ set to:1736400623.452457
2025-01-09T05:30:23.453Z,1736400623.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275202
2025-01-09T05:30:23.704Z,1736400623.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525617
2025-01-09T05:30:23.773Z,1736400623.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:23.825Z,1736400623.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.70 m.
2025-01-09T05:30:23.832Z,1736400623.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.699997 m,
      nav range: 218.186905 m,
      bearing: 269.510837 deg,
      approach rate: -0.596819 m/s,
      LOS rate: 0.008415 deg/s,
      cmd heading: 266.984718 deg,
      new cmd heading: 266.997773 deg.

2025-01-09T05:30:23.835Z,1736400623.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659990 target range: 222.699997 and range: 222.70 m.
2025-01-09T05:30:23.964Z,1736400623.964 [DAT](INFO): DAT read: 05:30:22.0188 LVL= 27728, 28145, 26754, 32755, AGC= 61, IDX= 418, 0.43,-2.012,-2.994,-1.835,-2.977, PHS= 1.054, 0.030, 1.140, RAW= 154.0, -36.3, CAL= 156.1, -41.0, ROT= 353.9,  41.0

2025-01-09T05:30:23.965Z,1736400623.965 [DAT](INFO): got valid direction response:
 05:30:22.0188 LVL= 27728, 28145, 26754, 32755, AGC= 61, IDX= 418, 0.43,-2.012,-2.994,-1.835,-2.977, PHS= 1.054, 0.030, 1.140, RAW= 154.0, -36.3, CAL= 156.1, -41.0, ROT= 353.9,  41.0

2025-01-09T05:30:23.965Z,1736400623.965 [DAT](INFO): DAT read: Bearing 353.9,  41.0 (Local)

2025-01-09T05:30:23.966Z,1736400623.966 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,  41.0 (Local)

2025-01-09T05:30:23.969Z,1736400623.969 [DAT](INFO): DAT read: Range 10 to 50 : 220.8 m  (Round-trip  294.4 ms) speed  0.4 m/s

2025-01-09T05:30:23.969Z,1736400623.969 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:30:23.971Z,1736400623.971 [DAT](INFO): direction in FSK: [0.750436,-0.080199,-0.656059]
2025-01-09T05:30:23.971Z,1736400623.971 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:23.975Z,1736400623.975 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:23.975Z,1736400623.975 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:23.975Z,1736400623.975 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:24.134Z,1736400624.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:24.177Z,1736400624.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 220.800003 m,
      deltaT: 4.030483 s,
      deltaX: -1.899994 m,
      approachRate: -0.471406 m/s,
      rangeRepo size: 4

2025-01-09T05:30:24.184Z,1736400624.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 220.800003 m,
      bearing: 266.688841 deg,
      lat: 36.903988 deg,
      lon: -122.119144 deg,
      deltaT: 4.030483 s,
      deltaX: -1.899994 m,
      approachRate: -0.471406 m/s,
      posRepo size: 4

2025-01-09T05:30:24.185Z,1736400624.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:24.192Z,1736400624.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 217.911499 m,
      bearing: 267.316033 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008415 deg/s,
      cmd heading: 266.997777 deg,
      new cmd heading: 267.006645 deg.

2025-01-09T05:30:24.193Z,1736400624.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660145 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:24.208Z,1736400624.208 [DAT](INFO): DAT read: user:56>

2025-01-09T05:30:24.208Z,1736400624.208 [DAT](INFO): DAT read: Tx time:05:30:23.3703

2025-01-09T05:30:24.209Z,1736400624.209 [DAT](INFO): Ping request sent.
2025-01-09T05:30:24.209Z,1736400624.209 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:24.209Z,1736400624.209 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:24.210Z,1736400624.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000973
2025-01-09T05:30:24.460Z,1736400624.460 [DAT](INFO): DAT read: TxSync time:05:30:23.3695

2025-01-09T05:30:24.461Z,1736400624.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251772
2025-01-09T05:30:24.531Z,1736400624.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:24.545Z,1736400624.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:24.548Z,1736400624.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 217.651459 m,
      bearing: 267.317038 deg,
      approach rate: -0.705918 m/s,
      LOS rate: 0.002731 deg/s,
      cmd heading: 267.006657 deg,
      new cmd heading: 267.009675 deg.

2025-01-09T05:30:24.549Z,1736400624.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660198 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:24.713Z,1736400624.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504011
2025-01-09T05:30:24.964Z,1736400624.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754919
2025-01-09T05:30:25.015Z,1736400625.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:25.025Z,1736400625.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:25.028Z,1736400625.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 217.364456 m,
      bearing: 267.318901 deg,
      approach rate: -0.597850 m/s,
      LOS rate: 0.003886 deg/s,
      cmd heading: 267.009662 deg,
      new cmd heading: 267.015259 deg.

2025-01-09T05:30:25.029Z,1736400625.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660295 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:25.216Z,1736400625.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007372
2025-01-09T05:30:25.333Z,1736400625.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:25.341Z,1736400625.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:25.344Z,1736400625.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:25.346Z,1736400625.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 217.176163 m,
      bearing: 267.320023 deg,
      approach rate: -0.590990 m/s,
      LOS rate: 0.003525 deg/s,
      cmd heading: 267.015263 deg,
      new cmd heading: 267.018632 deg.

2025-01-09T05:30:25.347Z,1736400625.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660354 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:25.469Z,1736400625.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259764
2025-01-09T05:30:25.721Z,1736400625.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511840
2025-01-09T05:30:25.794Z,1736400625.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:25.804Z,1736400625.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:25.807Z,1736400625.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 216.925079 m,
      bearing: 267.320212 deg,
      approach rate: -0.545504 m/s,
      LOS rate: 0.000412 deg/s,
      cmd heading: 267.018623 deg,
      new cmd heading: 267.019191 deg.

2025-01-09T05:30:25.808Z,1736400625.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660364 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:25.972Z,1736400625.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762842
2025-01-09T05:30:26.153Z,1736400626.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:26.162Z,1736400626.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:26.164Z,1736400626.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 216.729385 m,
      bearing: 267.320088 deg,
      approach rate: -0.546990 m/s,
      LOS rate: -0.000347 deg/s,
      cmd heading: 267.019197 deg,
      new cmd heading: 267.018824 deg.

2025-01-09T05:30:26.165Z,1736400626.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660357 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:26.224Z,1736400626.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014980
2025-01-09T05:30:26.476Z,1736400626.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266855
2025-01-09T05:30:26.540Z,1736400626.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:26.549Z,1736400626.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:26.553Z,1736400626.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 216.517883 m,
      bearing: 267.319678 deg,
      approach rate: -0.546445 m/s,
      LOS rate: -0.001061 deg/s,
      cmd heading: 267.018814 deg,
      new cmd heading: 267.017582 deg.

2025-01-09T05:30:26.553Z,1736400626.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660336 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:26.728Z,1736400626.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518983
2025-01-09T05:30:26.980Z,1736400626.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771414
2025-01-09T05:30:26.995Z,1736400626.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:27.005Z,1736400627.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:27.036Z,1736400627.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 216.288605 m,
      bearing: 267.319800 deg,
      approach rate: -0.502932 m/s,
      LOS rate: 0.000268 deg/s,
      cmd heading: 267.017585 deg,
      new cmd heading: 267.017952 deg.

2025-01-09T05:30:27.036Z,1736400627.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660342 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:27.232Z,1736400627.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022813
2025-01-09T05:30:27.352Z,1736400627.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:27.360Z,1736400627.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:27.362Z,1736400627.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:27.365Z,1736400627.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 216.108261 m,
      bearing: 267.319403 deg,
      approach rate: -0.504640 m/s,
      LOS rate: -0.001112 deg/s,
      cmd heading: 267.017940 deg,
      new cmd heading: 267.016748 deg.

2025-01-09T05:30:27.366Z,1736400627.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660321 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:27.484Z,1736400627.484 [DAT](INFO): DAT read: Rx Time:05:30:26.0655

2025-01-09T05:30:27.485Z,1736400627.485 [DAT](INFO): Rx dataTimestamp_ set to:1736400627.484745
2025-01-09T05:30:27.486Z,1736400627.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276789
2025-01-09T05:30:27.736Z,1736400627.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526735
2025-01-09T05:30:27.860Z,1736400627.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:27.893Z,1736400627.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:27.896Z,1736400627.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 215.852783 m,
      bearing: 267.316253 deg,
      approach rate: -0.481413 m/s,
      LOS rate: -0.005942 deg/s,
      cmd heading: 267.016738 deg,
      new cmd heading: 267.007278 deg.

2025-01-09T05:30:27.897Z,1736400627.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660156 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:28.004Z,1736400628.004 [DAT](INFO): DAT read: 05:30:26.0655 LVL= 24176, 26609, 19362, 26995, AGC= 65, IDX= 401, 0.10,-2.240, 2.687,-2.351,-2.912, PHS= 0.760,-0.637, 0.559, RAW= 142.3, -10.4, CAL= 149.4, -19.9, ROT=   0.6,  19.9

2025-01-09T05:30:28.005Z,1736400628.005 [DAT](INFO): got valid direction response:
 05:30:26.0655 LVL= 24176, 26609, 19362, 26995, AGC= 65, IDX= 401, 0.10,-2.240, 2.687,-2.351,-2.912, PHS= 0.760,-0.637, 0.559, RAW= 142.3, -10.4, CAL= 149.4, -19.9, ROT=   0.6,  19.9

2025-01-09T05:30:28.007Z,1736400628.007 [DAT](INFO): DAT read: Bearing   0.6,  19.9 (Local)

2025-01-09T05:30:28.008Z,1736400628.008 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  19.9 (Local)

2025-01-09T05:30:28.008Z,1736400628.008 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T05:30:28.009Z,1736400628.009 [DAT](INFO): direction in FSK: [0.940237,0.009846,-0.340380]
2025-01-09T05:30:28.016Z,1736400628.016 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:28.016Z,1736400628.016 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:28.017Z,1736400628.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:28.199Z,1736400628.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:28.220Z,1736400628.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:28.223Z,1736400628.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 215.679108 m,
      bearing: 267.314108 deg,
      approach rate: -0.548403 m/s,
      LOS rate: -0.006779 deg/s,
      cmd heading: 267.007285 deg,
      new cmd heading: 267.000844 deg.

2025-01-09T05:30:28.224Z,1736400628.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660044 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:28.239Z,1736400628.239 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:28.239Z,1736400628.239 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:28.239Z,1736400628.239 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:28.492Z,1736400628.492 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:28.492Z,1736400628.492 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:28.492Z,1736400628.492 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:28.603Z,1736400628.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:28.630Z,1736400628.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:28.673Z,1736400628.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 215.474503 m,
      bearing: 267.311177 deg,
      approach rate: -0.487641 m/s,
      LOS rate: -0.006992 deg/s,
      cmd heading: 267.000837 deg,
      new cmd heading: 266.992036 deg.

2025-01-09T05:30:28.682Z,1736400628.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659890 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:28.745Z,1736400628.745 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:28.745Z,1736400628.745 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:28.745Z,1736400628.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:28.996Z,1736400628.996 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:28.997Z,1736400628.997 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:28.997Z,1736400628.997 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:29.047Z,1736400629.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:29.064Z,1736400629.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:29.071Z,1736400629.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 215.238708 m,
      bearing: 267.306191 deg,
      approach rate: -0.542229 m/s,
      LOS rate: -0.011477 deg/s,
      cmd heading: 266.992040 deg,
      new cmd heading: 266.977067 deg.

2025-01-09T05:30:29.072Z,1736400629.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659629 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:29.247Z,1736400629.247 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:29.247Z,1736400629.247 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:29.248Z,1736400629.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:29.408Z,1736400629.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:29.438Z,1736400629.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:29.441Z,1736400629.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:29.444Z,1736400629.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 215.046707 m,
      bearing: 267.302018 deg,
      approach rate: -0.508997 m/s,
      LOS rate: -0.011073 deg/s,
      cmd heading: 266.977068 deg,
      new cmd heading: 266.964538 deg.

2025-01-09T05:30:29.445Z,1736400629.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659410 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:29.501Z,1736400629.501 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:29.501Z,1736400629.501 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:29.502Z,1736400629.502 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:29.752Z,1736400629.752 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:29.752Z,1736400629.752 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:29.752Z,1736400629.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:29.837Z,1736400629.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:29.848Z,1736400629.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:29.867Z,1736400629.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 214.794037 m,
      bearing: 267.295148 deg,
      approach rate: -0.620581 m/s,
      LOS rate: -0.016895 deg/s,
      cmd heading: 266.964528 deg,
      new cmd heading: 266.943892 deg.

2025-01-09T05:30:29.868Z,1736400629.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659050 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:30.003Z,1736400630.003 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:30.003Z,1736400630.003 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:30.004Z,1736400630.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:30.209Z,1736400630.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:30.218Z,1736400630.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:30.221Z,1736400630.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 214.575058 m,
      bearing: 267.289203 deg,
      approach rate: -0.593622 m/s,
      LOS rate: -0.016133 deg/s,
      cmd heading: 266.943901 deg,
      new cmd heading: 266.926047 deg.

2025-01-09T05:30:30.222Z,1736400630.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658739 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:30.256Z,1736400630.256 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:30.256Z,1736400630.256 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:30.256Z,1736400630.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:30.508Z,1736400630.508 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:30.508Z,1736400630.508 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:30.509Z,1736400630.509 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:30.610Z,1736400630.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:30.620Z,1736400630.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:30.623Z,1736400630.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 214.338577 m,
      bearing: 267.282859 deg,
      approach rate: -0.586516 m/s,
      LOS rate: -0.015752 deg/s,
      cmd heading: 266.926060 deg,
      new cmd heading: 266.907007 deg.

2025-01-09T05:30:30.624Z,1736400630.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658406 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:30.761Z,1736400630.761 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:30.761Z,1736400630.761 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:30.761Z,1736400630.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:31.011Z,1736400631.011 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:31.012Z,1736400631.012 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:31.012Z,1736400631.012 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:31.136Z,1736400631.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:31.160Z,1736400631.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:31.168Z,1736400631.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 213.997025 m,
      bearing: 267.274132 deg,
      approach rate: -0.632622 m/s,
      LOS rate: -0.016190 deg/s,
      cmd heading: 266.907018 deg,
      new cmd heading: 266.880795 deg.

2025-01-09T05:30:31.169Z,1736400631.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657948 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:31.264Z,1736400631.264 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:31.264Z,1736400631.264 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:31.265Z,1736400631.265 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:31.515Z,1736400631.515 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:31.516Z,1736400631.516 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:31.516Z,1736400631.516 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:31.540Z,1736400631.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:31.547Z,1736400631.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:31.549Z,1736400631.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:31.553Z,1736400631.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 213.734009 m,
      bearing: 267.267598 deg,
      approach rate: -0.676230 m/s,
      LOS rate: -0.016818 deg/s,
      cmd heading: 266.880790 deg,
      new cmd heading: 266.861166 deg.

2025-01-09T05:30:31.554Z,1736400631.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657606 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:31.769Z,1736400631.769 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:31.769Z,1736400631.769 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:31.769Z,1736400631.769 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:32.002Z,1736400632.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:32.013Z,1736400632.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:32.017Z,1736400632.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 213.400162 m,
      bearing: 267.259840 deg,
      approach rate: -0.720384 m/s,
      LOS rate: -0.016767 deg/s,
      cmd heading: 266.861174 deg,
      new cmd heading: 266.837863 deg.

2025-01-09T05:30:32.020Z,1736400632.020 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:32.020Z,1736400632.020 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:32.020Z,1736400632.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:32.021Z,1736400632.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657199 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:32.271Z,1736400632.271 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:32.272Z,1736400632.272 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:32.272Z,1736400632.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:32.379Z,1736400632.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:32.389Z,1736400632.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:32.392Z,1736400632.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 213.128220 m,
      bearing: 267.253761 deg,
      approach rate: -0.722722 m/s,
      LOS rate: -0.016178 deg/s,
      cmd heading: 266.837869 deg,
      new cmd heading: 266.819607 deg.

2025-01-09T05:30:32.393Z,1736400632.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656881 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:32.523Z,1736400632.523 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:32.524Z,1736400632.524 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:32.524Z,1736400632.524 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:32.777Z,1736400632.777 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:32.777Z,1736400632.777 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:32.777Z,1736400632.777 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:32.881Z,1736400632.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:32.893Z,1736400632.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:32.896Z,1736400632.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 212.753845 m,
      bearing: 267.247407 deg,
      approach rate: -0.742300 m/s,
      LOS rate: -0.012620 deg/s,
      cmd heading: 266.819619 deg,
      new cmd heading: 266.800524 deg.

2025-01-09T05:30:32.897Z,1736400632.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656548 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:33.029Z,1736400633.029 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:33.029Z,1736400633.029 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:33.029Z,1736400633.029 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:33.191Z,1736400633.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:33.200Z,1736400633.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:33.204Z,1736400633.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 212.522552 m,
      bearing: 267.243723 deg,
      approach rate: -0.754584 m/s,
      LOS rate: -0.012033 deg/s,
      cmd heading: 266.800522 deg,
      new cmd heading: 266.789457 deg.

2025-01-09T05:30:33.205Z,1736400633.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656354 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:33.280Z,1736400633.280 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:33.280Z,1736400633.280 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:33.280Z,1736400633.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:33.531Z,1736400633.531 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:33.531Z,1736400633.531 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:33.532Z,1736400633.532 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:33.613Z,1736400633.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:33.621Z,1736400633.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:33.623Z,1736400633.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:33.626Z,1736400633.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 212.207275 m,
      bearing: 267.238962 deg,
      approach rate: -0.743699 m/s,
      LOS rate: -0.011247 deg/s,
      cmd heading: 266.789457 deg,
      new cmd heading: 266.775153 deg.

2025-01-09T05:30:33.628Z,1736400633.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656105 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:33.784Z,1736400633.784 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:33.784Z,1736400633.784 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:33.785Z,1736400633.785 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:34.033Z,1736400634.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:34.036Z,1736400634.036 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:34.036Z,1736400634.036 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:34.036Z,1736400634.036 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:30:34.043Z,1736400634.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:34.049Z,1736400634.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 211.887009 m,
      bearing: 267.235651 deg,
      approach rate: -0.764033 m/s,
      LOS rate: -0.007911 deg/s,
      cmd heading: 266.775141 deg,
      new cmd heading: 266.765192 deg.

2025-01-09T05:30:34.050Z,1736400634.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655931 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:34.288Z,1736400634.288 [DAT](INFO): Reached modem response timeout
2025-01-09T05:30:34.289Z,1736400634.289 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:30:34.289Z,1736400634.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:34.491Z,1736400634.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:34.500Z,1736400634.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:34.504Z,1736400634.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 211.537415 m,
      bearing: 267.232397 deg,
      approach rate: -0.765207 m/s,
      LOS rate: -0.007134 deg/s,
      cmd heading: 266.765196 deg,
      new cmd heading: 266.755418 deg.

2025-01-09T05:30:34.505Z,1736400634.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655760 target range: 220.800003 and range: 220.80 m.
2025-01-09T05:30:34.540Z,1736400634.540 [DAT](INFO): DAT read: Range 10 to 50 : 218.3 m  (Round-trip  291.1 ms) speed  0.ser:57>

2025-01-09T05:30:34.541Z,1736400634.541 [DAT](INFO): DAT read: Tx time:05:30:33.6704

2025-01-09T05:30:34.542Z,1736400634.542 [DAT](INFO): Ping request sent.
2025-01-09T05:30:34.542Z,1736400634.542 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:34.542Z,1736400634.542 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:30:34.542Z,1736400634.542 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:34.543Z,1736400634.543 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:34.792Z,1736400634.792 [DAT](INFO): DAT read: TxSync time:05:30:33.6696

2025-01-09T05:30:34.927Z,1736400634.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:34.936Z,1736400634.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 218.300003 m,
      deltaT: 10.583484 s,
      deltaX: -2.500000 m,
      approachRate: -0.236217 m/s,
      rangeRepo size: 4

2025-01-09T05:30:34.937Z,1736400634.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:34.940Z,1736400634.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 211.206924 m,
      bearing: 267.230260 deg,
      approach rate: -0.757574 m/s,
      LOS rate: -0.004906 deg/s,
      cmd heading: 266.755415 deg,
      new cmd heading: 266.748994 deg.

2025-01-09T05:30:34.941Z,1736400634.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655648 target range: 220.800003 and range: 218.30 m.
2025-01-09T05:30:35.303Z,1736400635.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:35.317Z,1736400635.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:35.325Z,1736400635.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 210.927780 m,
      bearing: 267.228810 deg,
      approach rate: -0.744403 m/s,
      LOS rate: -0.003872 deg/s,
      cmd heading: 266.748995 deg,
      new cmd heading: 266.744639 deg.

2025-01-09T05:30:35.326Z,1736400635.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655572 target range: 220.800003 and range: 218.30 m.
2025-01-09T05:30:35.698Z,1736400635.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:35.707Z,1736400635.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:35.714Z,1736400635.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:35.749Z,1736400635.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 210.621826 m,
      bearing: 267.227479 deg,
      approach rate: -0.762584 m/s,
      LOS rate: -0.003322 deg/s,
      cmd heading: 266.744651 deg,
      new cmd heading: 266.740652 deg.

2025-01-09T05:30:35.762Z,1736400635.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655503 target range: 220.800003 and range: 218.30 m.
2025-01-09T05:30:35.803Z,1736400635.803 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:35.803Z,1736400635.803 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:35.804Z,1736400635.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:36.052Z,1736400636.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509950
2025-01-09T05:30:36.175Z,1736400636.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:36.194Z,1736400636.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:36.202Z,1736400636.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 210.289352 m,
      bearing: 267.226749 deg,
      approach rate: -0.689871 m/s,
      LOS rate: -0.001517 deg/s,
      cmd heading: 266.740662 deg,
      new cmd heading: 266.738468 deg.

2025-01-09T05:30:36.207Z,1736400636.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655465 target range: 220.800003 and range: 218.30 m.
2025-01-09T05:30:36.304Z,1736400636.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762717
2025-01-09T05:30:36.509Z,1736400636.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:36.519Z,1736400636.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:36.522Z,1736400636.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 210.050995 m,
      bearing: 267.226102 deg,
      approach rate: -0.732610 m/s,
      LOS rate: -0.001991 deg/s,
      cmd heading: 266.738476 deg,
      new cmd heading: 266.736533 deg.

2025-01-09T05:30:36.523Z,1736400636.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655431 target range: 220.800003 and range: 218.30 m.
2025-01-09T05:30:36.556Z,1736400636.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013944
2025-01-09T05:30:36.808Z,1736400636.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265923
2025-01-09T05:30:36.949Z,1736400636.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:36.959Z,1736400636.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:36.962Z,1736400636.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 209.757111 m,
      bearing: 267.225080 deg,
      approach rate: -0.667684 m/s,
      LOS rate: -0.002324 deg/s,
      cmd heading: 266.736536 deg,
      new cmd heading: 266.733468 deg.

2025-01-09T05:30:36.966Z,1736400636.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655377 target range: 220.800003 and range: 218.30 m.
2025-01-09T05:30:37.060Z,1736400637.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518137
2025-01-09T05:30:37.312Z,1736400637.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769935
2025-01-09T05:30:37.339Z,1736400637.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:37.347Z,1736400637.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:37.350Z,1736400637.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 209.496399 m,
      bearing: 267.224035 deg,
      approach rate: -0.673054 m/s,
      LOS rate: -0.002703 deg/s,
      cmd heading: 266.733476 deg,
      new cmd heading: 266.730335 deg.

2025-01-09T05:30:37.352Z,1736400637.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655323 target range: 220.800003 and range: 218.30 m.
2025-01-09T05:30:37.564Z,1736400637.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022480
2025-01-09T05:30:37.736Z,1736400637.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:37.746Z,1736400637.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:37.795Z,1736400637.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.80 m.
2025-01-09T05:30:37.820Z,1736400637.820 [DAT](INFO): DAT read: Rx Time:05:30:36.3819

2025-01-09T05:30:37.822Z,1736400637.822 [DAT](INFO): Rx dataTimestamp_ set to:1736400637.820973
2025-01-09T05:30:37.825Z,1736400637.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282260
2025-01-09T05:30:37.830Z,1736400637.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.800003 m,
      nav range: 209.230743 m,
      bearing: 267.222966 deg,
      approach rate: -0.616821 m/s,
      LOS rate: -0.002484 deg/s,
      cmd heading: 266.730334 deg,
      new cmd heading: 266.727125 deg.

2025-01-09T05:30:37.845Z,1736400637.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655267 target range: 220.800003 and range: 218.30 m.
2025-01-09T05:30:38.068Z,1736400638.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526561
2025-01-09T05:30:38.317Z,1736400638.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:38.326Z,1736400638.326 [DAT](INFO): DAT read: 05:30:36.3819 LVL= 22640, 24561, 17714, 21955, AGC= 64, IDX=  99, 0.01,-1.956,-3.079,-1.914,-2.944, PHS= 1.077,-0.088, 1.027, RAW= 147.8, -32.0, CAL= 150.9, -37.0, ROT= 359.1,  37.0

2025-01-09T05:30:38.327Z,1736400638.327 [DAT](INFO): got valid direction response:
 05:30:36.3819 LVL= 22640, 24561, 17714, 21955, AGC= 64, IDX=  99, 0.01,-1.956,-3.079,-1.914,-2.944, PHS= 1.077,-0.088, 1.027, RAW= 147.8, -32.0, CAL= 150.9, -37.0, ROT= 359.1,  37.0

2025-01-09T05:30:38.328Z,1736400638.328 [DAT](INFO): DAT read: Bearing 359.1,  37.0 (Local)

2025-01-09T05:30:38.328Z,1736400638.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,  37.0 (Local)

2025-01-09T05:30:38.330Z,1736400638.330 [DAT](INFO): DAT read: Range 10 to 50 : 230.5 m  (Round-trip  307.4 ms) speed  0.4 m/s

2025-01-09T05:30:38.330Z,1736400638.330 [DAT](INFO): DAT read: user:58>

2025-01-09T05:30:38.331Z,1736400638.331 [DAT](INFO): DAT read: Tx time:05:30:37.4704

2025-01-09T05:30:38.331Z,1736400638.331 [DAT](INFO): Ping request sent.
2025-01-09T05:30:38.331Z,1736400638.331 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:38.332Z,1736400638.332 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:30:38.333Z,1736400638.333 [DAT](INFO): direction in FSK: [0.798537,-0.012544,-0.601815]
2025-01-09T05:30:38.333Z,1736400638.333 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:38.333Z,1736400638.333 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:38.354Z,1736400638.354 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:38.354Z,1736400638.354 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:38.386Z,1736400638.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 230.500000 m,
      deltaT: 3.780509 s,
      deltaX: 12.199997 m,
      approachRate: 3.227078 m/s,
      rangeRepo size: 4

2025-01-09T05:30:38.401Z,1736400638.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 230.500000 m,
      bearing: 271.411423 deg,
      lat: 36.903988 deg,
      lon: -122.118974 deg,
      deltaT: 14.363993 s,
      deltaX: 9.699997 m,
      approachRate: 0.675299 m/s,
      posRepo size: 4

2025-01-09T05:30:38.402Z,1736400638.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.50 m.
2025-01-09T05:30:38.424Z,1736400638.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.500000 m,
      nav range: 193.765152 m,
      bearing: 267.002855 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002484 deg/s,
      cmd heading: 266.727138 deg,
      new cmd heading: 266.722613 deg.

2025-01-09T05:30:38.432Z,1736400638.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655188 target range: 230.500000 and range: 230.50 m.
2025-01-09T05:30:38.572Z,1736400638.572 [DAT](INFO): DAT read: TxSync time:05:30:37.4696

2025-01-09T05:30:38.893Z,1736400638.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:38.937Z,1736400638.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.50 m.
2025-01-09T05:30:38.940Z,1736400638.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.500000 m,
      nav range: 193.410065 m,
      bearing: 266.997199 deg,
      approach rate: -0.643363 m/s,
      LOS rate: -0.010267 deg/s,
      cmd heading: 266.722603 deg,
      new cmd heading: 266.705603 deg.

2025-01-09T05:30:38.941Z,1736400638.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654891 target range: 230.500000 and range: 230.50 m.
2025-01-09T05:30:39.348Z,1736400639.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:39.358Z,1736400639.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.50 m.
2025-01-09T05:30:39.361Z,1736400639.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.500000 m,
      nav range: 193.129196 m,
      bearing: 266.992891 deg,
      approach rate: -0.666772 m/s,
      LOS rate: -0.010241 deg/s,
      cmd heading: 266.705609 deg,
      new cmd heading: 266.692667 deg.

2025-01-09T05:30:39.362Z,1736400639.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654665 target range: 230.500000 and range: 230.50 m.
2025-01-09T05:30:39.779Z,1736400639.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:39.792Z,1736400639.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:39.801Z,1736400639.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.50 m.
2025-01-09T05:30:39.835Z,1736400639.835 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:39.835Z,1736400639.835 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:39.836Z,1736400639.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:39.841Z,1736400639.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.500000 m,
      nav range: 192.864471 m,
      bearing: 266.988730 deg,
      approach rate: -0.600503 m/s,
      LOS rate: -0.009453 deg/s,
      cmd heading: 266.692659 deg,
      new cmd heading: 266.680157 deg.

2025-01-09T05:30:39.849Z,1736400639.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654447 target range: 230.500000 and range: 230.50 m.
2025-01-09T05:30:40.084Z,1736400640.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752240
2025-01-09T05:30:40.200Z,1736400640.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:40.211Z,1736400640.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.50 m.
2025-01-09T05:30:40.214Z,1736400640.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.500000 m,
      nav range: 192.611847 m,
      bearing: 266.983089 deg,
      approach rate: -0.613065 m/s,
      LOS rate: -0.013705 deg/s,
      cmd heading: 266.680146 deg,
      new cmd heading: 266.663204 deg.

2025-01-09T05:30:40.215Z,1736400640.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654151 target range: 230.500000 and range: 230.50 m.
2025-01-09T05:30:40.336Z,1736400640.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004816
2025-01-09T05:30:40.565Z,1736400640.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:40.575Z,1736400640.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.50 m.
2025-01-09T05:30:40.577Z,1736400640.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.500000 m,
      nav range: 192.393021 m,
      bearing: 266.978004 deg,
      approach rate: -0.601904 m/s,
      LOS rate: -0.014004 deg/s,
      cmd heading: 266.663207 deg,
      new cmd heading: 266.647934 deg.

2025-01-09T05:30:40.579Z,1736400640.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653884 target range: 230.500000 and range: 230.50 m.
2025-01-09T05:30:40.588Z,1736400640.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256311
2025-01-09T05:30:40.844Z,1736400640.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512202
2025-01-09T05:30:41.005Z,1736400641.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:41.015Z,1736400641.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.50 m.
2025-01-09T05:30:41.020Z,1736400641.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.500000 m,
      nav range: 192.124985 m,
      bearing: 266.968863 deg,
      approach rate: -0.608998 m/s,
      LOS rate: -0.020798 deg/s,
      cmd heading: 266.647935 deg,
      new cmd heading: 266.620474 deg.

2025-01-09T05:30:41.021Z,1736400641.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653405 target range: 230.500000 and range: 230.50 m.
2025-01-09T05:30:41.096Z,1736400641.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764836
2025-01-09T05:30:41.348Z,1736400641.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016273
2025-01-09T05:30:41.378Z,1736400641.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:41.388Z,1736400641.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.50 m.
2025-01-09T05:30:41.391Z,1736400641.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.500000 m,
      nav range: 191.898224 m,
      bearing: 266.961017 deg,
      approach rate: -0.607392 m/s,
      LOS rate: -0.021042 deg/s,
      cmd heading: 266.620478 deg,
      new cmd heading: 266.596911 deg.

2025-01-09T05:30:41.392Z,1736400641.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652994 target range: 230.500000 and range: 230.50 m.
2025-01-09T05:30:41.602Z,1736400641.602 [DAT](INFO): DAT read: Rx Time:05:30:40.1791

2025-01-09T05:30:41.603Z,1736400641.603 [DAT](INFO): Rx dataTimestamp_ set to:1736400641.602234
2025-01-09T05:30:41.603Z,1736400641.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271738
2025-01-09T05:30:41.837Z,1736400641.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:41.855Z,1736400641.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522906
2025-01-09T05:30:41.895Z,1736400641.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:41.897Z,1736400641.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.50 m.
2025-01-09T05:30:41.904Z,1736400641.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.500000 m,
      nav range: 191.619125 m,
      bearing: 266.951334 deg,
      approach rate: -0.547757 m/s,
      LOS rate: -0.019032 deg/s,
      cmd heading: 266.596900 deg,
      new cmd heading: 266.567808 deg.

2025-01-09T05:30:41.905Z,1736400641.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652486 target range: 230.500000 and range: 230.50 m.
2025-01-09T05:30:42.115Z,1736400642.115 [DAT](INFO): DAT read: 05:30:40.1791 LVL= 23872, 31185, 20274, 24851, AGC= 57, IDX= 412,-0.46,-1.068,-2.260,-1.019,-2.001, PHS= 1.021,-0.213, 0.979, RAW= 148.3, -27.5, CAL= 152.1, -33.5, ROT= 357.9,  33.5

2025-01-09T05:30:42.116Z,1736400642.116 [DAT](INFO): got valid direction response:
 05:30:40.1791 LVL= 23872, 31185, 20274, 24851, AGC= 57, IDX= 412,-0.46,-1.068,-2.260,-1.019,-2.001, PHS= 1.021,-0.213, 0.979, RAW= 148.3, -27.5, CAL= 152.1, -33.5, ROT= 357.9,  33.5

2025-01-09T05:30:42.117Z,1736400642.117 [DAT](INFO): DAT read: Bearing 357.9,  33.5 (Local)

2025-01-09T05:30:42.118Z,1736400642.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  33.5 (Local)

2025-01-09T05:30:42.121Z,1736400642.121 [DAT](INFO): DAT read: Range 10 to 50 : 228.4 m  (Round-trip  304.6 ms) speed  0.4 m/s

2025-01-09T05:30:42.127Z,1736400642.127 [DAT](INFO): DAT read: user:59>

2025-01-09T05:30:42.128Z,1736400642.128 [DAT](INFO): DAT read: Tx time:05:30:41.2704

2025-01-09T05:30:42.128Z,1736400642.128 [DAT](INFO): Ping request sent.
2025-01-09T05:30:42.128Z,1736400642.128 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:42.128Z,1736400642.128 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:30:42.129Z,1736400642.129 [DAT](INFO): direction in FSK: [0.833326,-0.030557,-0.551937]
2025-01-09T05:30:42.129Z,1736400642.129 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:42.130Z,1736400642.130 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:42.138Z,1736400642.138 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:42.138Z,1736400642.138 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:42.331Z,1736400642.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:42.356Z,1736400642.356 [DAT](INFO): DAT read: TxSync time:05:30:41.2696

2025-01-09T05:30:42.365Z,1736400642.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 228.399994 m,
      deltaT: 3.785356 s,
      deltaX: -2.100006 m,
      approachRate: -0.554771 m/s,
      rangeRepo size: 4

2025-01-09T05:30:42.371Z,1736400642.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 228.399994 m,
      bearing: 270.197340 deg,
      lat: 36.904086 deg,
      lon: -122.118974 deg,
      deltaT: 3.785356 s,
      deltaX: -2.100006 m,
      approachRate: -0.554771 m/s,
      posRepo size: 4

2025-01-09T05:30:42.372Z,1736400642.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T05:30:42.378Z,1736400642.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 191.037521 m,
      bearing: 270.207926 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019032 deg/s,
      cmd heading: 266.567803 deg,
      new cmd heading: 266.541156 deg.

2025-01-09T05:30:42.380Z,1736400642.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652021 target range: 228.399994 and range: 228.40 m.
2025-01-09T05:30:42.649Z,1736400642.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:42.659Z,1736400642.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T05:30:42.662Z,1736400642.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 190.832291 m,
      bearing: 270.203164 deg,
      approach rate: -0.696316 m/s,
      LOS rate: -0.016173 deg/s,
      cmd heading: 266.541166 deg,
      new cmd heading: 266.526865 deg.

2025-01-09T05:30:42.663Z,1736400642.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651772 target range: 228.399994 and range: 228.40 m.
2025-01-09T05:30:43.060Z,1736400643.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:30:43.060Z,1736400643.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:43.071Z,1736400643.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T05:30:43.074Z,1736400643.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 190.571259 m,
      bearing: 270.197398 deg,
      approach rate: -0.633054 m/s,
      LOS rate: -0.014002 deg/s,
      cmd heading: 266.526877 deg,
      new cmd heading: 266.509556 deg.

2025-01-09T05:30:43.075Z,1736400643.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651469 target range: 228.399994 and range: 228.40 m.
2025-01-09T05:30:43.461Z,1736400643.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:30:43.461Z,1736400643.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:43.474Z,1736400643.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T05:30:43.477Z,1736400643.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 190.316818 m,
      bearing: 270.192001 deg,
      approach rate: -0.631181 m/s,
      LOS rate: -0.013406 deg/s,
      cmd heading: 266.509555 deg,
      new cmd heading: 266.493343 deg.

2025-01-09T05:30:43.478Z,1736400643.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651186 target range: 228.399994 and range: 228.40 m.
2025-01-09T05:30:43.928Z,1736400643.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s.
2025-01-09T05:30:43.929Z,1736400643.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:43.944Z,1736400643.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:43.946Z,1736400643.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T05:30:43.954Z,1736400643.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 190.019562 m,
      bearing: 270.185735 deg,
      approach rate: -0.629882 m/s,
      LOS rate: -0.013298 deg/s,
      cmd heading: 266.493354 deg,
      new cmd heading: 266.474527 deg.

2025-01-09T05:30:43.955Z,1736400643.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650858 target range: 228.399994 and range: 228.40 m.
2025-01-09T05:30:44.119Z,1736400644.119 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:44.119Z,1736400644.119 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:44.120Z,1736400644.120 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:44.336Z,1736400644.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:44.345Z,1736400644.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T05:30:44.348Z,1736400644.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 189.752899 m,
      bearing: 270.181023 deg,
      approach rate: -0.668520 m/s,
      LOS rate: -0.011829 deg/s,
      cmd heading: 266.474530 deg,
      new cmd heading: 266.460375 deg.

2025-01-09T05:30:44.349Z,1736400644.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650611 target range: 228.399994 and range: 228.40 m.
2025-01-09T05:30:44.372Z,1736400644.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243909
2025-01-09T05:30:44.624Z,1736400644.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495704
2025-01-09T05:30:44.685Z,1736400644.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:44.710Z,1736400644.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T05:30:44.719Z,1736400644.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 189.525375 m,
      bearing: 270.176972 deg,
      approach rate: -0.623054 m/s,
      LOS rate: -0.011107 deg/s,
      cmd heading: 266.460378 deg,
      new cmd heading: 266.448210 deg.

2025-01-09T05:30:44.720Z,1736400644.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650399 target range: 228.399994 and range: 228.40 m.
2025-01-09T05:30:44.880Z,1736400644.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751695
2025-01-09T05:30:45.114Z,1736400645.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:45.128Z,1736400645.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999735
2025-01-09T05:30:45.139Z,1736400645.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T05:30:45.141Z,1736400645.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 189.243576 m,
      bearing: 270.175557 deg,
      approach rate: -0.683382 m/s,
      LOS rate: -0.003437 deg/s,
      cmd heading: 266.448220 deg,
      new cmd heading: 266.443969 deg.

2025-01-09T05:30:45.147Z,1736400645.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650324 target range: 228.399994 and range: 228.40 m.
2025-01-09T05:30:45.380Z,1736400645.380 [DAT](INFO): DAT read: Rx Time:05:30:43.9766

2025-01-09T05:30:45.380Z,1736400645.380 [DAT](INFO): Rx dataTimestamp_ set to:1736400645.379979
2025-01-09T05:30:45.381Z,1736400645.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252855
2025-01-09T05:30:45.495Z,1736400645.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:45.508Z,1736400645.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.40 m.
2025-01-09T05:30:45.510Z,1736400645.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.399994 m,
      nav range: 188.994324 m,
      bearing: 270.174320 deg,
      approach rate: -0.647580 m/s,
      LOS rate: -0.003220 deg/s,
      cmd heading: 266.443958 deg,
      new cmd heading: 266.440240 deg.

2025-01-09T05:30:45.511Z,1736400645.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650259 target range: 228.399994 and range: 228.40 m.
2025-01-09T05:30:45.632Z,1736400645.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503651
2025-01-09T05:30:45.930Z,1736400645.930 [DAT](INFO): DAT read: 05:30:43.9766 LVL= 17680, 25377, 15586, 25123, AGC= 64, IDX= 418,-0.08, 1.590, 0.657, 1.681, 0.590, PHS= 1.088, 0.114, 1.088, RAW= 150.0, -39.7, CAL= 153.0, -42.6, ROT= 357.0,  42.6

2025-01-09T05:30:45.952Z,1736400645.952 [DAT](INFO): got valid direction response:
 05:30:43.9766 LVL= 17680, 25377, 15586, 25123, AGC= 64, IDX= 418,-0.08, 1.590, 0.657, 1.681, 0.590, PHS= 1.088, 0.114, 1.088, RAW= 150.0, -39.7, CAL= 153.0, -42.6, ROT= 357.0,  42.6

2025-01-09T05:30:45.954Z,1736400645.954 [DAT](INFO): DAT read: Bearing 357.0,  42.6 (Local)

2025-01-09T05:30:45.954Z,1736400645.954 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,  42.6 (Local)

2025-01-09T05:30:45.969Z,1736400645.969 [DAT](INFO): DAT read: Range 10 to 50 : 226.5 m  (Round-trip  302.1 ms) speed  0.5 m/s

2025-01-09T05:30:45.970Z,1736400645.970 [DAT](INFO): DAT read: user:60>

2025-01-09T05:30:45.984Z,1736400645.984 [DAT](INFO): DAT read: Tx time:05:30:45.0704

2025-01-09T05:30:45.985Z,1736400645.985 [DAT](INFO): Ping request sent.
2025-01-09T05:30:45.985Z,1736400645.985 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:45.986Z,1736400645.986 [DAT](INFO): DAT read: TxSync time:05:30:45.0696

2025-01-09T05:30:45.995Z,1736400645.995 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:30:45.996Z,1736400645.996 [DAT](INFO): direction in FSK: [0.735088,-0.038524,-0.676876]
2025-01-09T05:30:45.996Z,1736400645.996 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:45.997Z,1736400645.997 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:46.004Z,1736400646.004 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:46.004Z,1736400646.004 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:46.069Z,1736400646.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:46.126Z,1736400646.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 226.500000 m,
      deltaT: 3.780371 s,
      deltaX: -1.899994 m,
      approachRate: -0.502595 m/s,
      rangeRepo size: 4

2025-01-09T05:30:46.132Z,1736400646.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 226.500000 m,
      bearing: 269.819939 deg,
      lat: 36.904086 deg,
      lon: -122.118974 deg,
      deltaT: 3.780371 s,
      deltaX: -1.899994 m,
      approachRate: -0.502595 m/s,
      posRepo size: 4

2025-01-09T05:30:46.133Z,1736400646.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:46.144Z,1736400646.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 188.617096 m,
      bearing: 270.174297 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003220 deg/s,
      cmd heading: 266.440243 deg,
      new cmd heading: 266.434277 deg.

2025-01-09T05:30:46.145Z,1736400646.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650156 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:46.439Z,1736400646.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:46.446Z,1736400646.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:46.448Z,1736400646.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:46.452Z,1736400646.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 188.374252 m,
      bearing: 270.174282 deg,
      approach rate: -0.751852 m/s,
      LOS rate: -0.000046 deg/s,
      cmd heading: 266.434287 deg,
      new cmd heading: 266.434242 deg.

2025-01-09T05:30:46.453Z,1736400646.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650155 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:46.639Z,1736400646.639 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:46.639Z,1736400646.639 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:46.640Z,1736400646.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:46.828Z,1736400646.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:46.838Z,1736400646.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:46.842Z,1736400646.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 188.119263 m,
      bearing: 270.174430 deg,
      approach rate: -0.653783 m/s,
      LOS rate: 0.000380 deg/s,
      cmd heading: 266.434232 deg,
      new cmd heading: 266.434677 deg.

2025-01-09T05:30:46.843Z,1736400646.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650162 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:46.895Z,1736400646.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.909831
2025-01-09T05:30:47.144Z,1736400647.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.158957
2025-01-09T05:30:47.246Z,1736400647.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:47.255Z,1736400647.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:47.258Z,1736400647.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 187.849289 m,
      bearing: 270.174610 deg,
      approach rate: -0.648699 m/s,
      LOS rate: 0.000434 deg/s,
      cmd heading: 266.434669 deg,
      new cmd heading: 266.435211 deg.

2025-01-09T05:30:47.259Z,1736400647.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650172 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:47.396Z,1736400647.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.410961
2025-01-09T05:30:47.631Z,1736400647.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:47.648Z,1736400647.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.663188
2025-01-09T05:30:47.661Z,1736400647.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:47.669Z,1736400647.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 187.600357 m,
      bearing: 270.174777 deg,
      approach rate: -0.611843 m/s,
      LOS rate: 0.000411 deg/s,
      cmd heading: 266.435216 deg,
      new cmd heading: 266.435717 deg.

2025-01-09T05:30:47.670Z,1736400647.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650180 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:47.902Z,1736400647.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.917204
2025-01-09T05:30:48.054Z,1736400648.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:48.062Z,1736400648.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:48.065Z,1736400648.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 187.324097 m,
      bearing: 270.176394 deg,
      approach rate: -0.689119 m/s,
      LOS rate: 0.004038 deg/s,
      cmd heading: 266.435707 deg,
      new cmd heading: 266.440564 deg.

2025-01-09T05:30:48.066Z,1736400648.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650265 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:48.152Z,1736400648.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.167184
2025-01-09T05:30:48.296Z,1736400648.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:30:48.404Z,1736400648.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.419198
2025-01-09T05:30:48.501Z,1736400648.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:48.508Z,1736400648.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:48.510Z,1736400648.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:48.513Z,1736400648.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 187.032578 m,
      bearing: 270.177661 deg,
      approach rate: -0.650397 m/s,
      LOS rate: 0.002833 deg/s,
      cmd heading: 266.440571 deg,
      new cmd heading: 266.444380 deg.

2025-01-09T05:30:48.514Z,1736400648.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650331 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:48.656Z,1736400648.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.671020
2025-01-09T05:30:48.857Z,1736400648.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:48.866Z,1736400648.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:48.870Z,1736400648.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 186.799164 m,
      bearing: 270.178679 deg,
      approach rate: -0.656850 m/s,
      LOS rate: 0.002868 deg/s,
      cmd heading: 266.444368 deg,
      new cmd heading: 266.447426 deg.

2025-01-09T05:30:48.872Z,1736400648.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650385 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:48.909Z,1736400648.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.924739
2025-01-09T05:30:49.160Z,1736400649.160 [DAT](INFO): DAT read: Rx Time:05:30:47.7483

2025-01-09T05:30:49.160Z,1736400649.160 [DAT](INFO): Rx dataTimestamp_ set to:1736400649.159811
2025-01-09T05:30:49.161Z,1736400649.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.176033
2025-01-09T05:30:49.261Z,1736400649.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:49.272Z,1736400649.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:49.277Z,1736400649.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 186.523880 m,
      bearing: 270.178972 deg,
      approach rate: -0.679700 m/s,
      LOS rate: 0.000723 deg/s,
      cmd heading: 266.447428 deg,
      new cmd heading: 266.448306 deg.

2025-01-09T05:30:49.278Z,1736400649.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650400 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:49.299Z,1736400649.299 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:30:49.412Z,1736400649.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.426998
2025-01-09T05:30:49.642Z,1736400649.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:49.652Z,1736400649.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:49.655Z,1736400649.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 186.264069 m,
      bearing: 270.179101 deg,
      approach rate: -0.680382 m/s,
      LOS rate: 0.000339 deg/s,
      cmd heading: 266.448302 deg,
      new cmd heading: 266.448691 deg.

2025-01-09T05:30:49.656Z,1736400649.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650407 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:49.670Z,1736400649.670 [DAT](INFO): DAT read: 05:30:47.7483 LVL= 20176, 23969, 18002, 26163, AGC= 62, IDX= 143, 0.32,-0.108,-1.524,-0.236,-0.788, PHS= 0.768,-0.689, 0.549, RAW= 142.0,  -9.3, CAL= 148.7, -18.7, ROT=   1.3,  18.7

2025-01-09T05:30:49.671Z,1736400649.671 [DAT](INFO): got valid direction response:
 05:30:47.7483 LVL= 20176, 23969, 18002, 26163, AGC= 62, IDX= 143, 0.32,-0.108,-1.524,-0.236,-0.788, PHS= 0.768,-0.689, 0.549, RAW= 142.0,  -9.3, CAL= 148.7, -18.7, ROT=   1.3,  18.7

2025-01-09T05:30:49.672Z,1736400649.672 [DAT](INFO): DAT read: Bearing   1.3,  18.7 (Local)

2025-01-09T05:30:49.673Z,1736400649.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  18.7 (Local)

2025-01-09T05:30:49.674Z,1736400649.674 [DAT](INFO): DAT read: Range 10 to 50 : 205.2 m  (Round-trip  273.7 ms) speed  0.4 m/s

2025-01-09T05:30:49.675Z,1736400649.675 [DAT](INFO): DAT read: user:61>

2025-01-09T05:30:49.676Z,1736400649.676 [DAT](INFO): DAT read: Tx time:05:30:48.8705

2025-01-09T05:30:49.676Z,1736400649.676 [DAT](INFO): Ping request sent.
2025-01-09T05:30:49.676Z,1736400649.676 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:49.676Z,1736400649.676 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:30:49.677Z,1736400649.677 [DAT](INFO): direction in FSK: [0.946966,0.021490,-0.320613]
2025-01-09T05:30:49.678Z,1736400649.678 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:49.678Z,1736400649.678 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:49.681Z,1736400649.681 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:49.681Z,1736400649.681 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:49.928Z,1736400649.928 [DAT](INFO): DAT read: TxSync time:05:30:48.8697

2025-01-09T05:30:50.088Z,1736400650.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:50.118Z,1736400650.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 205.199997 m,
 deltaT: 3.777994 s,
 deltaX: -21.300003 m,
 approachRate: -5.637913 m/s,
 rangeRepo size: 4
2025-01-09T05:30:50.123Z,1736400650.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:50.126Z,1736400650.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 185.955002 m,
      bearing: 270.178419 deg,
      approach rate: -0.666055 m/s,
      LOS rate: -0.001471 deg/s,
      cmd heading: 266.448685 deg,
      new cmd heading: 266.446637 deg.

2025-01-09T05:30:50.131Z,1736400650.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650371 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:50.446Z,1736400650.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:50.455Z,1736400650.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:50.458Z,1736400650.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 185.706772 m,
      bearing: 270.178001 deg,
      approach rate: -0.732378 m/s,
      LOS rate: -0.001237 deg/s,
      cmd heading: 266.446636 deg,
      new cmd heading: 266.445378 deg.

2025-01-09T05:30:50.459Z,1736400650.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650349 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:50.877Z,1736400650.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:50.888Z,1736400650.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:50.890Z,1736400650.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:50.897Z,1736400650.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 185.408401 m,
      bearing: 270.177526 deg,
      approach rate: -0.687093 m/s,
      LOS rate: -0.001094 deg/s,
      cmd heading: 266.445379 deg,
      new cmd heading: 266.443954 deg.

2025-01-09T05:30:50.898Z,1736400650.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650324 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:50.931Z,1736400650.931 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:50.932Z,1736400650.932 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:50.932Z,1736400650.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:51.185Z,1736400651.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509121
2025-01-09T05:30:51.288Z,1736400651.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:51.296Z,1736400651.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:51.299Z,1736400651.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 185.117462 m,
      bearing: 270.175688 deg,
      approach rate: -0.715947 m/s,
      LOS rate: -0.004532 deg/s,
      cmd heading: 266.443958 deg,
      new cmd heading: 266.438434 deg.

2025-01-09T05:30:51.300Z,1736400651.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650228 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:51.436Z,1736400651.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759545
2025-01-09T05:30:51.663Z,1736400651.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:51.672Z,1736400651.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:51.674Z,1736400651.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 184.852249 m,
      bearing: 270.173952 deg,
      approach rate: -0.706348 m/s,
      LOS rate: -0.004629 deg/s,
      cmd heading: 266.438440 deg,
      new cmd heading: 266.433226 deg.

2025-01-09T05:30:51.675Z,1736400651.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650137 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:51.688Z,1736400651.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011607
2025-01-09T05:30:51.940Z,1736400651.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263521
2025-01-09T05:30:52.140Z,1736400652.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:52.149Z,1736400652.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:52.153Z,1736400652.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 184.512222 m,
      bearing: 270.171167 deg,
      approach rate: -0.712194 m/s,
      LOS rate: -0.005844 deg/s,
      cmd heading: 266.433221 deg,
      new cmd heading: 266.424850 deg.

2025-01-09T05:30:52.154Z,1736400652.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649991 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:52.192Z,1736400652.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516170
2025-01-09T05:30:52.445Z,1736400652.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769124
2025-01-09T05:30:52.510Z,1736400652.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:52.520Z,1736400652.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:52.522Z,1736400652.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 184.249069 m,
      bearing: 270.169022 deg,
      approach rate: -0.709927 m/s,
      LOS rate: -0.005795 deg/s,
      cmd heading: 266.424861 deg,
      new cmd heading: 266.418417 deg.

2025-01-09T05:30:52.523Z,1736400652.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649879 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:52.696Z,1736400652.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020198
2025-01-09T05:30:52.931Z,1736400652.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:52.948Z,1736400652.948 [DAT](INFO): DAT read: Rx Time:05:30:51.5456

2025-01-09T05:30:52.948Z,1736400652.948 [DAT](INFO): Rx dataTimestamp_ set to:1736400652.947904
2025-01-09T05:30:52.949Z,1736400652.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272610
2025-01-09T05:30:53.044Z,1736400653.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:53.046Z,1736400653.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:53.059Z,1736400653.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 183.949188 m,
      bearing: 270.166713 deg,
      approach rate: -0.569913 m/s,
      LOS rate: -0.004395 deg/s,
      cmd heading: 266.418413 deg,
      new cmd heading: 266.411475 deg.

2025-01-09T05:30:53.060Z,1736400653.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649757 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:53.201Z,1736400653.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524266
2025-01-09T05:30:53.427Z,1736400653.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:53.437Z,1736400653.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.50 m.
2025-01-09T05:30:53.460Z,1736400653.460 [DAT](INFO): DAT read: 05:30:51.5456 LVL= 24304, 32753, 19266, 32755, AGC= 61, IDX= 419,-0.35,-1.901, 3.087,-1.970,-2.536, PHS= 0.723,-0.614, 0.562, RAW= 143.7, -10.6, CAL= 150.8, -19.7, ROT= 359.2,  19.7

2025-01-09T05:30:53.461Z,1736400653.461 [DAT](INFO): got valid direction response:
 05:30:51.5456 LVL= 24304, 32753, 19266, 32755, AGC= 61, IDX= 419,-0.35,-1.901, 3.087,-1.970,-2.536, PHS= 0.723,-0.614, 0.562, RAW= 143.7, -10.6, CAL= 150.8, -19.7, ROT= 359.2,  19.7

2025-01-09T05:30:53.462Z,1736400653.462 [DAT](INFO): DAT read: Bearing 359.2,  19.7 (Local)

2025-01-09T05:30:53.463Z,1736400653.463 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  19.7 (Local)

2025-01-09T05:30:53.464Z,1736400653.464 [DAT](INFO): DAT read: Range 10 to 50 : 203.1 m  (Round-trip  270.9 ms) speed  0.9 m/s

2025-01-09T05:30:53.465Z,1736400653.465 [DAT](INFO): DAT read: user:62>

2025-01-09T05:30:53.465Z,1736400653.465 [DAT](INFO): DAT read: Tx time:05:30:52.6705

2025-01-09T05:30:53.466Z,1736400653.466 [DAT](INFO): Ping request sent.
2025-01-09T05:30:53.466Z,1736400653.466 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:53.466Z,1736400653.466 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:30:53.469Z,1736400653.469 [DAT](INFO): direction in FSK: [0.941379,-0.013145,-0.337095]
2025-01-09T05:30:53.469Z,1736400653.469 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:53.469Z,1736400653.469 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:53.477Z,1736400653.477 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:53.477Z,1736400653.477 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:53.488Z,1736400653.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.500000 m,
      nav range: 183.604996 m,
      bearing: 270.166508 deg,
      approach rate: -0.880362 m/s,
      LOS rate: -0.000525 deg/s,
      cmd heading: 266.411474 deg,
      new cmd heading: 266.410858 deg.

2025-01-09T05:30:53.489Z,1736400653.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649746 target range: 226.500000 and range: 226.50 m.
2025-01-09T05:30:53.704Z,1736400653.704 [DAT](INFO): DAT read: TxSync time:05:30:52.6697

2025-01-09T05:30:53.810Z,1736400653.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:53.825Z,1736400653.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 203.100006 m,
      deltaT: 7.567090 s,
      deltaX: -23.399994 m,
      approachRate: -3.092337 m/s,
      rangeRepo size: 4

2025-01-09T05:30:53.831Z,1736400653.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 203.100006 m,
      bearing: 268.463235 deg,
      lat: 36.904086 deg,
      lon: -122.119082 deg,
      deltaT: 7.567090 s,
      deltaX: -23.399994 m,
      approachRate: -3.092337 m/s,
      posRepo size: 4

2025-01-09T05:30:53.832Z,1736400653.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-01-09T05:30:53.836Z,1736400653.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 192.961670 m,
      bearing: 270.158182 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000525 deg/s,
      cmd heading: 266.410846 deg,
      new cmd heading: 266.410235 deg.

2025-01-09T05:30:53.837Z,1736400653.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649736 target range: 203.100006 and range: 203.10 m.
2025-01-09T05:30:54.254Z,1736400654.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:54.269Z,1736400654.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-01-09T05:30:54.272Z,1736400654.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 192.659744 m,
      bearing: 270.157521 deg,
      approach rate: -0.679147 m/s,
      LOS rate: -0.001490 deg/s,
      cmd heading: 266.410245 deg,
      new cmd heading: 266.408257 deg.

2025-01-09T05:30:54.273Z,1736400654.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649701 target range: 203.100006 and range: 203.10 m.
2025-01-09T05:30:54.708Z,1736400654.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:54.719Z,1736400654.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-01-09T05:30:54.721Z,1736400654.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 192.351242 m,
      bearing: 270.157319 deg,
      approach rate: -0.685752 m/s,
      LOS rate: -0.000450 deg/s,
      cmd heading: 266.408250 deg,
      new cmd heading: 266.407643 deg.

2025-01-09T05:30:54.723Z,1736400654.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649691 target range: 203.100006 and range: 203.10 m.
2025-01-09T05:30:55.142Z,1736400655.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:55.150Z,1736400655.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:55.153Z,1736400655.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-01-09T05:30:55.156Z,1736400655.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 192.063492 m,
      bearing: 270.158152 deg,
      approach rate: -0.662428 m/s,
      LOS rate: 0.001920 deg/s,
      cmd heading: 266.407649 deg,
      new cmd heading: 266.410151 deg.

2025-01-09T05:30:55.157Z,1736400655.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649734 target range: 203.100006 and range: 203.10 m.
2025-01-09T05:30:55.216Z,1736400655.216 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:55.217Z,1736400655.217 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:55.217Z,1736400655.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:55.469Z,1736400655.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002943
2025-01-09T05:30:55.508Z,1736400655.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:55.540Z,1736400655.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-01-09T05:30:55.543Z,1736400655.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 191.821518 m,
      bearing: 270.158685 deg,
      approach rate: -0.624611 m/s,
      LOS rate: 0.001378 deg/s,
      cmd heading: 266.410163 deg,
      new cmd heading: 266.411764 deg.

2025-01-09T05:30:55.544Z,1736400655.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649763 target range: 203.100006 and range: 203.10 m.
2025-01-09T05:30:55.720Z,1736400655.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253723
2025-01-09T05:30:55.910Z,1736400655.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:55.920Z,1736400655.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-01-09T05:30:55.923Z,1736400655.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 191.555557 m,
      bearing: 270.159141 deg,
      approach rate: -0.700996 m/s,
      LOS rate: 0.001205 deg/s,
      cmd heading: 266.411774 deg,
      new cmd heading: 266.413146 deg.

2025-01-09T05:30:55.924Z,1736400655.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649786 target range: 203.100006 and range: 203.10 m.
2025-01-09T05:30:55.973Z,1736400655.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506688
2025-01-09T05:30:56.224Z,1736400656.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757762
2025-01-09T05:30:56.333Z,1736400656.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:56.367Z,1736400656.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-01-09T05:30:56.370Z,1736400656.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 191.281403 m,
      bearing: 270.159753 deg,
      approach rate: -0.612443 m/s,
      LOS rate: 0.001367 deg/s,
      cmd heading: 266.413141 deg,
      new cmd heading: 266.414977 deg.

2025-01-09T05:30:56.376Z,1736400656.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649818 target range: 203.100006 and range: 203.10 m.
2025-01-09T05:30:56.477Z,1736400656.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010716
2025-01-09T05:30:56.714Z,1736400656.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:56.724Z,1736400656.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-01-09T05:30:56.728Z,1736400656.728 [DAT](INFO): DAT read: Rx Time:05:30:55.3426

2025-01-09T05:30:56.728Z,1736400656.728 [DAT](INFO): Rx dataTimestamp_ set to:1736400656.728040
2025-01-09T05:30:56.729Z,1736400656.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263024
2025-01-09T05:30:56.744Z,1736400656.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 191.033936 m,
      bearing: 270.160191 deg,
      approach rate: -0.693241 m/s,
      LOS rate: 0.001229 deg/s,
      cmd heading: 266.414971 deg,
      new cmd heading: 266.416287 deg.

2025-01-09T05:30:56.746Z,1736400656.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649841 target range: 203.100006 and range: 203.10 m.
2025-01-09T05:30:56.980Z,1736400656.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513804
2025-01-09T05:30:57.183Z,1736400657.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:57.191Z,1736400657.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:57.193Z,1736400657.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-01-09T05:30:57.196Z,1736400657.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 190.730377 m,
      bearing: 270.159525 deg,
      approach rate: -0.647721 m/s,
      LOS rate: -0.001422 deg/s,
      cmd heading: 266.416282 deg,
      new cmd heading: 266.414283 deg.

2025-01-09T05:30:57.197Z,1736400657.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649806 target range: 203.100006 and range: 203.10 m.
2025-01-09T05:30:57.241Z,1736400657.241 [DAT](INFO): DAT read: 05:30:55.3426 LVL= 23728, 29105, 20466, 32755, AGC= 63, IDX= 402,-0.25, 1.898, 0.950, 2.094, 0.909, PHS= 1.077, 0.088, 1.182, RAW= 155.0, -38.4, CAL= 157.2, -42.2, ROT= 352.8,  42.2

2025-01-09T05:30:57.243Z,1736400657.243 [DAT](INFO): got valid direction response:
 05:30:55.3426 LVL= 23728, 29105, 20466, 32755, AGC= 63, IDX= 402,-0.25, 1.898, 0.950, 2.094, 0.909, PHS= 1.077, 0.088, 1.182, RAW= 155.0, -38.4, CAL= 157.2, -42.2, ROT= 352.8,  42.2

2025-01-09T05:30:57.244Z,1736400657.244 [DAT](INFO): DAT read: Bearing 352.8,  42.2 (Local)

2025-01-09T05:30:57.245Z,1736400657.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.8,  42.2 (Local)

2025-01-09T05:30:57.248Z,1736400657.248 [DAT](INFO): DAT read: Range 10 to 50 : 201.0 m  (Round-trip  268.0 ms) speed  0.7 m/s

2025-01-09T05:30:57.249Z,1736400657.249 [DAT](INFO): DAT read: user:63>

2025-01-09T05:30:57.250Z,1736400657.250 [DAT](INFO): DAT read: Tx time:05:30:56.4205

2025-01-09T05:30:57.251Z,1736400657.251 [DAT](INFO): Ping request sent.
2025-01-09T05:30:57.251Z,1736400657.251 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:30:57.252Z,1736400657.252 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:30:57.253Z,1736400657.253 [DAT](INFO): direction in FSK: [0.734963,-0.092848,-0.671721]
2025-01-09T05:30:57.253Z,1736400657.253 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:57.254Z,1736400657.254 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:57.268Z,1736400657.268 [DAT](INFO): publishing transmit ping time
2025-01-09T05:30:57.269Z,1736400657.269 [DAT](INFO): publishing direction and range info
2025-01-09T05:30:57.485Z,1736400657.485 [DAT](INFO): DAT read: TxSync time:05:30:56.4197

2025-01-09T05:30:57.544Z,1736400657.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:57.574Z,1736400657.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 201.000000 m,
      deltaT: 3.779167 s,
      deltaX: -2.100006 m,
      approachRate: -0.555680 m/s,
      rangeRepo size: 4

2025-01-09T05:30:57.581Z,1736400657.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 201.000000 m,
      bearing: 266.639632 deg,
      lat: 36.904076 deg,
      lon: -122.119082 deg,
      deltaT: 3.779167 s,
      deltaX: -2.100006 m,
      approachRate: -0.555680 m/s,
      posRepo size: 4

2025-01-09T05:30:57.587Z,1736400657.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:30:57.597Z,1736400657.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 190.496506 m,
      bearing: 269.814381 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001422 deg/s,
      cmd heading: 266.414288 deg,
      new cmd heading: 266.412666 deg.

2025-01-09T05:30:57.602Z,1736400657.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649778 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:30:57.943Z,1736400657.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:57.953Z,1736400657.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:30:57.976Z,1736400657.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 190.238159 m,
      bearing: 269.813256 deg,
      approach rate: -0.681455 m/s,
      LOS rate: -0.002972 deg/s,
      cmd heading: 266.412676 deg,
      new cmd heading: 266.409296 deg.

2025-01-09T05:30:57.977Z,1736400657.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649719 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:30:58.371Z,1736400658.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:58.407Z,1736400658.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:30:58.409Z,1736400658.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 189.957764 m,
      bearing: 269.810546 deg,
      approach rate: -0.646942 m/s,
      LOS rate: -0.006262 deg/s,
      cmd heading: 266.409288 deg,
      new cmd heading: 266.401146 deg.

2025-01-09T05:30:58.410Z,1736400658.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649577 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:30:58.768Z,1736400658.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:58.780Z,1736400658.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:30:58.782Z,1736400658.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 189.698090 m,
      bearing: 269.807991 deg,
      approach rate: -0.659770 m/s,
      LOS rate: -0.006499 deg/s,
      cmd heading: 266.401147 deg,
      new cmd heading: 266.393473 deg.

2025-01-09T05:30:58.801Z,1736400658.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649443 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:30:59.197Z,1736400659.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:59.206Z,1736400659.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:30:59.208Z,1736400659.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:30:59.211Z,1736400659.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 189.404114 m,
      bearing: 269.803924 deg,
      approach rate: -0.686305 m/s,
      LOS rate: -0.009510 deg/s,
      cmd heading: 266.393470 deg,
      new cmd heading: 266.381248 deg.

2025-01-09T05:30:59.212Z,1736400659.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649230 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:30:59.247Z,1736400659.247 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:30:59.248Z,1736400659.248 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:30:59.248Z,1736400659.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:30:59.502Z,1736400659.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250445
2025-01-09T05:30:59.556Z,1736400659.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:59.564Z,1736400659.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:30:59.591Z,1736400659.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 189.159866 m,
      bearing: 269.800331 deg,
      approach rate: -0.686063 m/s,
      LOS rate: -0.010104 deg/s,
      cmd heading: 266.381257 deg,
      new cmd heading: 266.370466 deg.

2025-01-09T05:30:59.592Z,1736400659.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649042 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:30:59.752Z,1736400659.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501165
2025-01-09T05:30:59.963Z,1736400659.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:30:59.972Z,1736400659.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:30:59.976Z,1736400659.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 188.882233 m,
      bearing: 269.796275 deg,
      approach rate: -0.679485 m/s,
      LOS rate: -0.009941 deg/s,
      cmd heading: 266.370465 deg,
      new cmd heading: 266.358280 deg.

2025-01-09T05:30:59.977Z,1736400659.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648829 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:31:00.004Z,1736400660.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752746
2025-01-09T05:31:00.256Z,1736400660.256 [DAT](INFO): DAT read: Rx Time:05:30:59.0629

2025-01-09T05:31:00.256Z,1736400660.256 [DAT](INFO): Rx dataTimestamp_ set to:1736400660.256058
2025-01-09T05:31:00.257Z,1736400660.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005854
2025-01-09T05:31:00.398Z,1736400660.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:00.415Z,1736400660.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:31:00.419Z,1736400660.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 188.578705 m,
      bearing: 269.792169 deg,
      approach rate: -0.686278 m/s,
      LOS rate: -0.009300 deg/s,
      cmd heading: 266.358280 deg,
      new cmd heading: 266.345941 deg.

2025-01-09T05:31:00.421Z,1736400660.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648613 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:31:00.508Z,1736400660.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257400
2025-01-09T05:31:00.760Z,1736400660.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508922
2025-01-09T05:31:00.792Z,1736400660.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:00.845Z,1736400660.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:31:00.869Z,1736400660.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 188.303253 m,
      bearing: 269.788581 deg,
      approach rate: -0.650365 m/s,
      LOS rate: -0.008482 deg/s,
      cmd heading: 266.345931 deg,
      new cmd heading: 266.335154 deg.

2025-01-09T05:31:00.870Z,1736400660.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648426 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:31:01.019Z,1736400661.019 [DAT](INFO): DAT read: 05:30:59.0629 LVL= 22064, 24049, 18306, 26899, AGC= 65, IDX= 132, 0.35, 1.091,-0.372, 0.997, 0.324, PHS= 0.854,-0.650, 0.670, RAW= 143.5, -12.3, CAL= 150.5, -21.1, ROT= 359.5,  21.1

2025-01-09T05:31:01.020Z,1736400661.020 [DAT](INFO): got valid direction response:
 05:30:59.0629 LVL= 22064, 24049, 18306, 26899, AGC= 65, IDX= 132, 0.35, 1.091,-0.372, 0.997, 0.324, PHS= 0.854,-0.650, 0.670, RAW= 143.5, -12.3, CAL= 150.5, -21.1, ROT= 359.5,  21.1

2025-01-09T05:31:01.021Z,1736400661.021 [DAT](INFO): DAT read: Bearing 359.5,  21.1 (Local)

2025-01-09T05:31:01.021Z,1736400661.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,  21.1 (Local)

2025-01-09T05:31:01.023Z,1736400661.023 [DAT](INFO): DAT read: Range 10 to 50 : 178.7 m  (Round-trip  238.3 ms) speed  0.7 m/s

2025-01-09T05:31:01.024Z,1736400661.024 [DAT](INFO): DAT read: user:64>

2025-01-09T05:31:01.024Z,1736400661.024 [DAT](INFO): DAT read: Tx time:05:31:00.1705

2025-01-09T05:31:01.025Z,1736400661.025 [DAT](INFO): Ping request sent.
2025-01-09T05:31:01.025Z,1736400661.025 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:01.025Z,1736400661.025 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:01.026Z,1736400661.026 [DAT](INFO): direction in FSK: [0.932918,-0.008141,-0.359997]
2025-01-09T05:31:01.026Z,1736400661.026 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:01.027Z,1736400661.027 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:01.030Z,1736400661.030 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:01.030Z,1736400661.030 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:01.264Z,1736400661.264 [DAT](INFO): DAT read: TxSync time:05:31:00.1697

2025-01-09T05:31:01.293Z,1736400661.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:01.323Z,1736400661.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 178.699997 m,
 deltaT: 3.779878 s,
 deltaX: -22.300003 m,
 approachRate: -5.899662 m/s,
 rangeRepo size: 4
2025-01-09T05:31:01.324Z,1736400661.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:31:01.331Z,1736400661.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 187.951508 m,
      bearing: 269.783407 deg,
      approach rate: -0.726394 m/s,
      LOS rate: -0.010706 deg/s,
      cmd heading: 266.335167 deg,
      new cmd heading: 266.319615 deg.

2025-01-09T05:31:01.332Z,1736400661.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648154 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:31:01.622Z,1736400661.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:01.629Z,1736400661.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:01.631Z,1736400661.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:31:01.635Z,1736400661.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 187.720551 m,
      bearing: 269.780124 deg,
      approach rate: -0.749646 m/s,
      LOS rate: -0.010669 deg/s,
      cmd heading: 266.319622 deg,
      new cmd heading: 266.309760 deg.

2025-01-09T05:31:01.636Z,1736400661.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647982 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:31:01.768Z,1736400661.768 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:01.768Z,1736400661.768 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:01.769Z,1736400661.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:02.020Z,1736400662.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994975
2025-01-09T05:31:02.021Z,1736400662.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:02.031Z,1736400662.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:31:02.034Z,1736400662.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 187.440628 m,
      bearing: 269.776377 deg,
      approach rate: -0.700197 m/s,
      LOS rate: -0.009388 deg/s,
      cmd heading: 266.309759 deg,
      new cmd heading: 266.298500 deg.

2025-01-09T05:31:02.035Z,1736400662.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647786 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:31:02.272Z,1736400662.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247490
2025-01-09T05:31:02.463Z,1736400662.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:02.493Z,1736400662.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:31:02.500Z,1736400662.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 187.127075 m,
      bearing: 269.771238 deg,
      approach rate: -0.677876 m/s,
      LOS rate: -0.011129 deg/s,
      cmd heading: 266.298503 deg,
      new cmd heading: 266.283060 deg.

2025-01-09T05:31:02.501Z,1736400662.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647516 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:31:02.524Z,1736400662.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498957
2025-01-09T05:31:02.776Z,1736400662.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751509
2025-01-09T05:31:02.831Z,1736400662.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:02.872Z,1736400662.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:31:02.906Z,1736400662.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 186.867264 m,
      bearing: 269.767239 deg,
      approach rate: -0.703016 m/s,
      LOS rate: -0.010834 deg/s,
      cmd heading: 266.283066 deg,
      new cmd heading: 266.271055 deg.

2025-01-09T05:31:02.907Z,1736400662.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647306 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:31:03.028Z,1736400663.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002758
2025-01-09T05:31:03.272Z,1736400663.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:03.280Z,1736400663.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255366
2025-01-09T05:31:03.282Z,1736400663.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:31:03.286Z,1736400663.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 186.561264 m,
      bearing: 269.763726 deg,
      approach rate: -0.729295 m/s,
      LOS rate: -0.008386 deg/s,
      cmd heading: 266.271045 deg,
      new cmd heading: 266.260489 deg.

2025-01-09T05:31:03.287Z,1736400663.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647122 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:31:03.532Z,1736400663.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507577
2025-01-09T05:31:03.637Z,1736400663.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:03.644Z,1736400663.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:03.646Z,1736400663.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:31:03.665Z,1736400663.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 186.308167 m,
      bearing: 269.760931 deg,
      approach rate: -0.695619 m/s,
      LOS rate: -0.007695 deg/s,
      cmd heading: 266.260499 deg,
      new cmd heading: 266.252100 deg.

2025-01-09T05:31:03.666Z,1736400663.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646976 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:31:03.785Z,1736400663.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759846
2025-01-09T05:31:04.036Z,1736400664.036 [DAT](INFO): DAT read: Rx Time:05:31:02.8096

2025-01-09T05:31:04.036Z,1736400664.036 [DAT](INFO): Rx dataTimestamp_ set to:1736400664.035785
2025-01-09T05:31:04.037Z,1736400664.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011834
2025-01-09T05:31:04.046Z,1736400664.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:04.055Z,1736400664.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:31:04.058Z,1736400664.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 186.024673 m,
      bearing: 269.757831 deg,
      approach rate: -0.693246 m/s,
      LOS rate: -0.007592 deg/s,
      cmd heading: 266.252112 deg,
      new cmd heading: 266.242798 deg.

2025-01-09T05:31:04.059Z,1736400664.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646813 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:31:04.288Z,1736400664.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262919
2025-01-09T05:31:04.489Z,1736400664.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:04.513Z,1736400664.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.00 m.
2025-01-09T05:31:04.516Z,1736400664.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.000000 m,
      nav range: 185.729599 m,
      bearing: 269.756123 deg,
      approach rate: -0.644220 m/s,
      LOS rate: -0.003733 deg/s,
      cmd heading: 266.242796 deg,
      new cmd heading: 266.237665 deg.

2025-01-09T05:31:04.517Z,1736400664.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646724 target range: 201.000000 and range: 201.00 m.
2025-01-09T05:31:04.552Z,1736400664.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526519
2025-01-09T05:31:04.801Z,1736400664.801 [DAT](INFO): DAT read: 05:31:02.8096 LVL= 25760, 28657, 19026, 30163, AGC= 62, IDX= 402, 0.13, 2.110, 0.600, 2.076, 1.382, PHS= 0.815,-0.735, 0.691, RAW= 145.9, -10.3, CAL= 152.7, -19.0, ROT= 357.3,  19.0

2025-01-09T05:31:04.803Z,1736400664.803 [DAT](INFO): got valid direction response:
 05:31:02.8096 LVL= 25760, 28657, 19026, 30163, AGC= 62, IDX= 402, 0.13, 2.110, 0.600, 2.076, 1.382, PHS= 0.815,-0.735, 0.691, RAW= 145.9, -10.3, CAL= 152.7, -19.0, ROT= 357.3,  19.0

2025-01-09T05:31:04.804Z,1736400664.804 [DAT](INFO): DAT read: Bearing 357.3,  19.0 (Local)

2025-01-09T05:31:04.804Z,1736400664.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  19.0 (Local)

2025-01-09T05:31:04.806Z,1736400664.806 [DAT](INFO): DAT read: Range 10 to 50 : 176.1 m  (Round-trip  234.9 ms) speed  0.9 m/s

2025-01-09T05:31:04.835Z,1736400664.835 [DAT](INFO): DAT read: user:65>

2025-01-09T05:31:04.836Z,1736400664.836 [DAT](INFO): DAT read: Tx time:05:31:03.9206

2025-01-09T05:31:04.836Z,1736400664.836 [DAT](INFO): Ping request sent.
2025-01-09T05:31:04.836Z,1736400664.836 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:04.837Z,1736400664.837 [DAT](INFO): DAT read: TxSync time:05:31:03.9198

2025-01-09T05:31:04.837Z,1736400664.837 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:04.839Z,1736400664.839 [DAT](INFO): direction in FSK: [0.944469,-0.044540,-0.325568]
2025-01-09T05:31:04.840Z,1736400664.840 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:04.840Z,1736400664.840 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:04.843Z,1736400664.843 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:04.843Z,1736400664.843 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:04.924Z,1736400664.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:04.972Z,1736400664.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 176.100006 m,
      deltaT: 7.559598 s,
      deltaX: -24.899994 m,
      approachRate: -3.293825 m/s,
      rangeRepo size: 4

2025-01-09T05:31:04.974Z,1736400664.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 176.100006 m,
      bearing: 265.812276 deg,
      lat: 36.904033 deg,
      lon: -122.118953 deg,
      deltaT: 7.559598 s,
      deltaX: -24.899994 m,
      approachRate: -3.293825 m/s,
      posRepo size: 4

2025-01-09T05:31:04.978Z,1736400664.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m.
2025-01-09T05:31:04.981Z,1736400664.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.100006 m,
      nav range: 174.090973 m,
      bearing: 268.184528 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003733 deg/s,
      cmd heading: 266.237659 deg,
      new cmd heading: 266.232581 deg.

2025-01-09T05:31:04.982Z,1736400664.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646635 target range: 176.100006 and range: 176.10 m.
2025-01-09T05:31:05.296Z,1736400665.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:05.305Z,1736400665.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m.
2025-01-09T05:31:05.308Z,1736400665.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.100006 m,
      nav range: 173.849380 m,
      bearing: 268.181591 deg,
      approach rate: -0.712750 m/s,
      LOS rate: -0.008679 deg/s,
      cmd heading: 266.232578 deg,
      new cmd heading: 266.223753 deg.

2025-01-09T05:31:05.309Z,1736400665.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646481 target range: 176.100006 and range: 176.10 m.
2025-01-09T05:31:05.681Z,1736400665.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:05.726Z,1736400665.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:05.728Z,1736400665.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m.
2025-01-09T05:31:05.736Z,1736400665.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.100006 m,
      nav range: 173.597534 m,
      bearing: 268.178695 deg,
      approach rate: -0.596053 m/s,
      LOS rate: -0.006862 deg/s,
      cmd heading: 266.223753 deg,
      new cmd heading: 266.215054 deg.

2025-01-09T05:31:05.737Z,1736400665.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646329 target range: 176.100006 and range: 176.10 m.
2025-01-09T05:31:05.803Z,1736400665.803 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:05.803Z,1736400665.803 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:05.803Z,1736400665.803 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:06.056Z,1736400666.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219210
2025-01-09T05:31:06.091Z,1736400666.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:06.100Z,1736400666.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m.
2025-01-09T05:31:06.108Z,1736400666.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.100006 m,
      nav range: 173.329926 m,
      bearing: 268.175797 deg,
      approach rate: -0.719835 m/s,
      LOS rate: -0.007808 deg/s,
      cmd heading: 266.215065 deg,
      new cmd heading: 266.206357 deg.

2025-01-09T05:31:06.109Z,1736400666.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646177 target range: 176.100006 and range: 176.10 m.
2025-01-09T05:31:06.309Z,1736400666.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472186
2025-01-09T05:31:06.560Z,1736400666.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723658
2025-01-09T05:31:06.563Z,1736400666.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:06.571Z,1736400666.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m.
2025-01-09T05:31:06.574Z,1736400666.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.100006 m,
      nav range: 173.026749 m,
      bearing: 268.173605 deg,
      approach rate: -0.642897 m/s,
      LOS rate: -0.004657 deg/s,
      cmd heading: 266.206350 deg,
      new cmd heading: 266.199761 deg.

2025-01-09T05:31:06.575Z,1736400666.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646062 target range: 176.100006 and range: 176.10 m.
2025-01-09T05:31:06.812Z,1736400666.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975060
2025-01-09T05:31:06.985Z,1736400666.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:06.997Z,1736400666.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m.
2025-01-09T05:31:07.004Z,1736400667.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.100006 m,
      nav range: 172.755219 m,
      bearing: 268.171499 deg,
      approach rate: -0.636979 m/s,
      LOS rate: -0.004947 deg/s,
      cmd heading: 266.199765 deg,
      new cmd heading: 266.193439 deg.

2025-01-09T05:31:07.005Z,1736400667.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645952 target range: 176.100006 and range: 176.10 m.
2025-01-09T05:31:07.067Z,1736400667.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229731
2025-01-09T05:31:07.320Z,1736400667.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483224
2025-01-09T05:31:07.397Z,1736400667.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:07.430Z,1736400667.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m.
2025-01-09T05:31:07.437Z,1736400667.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.100006 m,
      nav range: 172.493271 m,
      bearing: 268.168538 deg,
      approach rate: -0.606132 m/s,
      LOS rate: -0.006863 deg/s,
      cmd heading: 266.193427 deg,
      new cmd heading: 266.184529 deg.

2025-01-09T05:31:07.438Z,1736400667.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645796 target range: 176.100006 and range: 176.10 m.
2025-01-09T05:31:07.574Z,1736400667.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736725
2025-01-09T05:31:07.824Z,1736400667.824 [DAT](INFO): DAT read: Rx Time:05:31:06.5563

2025-01-09T05:31:07.825Z,1736400667.825 [DAT](INFO): Rx dataTimestamp_ set to:1736400667.824507
2025-01-09T05:31:07.826Z,1736400667.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989215
2025-01-09T05:31:07.932Z,1736400667.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:07.947Z,1736400667.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:07.949Z,1736400667.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.10 m.
2025-01-09T05:31:07.961Z,1736400667.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.100006 m,
      nav range: 172.153427 m,
      bearing: 268.164605 deg,
      approach rate: -0.653683 m/s,
      LOS rate: -0.007579 deg/s,
      cmd heading: 266.184520 deg,
      new cmd heading: 266.172700 deg.

2025-01-09T05:31:07.962Z,1736400667.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645590 target range: 176.100006 and range: 176.10 m.
2025-01-09T05:31:08.076Z,1736400668.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239185
2025-01-09T05:31:08.365Z,1736400668.365 [DAT](INFO): DAT read: 05:31:06.5563 LVL= 25936, 32561, 21842, 31187, AGC= 63, IDX= 400,-0.25,-1.835, 2.833,-1.936,-2.584, PHS= 0.837,-0.820, 0.644, RAW= 143.9,  -8.5, CAL= 150.4, -17.5, ROT= 359.6,  17.5

2025-01-09T05:31:08.366Z,1736400668.366 [DAT](INFO): got valid direction response:
 05:31:06.5563 LVL= 25936, 32561, 21842, 31187, AGC= 63, IDX= 400,-0.25,-1.835, 2.833,-1.936,-2.584, PHS= 0.837,-0.820, 0.644, RAW= 143.9,  -8.5, CAL= 150.4, -17.5, ROT= 359.6,  17.5

2025-01-09T05:31:08.371Z,1736400668.371 [DAT](INFO): DAT read: Bearing 359.6,  17.5 (Local)

2025-01-09T05:31:08.371Z,1736400668.371 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,  17.5 (Local)

2025-01-09T05:31:08.373Z,1736400668.373 [DAT](INFO): DAT read: Range 10 to 50 : 173.7 m  (Round-trip  231.6 ms) speed  0.4 m/s

2025-01-09T05:31:08.373Z,1736400668.373 [DAT](INFO): DAT read: user:66>

2025-01-09T05:31:08.374Z,1736400668.374 [DAT](INFO): DAT read: Tx time:05:31:07.6706

2025-01-09T05:31:08.379Z,1736400668.379 [DAT](INFO): Ping request sent.
2025-01-09T05:31:08.379Z,1736400668.379 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:08.379Z,1736400668.379 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:08.380Z,1736400668.380 [DAT](INFO): direction in FSK: [0.953694,-0.006658,-0.300706]
2025-01-09T05:31:08.380Z,1736400668.380 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:08.380Z,1736400668.380 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:08.424Z,1736400668.424 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:08.424Z,1736400668.424 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:08.516Z,1736400668.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:08.546Z,1736400668.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 173.699997 m,
      deltaT: 3.537895 s,
      deltaX: -2.400009 m,
      approachRate: -0.678372 m/s,
      rangeRepo size: 4

2025-01-09T05:31:08.559Z,1736400668.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 173.699997 m,
      bearing: 268.004469 deg,
      lat: 36.904029 deg,
      lon: -122.118953 deg,
      deltaT: 3.537895 s,
      deltaX: -2.400009 m,
      approachRate: -0.678372 m/s,
      posRepo size: 4

2025-01-09T05:31:08.559Z,1736400668.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.70 m.
2025-01-09T05:31:08.562Z,1736400668.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.699997 m,
      nav range: 171.800323 m,
      bearing: 267.992440 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007579 deg/s,
      cmd heading: 266.172691 deg,
      new cmd heading: 266.159171 deg.

2025-01-09T05:31:08.567Z,1736400668.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645354 target range: 173.699997 and range: 173.70 m.
2025-01-09T05:31:08.580Z,1736400668.580 [DAT](INFO): DAT read: TxSync time:05:31:07.6698

2025-01-09T05:31:08.847Z,1736400668.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:08.857Z,1736400668.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.70 m.
2025-01-09T05:31:08.860Z,1736400668.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.699997 m,
      nav range: 171.590515 m,
      bearing: 267.988890 deg,
      approach rate: -0.670334 m/s,
      LOS rate: -0.011358 deg/s,
      cmd heading: 266.159167 deg,
      new cmd heading: 266.148502 deg.

2025-01-09T05:31:08.861Z,1736400668.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645168 target range: 173.699997 and range: 173.70 m.
2025-01-09T05:31:09.326Z,1736400669.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:09.337Z,1736400669.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.70 m.
2025-01-09T05:31:09.340Z,1736400669.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.699997 m,
      nav range: 171.281189 m,
      bearing: 267.982551 deg,
      approach rate: -0.644463 m/s,
      LOS rate: -0.013230 deg/s,
      cmd heading: 266.148512 deg,
      new cmd heading: 266.129462 deg.

2025-01-09T05:31:09.341Z,1736400669.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644835 target range: 173.699997 and range: 173.70 m.
2025-01-09T05:31:09.685Z,1736400669.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:09.705Z,1736400669.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.70 m.
2025-01-09T05:31:09.708Z,1736400669.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.699997 m,
      nav range: 171.048553 m,
      bearing: 267.977769 deg,
      approach rate: -0.632107 m/s,
      LOS rate: -0.013011 deg/s,
      cmd heading: 266.129469 deg,
      new cmd heading: 266.115103 deg.

2025-01-09T05:31:09.709Z,1736400669.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644585 target range: 173.699997 and range: 173.70 m.
2025-01-09T05:31:10.063Z,1736400670.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:10.070Z,1736400670.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:10.073Z,1736400670.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.70 m.
2025-01-09T05:31:10.091Z,1736400670.091 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:10.091Z,1736400670.091 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:10.092Z,1736400670.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:10.096Z,1736400670.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.699997 m,
      nav range: 170.804489 m,
      bearing: 267.972435 deg,
      approach rate: -0.664093 m/s,
      LOS rate: -0.014536 deg/s,
      cmd heading: 266.115098 deg,
      new cmd heading: 266.099072 deg.

2025-01-09T05:31:10.097Z,1736400670.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644305 target range: 173.699997 and range: 173.70 m.
2025-01-09T05:31:10.344Z,1736400670.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969719
2025-01-09T05:31:10.537Z,1736400670.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:10.546Z,1736400670.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.70 m.
2025-01-09T05:31:10.576Z,1736400670.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.699997 m,
      nav range: 170.491165 m,
      bearing: 267.963740 deg,
      approach rate: -0.662567 m/s,
      LOS rate: -0.018421 deg/s,
      cmd heading: 266.099061 deg,
      new cmd heading: 266.072928 deg.

2025-01-09T05:31:10.578Z,1736400670.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643848 target range: 173.699997 and range: 173.70 m.
2025-01-09T05:31:10.596Z,1736400670.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221228
2025-01-09T05:31:10.848Z,1736400670.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473195
2025-01-09T05:31:11.003Z,1736400671.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:11.012Z,1736400671.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.70 m.
2025-01-09T05:31:11.015Z,1736400671.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.699997 m,
      nav range: 170.183121 m,
      bearing: 267.955178 deg,
      approach rate: -0.660708 m/s,
      LOS rate: -0.018397 deg/s,
      cmd heading: 266.072915 deg,
      new cmd heading: 266.047183 deg.

2025-01-09T05:31:11.016Z,1736400671.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643399 target range: 173.699997 and range: 173.70 m.
2025-01-09T05:31:11.100Z,1736400671.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725647
2025-01-09T05:31:11.352Z,1736400671.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977398
2025-01-09T05:31:11.436Z,1736400671.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:11.445Z,1736400671.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.70 m.
2025-01-09T05:31:11.448Z,1736400671.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.699997 m,
      nav range: 169.889465 m,
      bearing: 267.945387 deg,
      approach rate: -0.677748 m/s,
      LOS rate: -0.022635 deg/s,
      cmd heading: 266.047179 deg,
      new cmd heading: 266.017756 deg.

2025-01-09T05:31:11.449Z,1736400671.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642886 target range: 173.699997 and range: 173.70 m.
2025-01-09T05:31:11.606Z,1736400671.606 [DAT](INFO): DAT read: Rx Time:05:31:10.3029

2025-01-09T05:31:11.606Z,1736400671.606 [DAT](INFO): Rx dataTimestamp_ set to:1736400671.606078
2025-01-09T05:31:11.607Z,1736400671.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232505
2025-01-09T05:31:11.809Z,1736400671.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:11.819Z,1736400671.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.70 m.
2025-01-09T05:31:11.822Z,1736400671.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.699997 m,
      nav range: 169.636398 m,
      bearing: 267.936994 deg,
      approach rate: -0.676898 m/s,
      LOS rate: -0.022482 deg/s,
      cmd heading: 266.017755 deg,
      new cmd heading: 265.992539 deg.

2025-01-09T05:31:11.823Z,1736400671.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642446 target range: 173.699997 and range: 173.70 m.
2025-01-09T05:31:11.856Z,1736400671.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481737
2025-01-09T05:31:12.113Z,1736400672.113 [DAT](INFO): DAT read: 05:31:10.3029 LVL= 23104, 29921, 18994, 29683, AGC= 60, IDX= 413,-0.29, 2.876, 1.195, 2.715, 2.102, PHS= 0.862,-0.859, 0.610, RAW= 142.2,  -7.7, CAL= 148.5, -17.0, ROT=   1.5,  17.0

2025-01-09T05:31:12.114Z,1736400672.114 [DAT](INFO): got valid direction response:
 05:31:10.3029 LVL= 23104, 29921, 18994, 29683, AGC= 60, IDX= 413,-0.29, 2.876, 1.195, 2.715, 2.102, PHS= 0.862,-0.859, 0.610, RAW= 142.2,  -7.7, CAL= 148.5, -17.0, ROT=   1.5,  17.0

2025-01-09T05:31:12.115Z,1736400672.115 [DAT](INFO): DAT read: Bearing   1.5,  17.0 (Local)

2025-01-09T05:31:12.116Z,1736400672.116 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,  17.0 (Local)

2025-01-09T05:31:12.117Z,1736400672.117 [DAT](INFO): DAT read: Range 10 to 50 : 171.1 m  (Round-trip  228.2 ms) speed  0.8 m/s

2025-01-09T05:31:12.118Z,1736400672.118 [DAT](INFO): DAT read: user:67>

2025-01-09T05:31:12.120Z,1736400672.120 [DAT](INFO): DAT read: Tx time:05:31:11.4206

2025-01-09T05:31:12.120Z,1736400672.120 [DAT](INFO): Ping request sent.
2025-01-09T05:31:12.120Z,1736400672.120 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:12.120Z,1736400672.120 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:12.121Z,1736400672.121 [DAT](INFO): direction in FSK: [0.955977,0.025033,-0.292372]
2025-01-09T05:31:12.122Z,1736400672.122 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:12.122Z,1736400672.122 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:12.128Z,1736400672.128 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:12.128Z,1736400672.128 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:12.232Z,1736400672.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:12.310Z,1736400672.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 171.100006 m,
      deltaT: 3.778100 s,
      deltaX: -2.599991 m,
      approachRate: -0.688174 m/s,
      rangeRepo size: 4

2025-01-09T05:31:12.332Z,1736400672.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 171.100006 m,
      bearing: 269.935443 deg,
      lat: 36.904029 deg,
      lon: -122.118953 deg,
      deltaT: 3.778100 s,
      deltaX: -2.599991 m,
      approachRate: -0.688174 m/s,
      posRepo size: 4

2025-01-09T05:31:12.334Z,1736400672.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m.
2025-01-09T05:31:12.348Z,1736400672.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.100006 m,
      nav range: 169.349457 m,
      bearing: 267.927644 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022482 deg/s,
      cmd heading: 265.992537 deg,
      new cmd heading: 265.959961 deg.

2025-01-09T05:31:12.349Z,1736400672.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641877 target range: 171.100006 and range: 171.10 m.
2025-01-09T05:31:12.360Z,1736400672.360 [DAT](INFO): DAT read: TxSync time:05:31:11.4198

2025-01-09T05:31:12.676Z,1736400672.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:12.702Z,1736400672.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:12.708Z,1736400672.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m.
2025-01-09T05:31:12.717Z,1736400672.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.100006 m,
      nav range: 169.044403 m,
      bearing: 267.916798 deg,
      approach rate: -0.751147 m/s,
      LOS rate: -0.026753 deg/s,
      cmd heading: 265.959971 deg,
      new cmd heading: 265.927377 deg.

2025-01-09T05:31:12.721Z,1736400672.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641308 target range: 171.100006 and range: 171.10 m.
2025-01-09T05:31:12.863Z,1736400672.863 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:12.863Z,1736400672.863 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:12.864Z,1736400672.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:13.043Z,1736400673.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:13.052Z,1736400673.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m.
2025-01-09T05:31:13.056Z,1736400673.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.100006 m,
      nav range: 168.791443 m,
      bearing: 267.907875 deg,
      approach rate: -0.734549 m/s,
      LOS rate: -0.025951 deg/s,
      cmd heading: 265.927377 deg,
      new cmd heading: 265.900567 deg.

2025-01-09T05:31:13.057Z,1736400673.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640841 target range: 171.100006 and range: 171.10 m.
2025-01-09T05:31:13.117Z,1736400673.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996663
2025-01-09T05:31:13.369Z,1736400673.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248662
2025-01-09T05:31:13.475Z,1736400673.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:13.484Z,1736400673.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m.
2025-01-09T05:31:13.487Z,1736400673.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.100006 m,
      nav range: 168.488464 m,
      bearing: 267.896899 deg,
      approach rate: -0.703064 m/s,
      LOS rate: -0.025515 deg/s,
      cmd heading: 265.900576 deg,
      new cmd heading: 265.867590 deg.

2025-01-09T05:31:13.488Z,1736400673.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640265 target range: 171.100006 and range: 171.10 m.
2025-01-09T05:31:13.557Z,1736400673.557 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T05:31:13.622Z,1736400673.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501187
2025-01-09T05:31:13.846Z,1736400673.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:13.868Z,1736400673.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m.
2025-01-09T05:31:13.872Z,1736400673.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751692
2025-01-09T05:31:13.873Z,1736400673.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.100006 m,
      nav range: 168.227692 m,
      bearing: 267.887418 deg,
      approach rate: -0.677066 m/s,
      LOS rate: -0.024656 deg/s,
      cmd heading: 265.867600 deg,
      new cmd heading: 265.839111 deg.

2025-01-09T05:31:13.874Z,1736400673.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639768 target range: 171.100006 and range: 171.10 m.
2025-01-09T05:31:14.126Z,1736400674.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005284
2025-01-09T05:31:14.293Z,1736400674.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:14.305Z,1736400674.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m.
2025-01-09T05:31:14.316Z,1736400674.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.100006 m,
      nav range: 167.913986 m,
      bearing: 267.875973 deg,
      approach rate: -0.723247 m/s,
      LOS rate: -0.026435 deg/s,
      cmd heading: 265.839104 deg,
      new cmd heading: 265.804705 deg.

2025-01-09T05:31:14.337Z,1736400674.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639167 target range: 171.100006 and range: 171.10 m.
2025-01-09T05:31:14.376Z,1736400674.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255543
2025-01-09T05:31:14.628Z,1736400674.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507421
2025-01-09T05:31:14.705Z,1736400674.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:14.736Z,1736400674.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:14.741Z,1736400674.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m.
2025-01-09T05:31:14.753Z,1736400674.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.100006 m,
      nav range: 167.625504 m,
      bearing: 267.866286 deg,
      approach rate: -0.657483 m/s,
      LOS rate: -0.022115 deg/s,
      cmd heading: 265.804707 deg,
      new cmd heading: 265.775597 deg.

2025-01-09T05:31:14.760Z,1736400674.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638659 target range: 171.100006 and range: 171.10 m.
2025-01-09T05:31:14.880Z,1736400674.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759365
2025-01-09T05:31:15.134Z,1736400675.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013350
2025-01-09T05:31:15.190Z,1736400675.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:15.210Z,1736400675.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m.
2025-01-09T05:31:15.218Z,1736400675.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.100006 m,
      nav range: 167.286118 m,
      bearing: 267.855023 deg,
      approach rate: -0.723673 m/s,
      LOS rate: -0.024066 deg/s,
      cmd heading: 265.775583 deg,
      new cmd heading: 265.741725 deg.

2025-01-09T05:31:15.224Z,1736400675.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638068 target range: 171.100006 and range: 171.10 m.
2025-01-09T05:31:15.384Z,1736400675.384 [DAT](INFO): DAT read: Rx Time:05:31:14.0493

2025-01-09T05:31:15.385Z,1736400675.385 [DAT](INFO): Rx dataTimestamp_ set to:1736400675.384559
2025-01-09T05:31:15.385Z,1736400675.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265181
2025-01-09T05:31:15.624Z,1736400675.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:15.638Z,1736400675.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517693
2025-01-09T05:31:15.640Z,1736400675.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.10 m.
2025-01-09T05:31:15.645Z,1736400675.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.100006 m,
      nav range: 166.985611 m,
      bearing: 267.846642 deg,
      approach rate: -0.709311 m/s,
      LOS rate: -0.019819 deg/s,
      cmd heading: 265.741733 deg,
      new cmd heading: 265.716544 deg.

2025-01-09T05:31:15.647Z,1736400675.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637629 target range: 171.100006 and range: 171.10 m.
2025-01-09T05:31:15.893Z,1736400675.893 [DAT](INFO): DAT read: 05:31:14.0493 LVL= 27376, 32753, 23330, 32755, AGC= 60, IDX= 407, 0.48,-3.109, 1.536, 3.052, 2.390, PHS= 0.872,-0.807, 0.659, RAW= 143.3,  -9.2, CAL= 150.0, -18.4, ROT= 360.0,  18.4

2025-01-09T05:31:15.895Z,1736400675.895 [DAT](INFO): got valid direction response:
 05:31:14.0493 LVL= 27376, 32753, 23330, 32755, AGC= 60, IDX= 407, 0.48,-3.109, 1.536, 3.052, 2.390, PHS= 0.872,-0.807, 0.659, RAW= 143.3,  -9.2, CAL= 150.0, -18.4, ROT= 360.0,  18.4

2025-01-09T05:31:15.896Z,1736400675.896 [DAT](INFO): DAT read: Bearing 360.0,  18.4 (Local)

2025-01-09T05:31:15.896Z,1736400675.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,  18.4 (Local)

2025-01-09T05:31:15.897Z,1736400675.897 [DAT](INFO): DAT read: Range 10 to 50 : 168.4 m  (Round-trip  224.6 ms) speed  0.4 m/s

2025-01-09T05:31:15.898Z,1736400675.898 [DAT](INFO): DAT read: user:68>

2025-01-09T05:31:15.899Z,1736400675.899 [DAT](INFO): DAT read: Tx time:05:31:15.1706

2025-01-09T05:31:15.899Z,1736400675.899 [DAT](INFO): Ping request sent.
2025-01-09T05:31:15.899Z,1736400675.899 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:15.899Z,1736400675.899 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:15.901Z,1736400675.901 [DAT](INFO): direction in FSK: [0.948876,0.000000,-0.315649]
2025-01-09T05:31:15.902Z,1736400675.902 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:15.902Z,1736400675.902 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:15.910Z,1736400675.910 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:15.910Z,1736400675.910 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:16.061Z,1736400676.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:16.099Z,1736400676.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 168.399994 m,
      deltaT: 3.780208 s,
      deltaX: -2.700012 m,
      approachRate: -0.714250 m/s,
      rangeRepo size: 4

2025-01-09T05:31:16.107Z,1736400676.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 168.399994 m,
      bearing: 267.726187 deg,
      lat: 36.904029 deg,
      lon: -122.118955 deg,
      deltaT: 3.780208 s,
      deltaX: -2.700012 m,
      approachRate: -0.714250 m/s,
      posRepo size: 4

2025-01-09T05:31:16.107Z,1736400676.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T05:31:16.110Z,1736400676.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 166.834641 m,
      bearing: 267.840114 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019819 deg/s,
      cmd heading: 265.716543 deg,
      new cmd heading: 265.688911 deg.

2025-01-09T05:31:16.115Z,1736400676.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637146 target range: 168.399994 and range: 168.40 m.
2025-01-09T05:31:16.140Z,1736400676.140 [DAT](INFO): DAT read: TxSync time:05:31:15.1698

2025-01-09T05:31:16.461Z,1736400676.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:16.471Z,1736400676.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T05:31:16.473Z,1736400676.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 166.554611 m,
      bearing: 267.833795 deg,
      approach rate: -0.752340 m/s,
      LOS rate: -0.017005 deg/s,
      cmd heading: 265.688922 deg,
      new cmd heading: 265.669934 deg.

2025-01-09T05:31:16.475Z,1736400676.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636815 target range: 168.399994 and range: 168.40 m.
2025-01-09T05:31:16.831Z,1736400676.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:16.840Z,1736400676.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:16.842Z,1736400676.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T05:31:16.857Z,1736400676.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 166.294647 m,
      bearing: 267.828589 deg,
      approach rate: -0.700608 m/s,
      LOS rate: -0.014051 deg/s,
      cmd heading: 265.669934 deg,
      new cmd heading: 265.654293 deg.

2025-01-09T05:31:16.858Z,1736400676.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636542 target range: 168.399994 and range: 168.40 m.
2025-01-09T05:31:16.896Z,1736400676.896 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:16.896Z,1736400676.896 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:16.896Z,1736400676.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:17.148Z,1736400677.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248465
2025-01-09T05:31:17.237Z,1736400677.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:17.246Z,1736400677.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T05:31:17.249Z,1736400677.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 166.010544 m,
      bearing: 267.822898 deg,
      approach rate: -0.703122 m/s,
      LOS rate: -0.014109 deg/s,
      cmd heading: 265.654306 deg,
      new cmd heading: 265.637203 deg.

2025-01-09T05:31:17.250Z,1736400677.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636244 target range: 168.399994 and range: 168.40 m.
2025-01-09T05:31:17.403Z,1736400677.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504208
2025-01-09T05:31:17.656Z,1736400677.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756498
2025-01-09T05:31:17.667Z,1736400677.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:17.675Z,1736400677.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T05:31:17.678Z,1736400677.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 165.713806 m,
      bearing: 267.818762 deg,
      approach rate: -0.690643 m/s,
      LOS rate: -0.009643 deg/s,
      cmd heading: 265.637204 deg,
      new cmd heading: 265.624774 deg.

2025-01-09T05:31:17.679Z,1736400677.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636027 target range: 168.399994 and range: 168.40 m.
2025-01-09T05:31:17.681Z,1736400677.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 59.810989 m.
2025-01-09T05:31:17.909Z,1736400677.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010136
2025-01-09T05:31:18.045Z,1736400678.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:18.075Z,1736400678.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T05:31:18.078Z,1736400678.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 165.452759 m,
      bearing: 267.815241 deg,
      approach rate: -0.653110 m/s,
      LOS rate: -0.008824 deg/s,
      cmd heading: 265.624773 deg,
      new cmd heading: 265.614192 deg.

2025-01-09T05:31:18.083Z,1736400678.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635842 target range: 168.399994 and range: 168.40 m.
2025-01-09T05:31:18.161Z,1736400678.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261083
2025-01-09T05:31:18.416Z,1736400678.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517357
2025-01-09T05:31:18.487Z,1736400678.487 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-01-09T05:31:18.487Z,1736400678.487 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-01-09T05:31:18.487Z,1736400678.487 [RDI_Pathfinder](ERROR): Communications Fault
2025-01-09T05:31:18.502Z,1736400678.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T05:31:18.502Z,1736400678.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:18.540Z,1736400678.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T05:31:18.547Z,1736400678.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 165.139130 m,
      bearing: 267.811268 deg,
      approach rate: -0.674719 m/s,
      LOS rate: -0.008562 deg/s,
      cmd heading: 265.614200 deg,
      new cmd heading: 265.602260 deg.

2025-01-09T05:31:18.548Z,1736400678.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635634 target range: 168.399994 and range: 168.40 m.
2025-01-09T05:31:18.668Z,1736400678.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768453
2025-01-09T05:31:18.788Z,1736400678.788 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-01-09T05:31:18.920Z,1736400678.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020532
2025-01-09T05:31:18.927Z,1736400678.927 [RDI_Pathfinder](INFO): Powering down
2025-01-09T05:31:18.958Z,1736400678.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T05:31:18.958Z,1736400678.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:18.965Z,1736400678.965 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:18.968Z,1736400678.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T05:31:18.971Z,1736400678.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 164.823654 m,
      bearing: 267.807389 deg,
      approach rate: -0.736571 m/s,
      LOS rate: -0.009074 deg/s,
      cmd heading: 265.602260 deg,
      new cmd heading: 265.590601 deg.

2025-01-09T05:31:18.972Z,1736400678.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635430 target range: 168.399994 and range: 168.40 m.
2025-01-09T05:31:19.172Z,1736400679.172 [DAT](INFO): DAT read: Rx Time:05:31:17.7958

2025-01-09T05:31:19.173Z,1736400679.173 [DAT](INFO): Rx dataTimestamp_ set to:1736400679.172350
2025-01-09T05:31:19.174Z,1736400679.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274145
2025-01-09T05:31:19.259Z,1736400679.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:31:19.260Z,1736400679.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:19.269Z,1736400679.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T05:31:19.272Z,1736400679.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 164.615860 m,
      bearing: 267.804879 deg,
      approach rate: -0.690282 m/s,
      LOS rate: -0.008351 deg/s,
      cmd heading: 265.590594 deg,
      new cmd heading: 265.583052 deg.

2025-01-09T05:31:19.273Z,1736400679.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635299 target range: 168.399994 and range: 168.40 m.
2025-01-09T05:31:19.419Z,1736400679.419 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:31:19.424Z,1736400679.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524615
2025-01-09T05:31:19.663Z,1736400679.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T05:31:19.663Z,1736400679.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:19.672Z,1736400679.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.40 m.
2025-01-09T05:31:19.674Z,1736400679.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.399994 m,
      nav range: 164.337830 m,
      bearing: 267.801406 deg,
      approach rate: -0.690863 m/s,
      LOS rate: -0.008643 deg/s,
      cmd heading: 265.583054 deg,
      new cmd heading: 265.572619 deg.

2025-01-09T05:31:19.681Z,1736400679.681 [DAT](INFO): DAT read: 05:31:17.7958 LVL= 22208, 31313, 20930, 32467, AGC= 57, IDX= 404,-0.24, 2.978, 1.215, 2.791, 2.241, PHS= 0.825,-0.979, 0.546, RAW= 141.8,  -4.7, CAL= 147.3, -14.0, ROT=   2.7,  14.0

2025-01-09T05:31:19.683Z,1736400679.683 [DAT](INFO): got valid direction response:
 05:31:17.7958 LVL= 22208, 31313, 20930, 32467, AGC= 57, IDX= 404,-0.24, 2.978, 1.215, 2.791, 2.241, PHS= 0.825,-0.979, 0.546, RAW= 141.8,  -4.7, CAL= 147.3, -14.0, ROT=   2.7,  14.0

2025-01-09T05:31:19.684Z,1736400679.684 [DAT](INFO): DAT read: Bearing   2.7,  14.0 (Local)

2025-01-09T05:31:19.684Z,1736400679.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  14.0 (Local)

2025-01-09T05:31:19.685Z,1736400679.685 [DAT](INFO): DAT read: Range 10 to 50 : 165.7 m  (Round-trip  221.0 ms) speed  0.5 m/s

2025-01-09T05:31:19.686Z,1736400679.686 [DAT](INFO): DAT read: user:69>

2025-01-09T05:31:19.687Z,1736400679.687 [DAT](INFO): DAT read: Tx time:05:31:18.9207

2025-01-09T05:31:19.687Z,1736400679.687 [DAT](INFO): Ping request sent.
2025-01-09T05:31:19.687Z,1736400679.687 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:19.687Z,1736400679.687 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:19.688Z,1736400679.688 [DAT](INFO): direction in FSK: [0.969219,0.045707,-0.241922]
2025-01-09T05:31:19.689Z,1736400679.689 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:19.689Z,1736400679.689 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:19.692Z,1736400679.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635117 target range: 168.399994 and range: 168.40 m.
2025-01-09T05:31:19.712Z,1736400679.712 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:19.712Z,1736400679.712 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:19.928Z,1736400679.928 [DAT](INFO): DAT read: TxSync time:05:31:18.9199

2025-01-09T05:31:19.971Z,1736400679.971 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-01-09T05:31:19.971Z,1736400679.971 [RDI_Pathfinder] No Fault, FailCount= 1
2025-01-09T05:31:20.056Z,1736400680.056 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-01-09T05:31:20.069Z,1736400680.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T05:31:20.069Z,1736400680.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:20.103Z,1736400680.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 165.699997 m,
      deltaT: 3.787957 s,
      deltaX: -2.699997 m,
      approachRate: -0.712784 m/s,
      rangeRepo size: 4

2025-01-09T05:31:20.105Z,1736400680.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 165.699997 m,
      bearing: 269.423708 deg,
      lat: 36.904029 deg,
      lon: -122.118966 deg,
      deltaT: 3.787957 s,
      deltaX: -2.699997 m,
      approachRate: -0.712784 m/s,
      posRepo size: 4

2025-01-09T05:31:20.106Z,1736400680.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:20.113Z,1736400680.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 164.989929 m,
      bearing: 267.810265 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008643 deg/s,
      cmd heading: 265.572617 deg,
      new cmd heading: 265.561550 deg.

2025-01-09T05:31:20.114Z,1736400680.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634923 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:20.423Z,1736400680.423 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:31:20.476Z,1736400680.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T05:31:20.476Z,1736400680.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:20.486Z,1736400680.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:20.489Z,1736400680.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 164.709473 m,
      bearing: 267.806739 deg,
      approach rate: -0.724308 m/s,
      LOS rate: -0.009121 deg/s,
      cmd heading: 265.561553 deg,
      new cmd heading: 265.550958 deg.

2025-01-09T05:31:20.490Z,1736400680.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634738 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:20.884Z,1736400680.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T05:31:20.884Z,1736400680.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:20.893Z,1736400680.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:20.896Z,1736400680.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 164.428955 m,
      bearing: 267.803180 deg,
      approach rate: -0.688644 m/s,
      LOS rate: -0.008752 deg/s,
      cmd heading: 265.550952 deg,
      new cmd heading: 265.540256 deg.

2025-01-09T05:31:20.897Z,1736400680.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634552 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:21.299Z,1736400681.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T05:31:21.299Z,1736400681.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:21.314Z,1736400681.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:21.320Z,1736400681.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:21.328Z,1736400681.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 164.154419 m,
      bearing: 267.799733 deg,
      approach rate: -0.642260 m/s,
      LOS rate: -0.008079 deg/s,
      cmd heading: 265.540270 deg,
      new cmd heading: 265.529910 deg.

2025-01-09T05:31:21.329Z,1736400681.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634371 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:21.444Z,1736400681.444 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:21.444Z,1736400681.444 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:21.444Z,1736400681.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:21.696Z,1736400681.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008859
2025-01-09T05:31:21.703Z,1736400681.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.7 s old, using for 20.0 s.
2025-01-09T05:31:21.704Z,1736400681.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:21.736Z,1736400681.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:21.764Z,1736400681.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 163.863663 m,
      bearing: 267.796069 deg,
      approach rate: -0.699199 m/s,
      LOS rate: -0.008827 deg/s,
      cmd heading: 265.529915 deg,
      new cmd heading: 265.518903 deg.

2025-01-09T05:31:21.765Z,1736400681.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634179 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:21.948Z,1736400681.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260528
2025-01-09T05:31:22.082Z,1736400682.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T05:31:22.083Z,1736400682.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:22.093Z,1736400682.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:22.099Z,1736400682.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 163.602844 m,
      bearing: 267.792791 deg,
      approach rate: -0.731763 m/s,
      LOS rate: -0.009210 deg/s,
      cmd heading: 265.518905 deg,
      new cmd heading: 265.509056 deg.

2025-01-09T05:31:22.101Z,1736400682.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634007 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:22.201Z,1736400682.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514360
2025-01-09T05:31:22.452Z,1736400682.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764884
2025-01-09T05:31:22.508Z,1736400682.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-09T05:31:22.508Z,1736400682.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:22.517Z,1736400682.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:22.522Z,1736400682.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 163.309586 m,
      bearing: 267.788986 deg,
      approach rate: -0.691672 m/s,
      LOS rate: -0.008990 deg/s,
      cmd heading: 265.509069 deg,
      new cmd heading: 265.497634 deg.

2025-01-09T05:31:22.523Z,1736400682.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633808 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:22.704Z,1736400682.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016559
2025-01-09T05:31:22.938Z,1736400682.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.9 s old, using for 20.0 s.
2025-01-09T05:31:22.938Z,1736400682.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:22.956Z,1736400682.956 [DAT](INFO): DAT read: Rx Time:05:31:21.5732

2025-01-09T05:31:22.956Z,1736400682.956 [DAT](INFO): Rx dataTimestamp_ set to:1736400682.955982
2025-01-09T05:31:22.957Z,1736400682.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269651
2025-01-09T05:31:22.958Z,1736400682.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:22.961Z,1736400682.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 163.013535 m,
      bearing: 267.785026 deg,
      approach rate: -0.676212 m/s,
      LOS rate: -0.009061 deg/s,
      cmd heading: 265.497622 deg,
      new cmd heading: 265.485722 deg.

2025-01-09T05:31:22.962Z,1736400682.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633600 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:23.208Z,1736400683.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520480
2025-01-09T05:31:23.295Z,1736400683.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T05:31:23.295Z,1736400683.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:23.343Z,1736400683.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:23.371Z,1736400683.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:23.374Z,1736400683.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 162.768188 m,
      bearing: 267.781675 deg,
      approach rate: -0.588624 m/s,
      LOS rate: -0.008052 deg/s,
      cmd heading: 265.485710 deg,
      new cmd heading: 265.475641 deg.

2025-01-09T05:31:23.379Z,1736400683.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633424 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:23.468Z,1736400683.468 [DAT](INFO): DAT read: 05:31:21.5732 LVL= 23792, 32753, 16114, 17459, AGC= 55, IDX= 203,-0.12,-0.556,-1.112,-0.390,-1.680, PHS= 1.212, 0.615, 1.286, RAW= 155.8, -59.9, CAL= 160.3, -54.3, ROT= 349.7,  54.3

2025-01-09T05:31:23.469Z,1736400683.469 [DAT](INFO): got valid direction response:
 05:31:21.5732 LVL= 23792, 32753, 16114, 17459, AGC= 55, IDX= 203,-0.12,-0.556,-1.112,-0.390,-1.680, PHS= 1.212, 0.615, 1.286, RAW= 155.8, -59.9, CAL= 160.3, -54.3, ROT= 349.7,  54.3

2025-01-09T05:31:23.474Z,1736400683.474 [DAT](INFO): DAT read: Bearing 349.7,  54.3 (Local)

2025-01-09T05:31:23.476Z,1736400683.476 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.7,  54.3 (Local)

2025-01-09T05:31:23.478Z,1736400683.478 [DAT](INFO): DAT read: Range 10 to 50 : 186.3 m  (Round-trip  248.4 ms) speed  0.3 m/s

2025-01-09T05:31:23.479Z,1736400683.479 [DAT](INFO): DAT read: user:70>

2025-01-09T05:31:23.480Z,1736400683.480 [DAT](INFO): DAT read: Tx time:05:31:22.6707

2025-01-09T05:31:23.480Z,1736400683.480 [DAT](INFO): Ping request sent.
2025-01-09T05:31:23.481Z,1736400683.481 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:23.481Z,1736400683.481 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:23.482Z,1736400683.482 [DAT](INFO): direction in FSK: [0.574137,-0.104338,-0.812084]
2025-01-09T05:31:23.482Z,1736400683.482 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:23.483Z,1736400683.483 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:23.487Z,1736400683.487 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:23.487Z,1736400683.487 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:23.712Z,1736400683.712 [DAT](INFO): DAT read: TxSync time:05:31:22.6699

2025-01-09T05:31:23.720Z,1736400683.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.7 s old, using for 20.0 s.
2025-01-09T05:31:23.721Z,1736400683.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:23.768Z,1736400683.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 186.300003 m,
 deltaT: 3.785298 s,
 deltaX: 20.600006 m,
 approachRate: 5.442110 m/s,
 rangeRepo size: 4
2025-01-09T05:31:23.769Z,1736400683.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:23.777Z,1736400683.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 162.475174 m,
      bearing: 267.777587 deg,
      approach rate: -0.764020 m/s,
      LOS rate: -0.010679 deg/s,
      cmd heading: 265.475629 deg,
      new cmd heading: 265.463342 deg.

2025-01-09T05:31:23.784Z,1736400683.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633209 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:24.126Z,1736400684.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.1 s old, using for 20.0 s.
2025-01-09T05:31:24.127Z,1736400684.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:24.160Z,1736400684.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:24.169Z,1736400684.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 162.195816 m,
      bearing: 267.773676 deg,
      approach rate: -0.689427 m/s,
      LOS rate: -0.009670 deg/s,
      cmd heading: 265.463334 deg,
      new cmd heading: 265.451580 deg.

2025-01-09T05:31:24.170Z,1736400684.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633004 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:24.509Z,1736400684.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-09T05:31:24.509Z,1736400684.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:24.520Z,1736400684.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:24.523Z,1736400684.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 161.932419 m,
      bearing: 267.769939 deg,
      approach rate: -0.731754 m/s,
      LOS rate: -0.010399 deg/s,
      cmd heading: 265.451586 deg,
      new cmd heading: 265.440357 deg.

2025-01-09T05:31:24.524Z,1736400684.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632808 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:24.911Z,1736400684.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T05:31:24.911Z,1736400684.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:24.940Z,1736400684.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:24.947Z,1736400684.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 161.657333 m,
      bearing: 267.766112 deg,
      approach rate: -0.654383 m/s,
      LOS rate: -0.009119 deg/s,
      cmd heading: 265.440358 deg,
      new cmd heading: 265.428857 deg.

2025-01-09T05:31:24.948Z,1736400684.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632607 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:25.317Z,1736400685.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T05:31:25.318Z,1736400685.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:25.326Z,1736400685.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:25.329Z,1736400685.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 161.377731 m,
      bearing: 267.761986 deg,
      approach rate: -0.724558 m/s,
      LOS rate: -0.010710 deg/s,
      cmd heading: 265.428856 deg,
      new cmd heading: 265.416457 deg.

2025-01-09T05:31:25.330Z,1736400685.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632391 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:25.737Z,1736400685.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T05:31:25.737Z,1736400685.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:25.775Z,1736400685.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:25.778Z,1736400685.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:25.785Z,1736400685.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 161.088669 m,
      bearing: 267.757706 deg,
      approach rate: -0.640182 m/s,
      LOS rate: -0.009497 deg/s,
      cmd heading: 265.416452 deg,
      new cmd heading: 265.403587 deg.

2025-01-09T05:31:25.786Z,1736400685.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632166 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:25.979Z,1736400685.979 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:25.979Z,1736400685.979 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:25.980Z,1736400685.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:26.156Z,1736400686.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T05:31:26.156Z,1736400686.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:26.169Z,1736400686.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:26.172Z,1736400686.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 160.809830 m,
      bearing: 267.753562 deg,
      approach rate: -0.712588 m/s,
      LOS rate: -0.010607 deg/s,
      cmd heading: 265.403584 deg,
      new cmd heading: 265.391132 deg.

2025-01-09T05:31:26.173Z,1736400686.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631949 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:26.233Z,1736400686.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752074
2025-01-09T05:31:26.484Z,1736400686.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003717
2025-01-09T05:31:26.535Z,1736400686.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T05:31:26.536Z,1736400686.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:26.552Z,1736400686.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:26.559Z,1736400686.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 160.545761 m,
      bearing: 267.749346 deg,
      approach rate: -0.689395 m/s,
      LOS rate: -0.011024 deg/s,
      cmd heading: 265.391126 deg,
      new cmd heading: 265.378458 deg.

2025-01-09T05:31:26.560Z,1736400686.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631728 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:26.736Z,1736400686.736 [DAT](INFO): DAT read: Rx Time:05:31:25.2892

2025-01-09T05:31:26.736Z,1736400686.736 [DAT](INFO): Rx dataTimestamp_ set to:1736400686.735958
2025-01-09T05:31:26.737Z,1736400686.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256148
2025-01-09T05:31:26.971Z,1736400686.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T05:31:26.971Z,1736400686.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:26.988Z,1736400686.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507136
2025-01-09T05:31:26.989Z,1736400686.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.70 m.
2025-01-09T05:31:26.996Z,1736400686.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.699997 m,
      nav range: 160.254929 m,
      bearing: 267.744722 deg,
      approach rate: -0.665123 m/s,
      LOS rate: -0.010595 deg/s,
      cmd heading: 265.378449 deg,
      new cmd heading: 265.364550 deg.

2025-01-09T05:31:26.997Z,1736400686.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631485 target range: 165.699997 and range: 165.70 m.
2025-01-09T05:31:27.250Z,1736400687.250 [DAT](INFO): DAT read: 05:31:25.2892 LVL= 28704, 32113, 22962, 31955, AGC= 63, IDX=  95, 0.38,-1.024,-2.637,-1.198,-1.796, PHS= 0.860,-0.794, 0.595, RAW= 141.4,  -8.6, CAL= 148.0, -18.2, ROT=   2.0,  18.2

2025-01-09T05:31:27.259Z,1736400687.259 [DAT](INFO): got valid direction response:
 05:31:25.2892 LVL= 28704, 32113, 22962, 31955, AGC= 63, IDX=  95, 0.38,-1.024,-2.637,-1.198,-1.796, PHS= 0.860,-0.794, 0.595, RAW= 141.4,  -8.6, CAL= 148.0, -18.2, ROT=   2.0,  18.2

2025-01-09T05:31:27.260Z,1736400687.260 [DAT](INFO): DAT read: Bearing   2.0,  18.2 (Local)

2025-01-09T05:31:27.260Z,1736400687.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,  18.2 (Local)

2025-01-09T05:31:27.262Z,1736400687.262 [DAT](INFO): DAT read: Range 10 to 50 : 160.8 m  (Round-trip  214.4 ms) speed  0.0 m/s

2025-01-09T05:31:27.263Z,1736400687.263 [DAT](INFO): DAT read: user:71>

2025-01-09T05:31:27.264Z,1736400687.264 [DAT](INFO): DAT read: Tx time:05:31:26.3707

2025-01-09T05:31:27.264Z,1736400687.264 [DAT](INFO): Ping request sent.
2025-01-09T05:31:27.264Z,1736400687.264 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:27.265Z,1736400687.265 [DAT](INFO): DAT read: TxSync time:05:31:26.3699

2025-01-09T05:31:27.265Z,1736400687.265 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:27.266Z,1736400687.266 [DAT](INFO): direction in FSK: [0.949393,0.033154,-0.312335]
2025-01-09T05:31:27.267Z,1736400687.267 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:27.268Z,1736400687.268 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:27.271Z,1736400687.271 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:27.271Z,1736400687.271 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:27.379Z,1736400687.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T05:31:27.380Z,1736400687.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:27.428Z,1736400687.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.800003 m,
      deltaT: 7.564390 s,
      deltaX: -4.899994 m,
      approachRate: -0.647771 m/s,
      rangeRepo size: 4

2025-01-09T05:31:27.430Z,1736400687.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.800003 m,
      bearing: 269.721221 deg,
      lat: 36.904071 deg,
      lon: -122.118965 deg,
      deltaT: 7.564390 s,
      deltaX: -4.899994 m,
      approachRate: -0.647771 m/s,
      posRepo size: 4

2025-01-09T05:31:27.430Z,1736400687.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.80 m.
2025-01-09T05:31:27.437Z,1736400687.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.800003 m,
      nav range: 159.787003 m,
      bearing: 269.402317 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010595 deg/s,
      cmd heading: 265.364543 deg,
      new cmd heading: 265.350803 deg.

2025-01-09T05:31:27.438Z,1736400687.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631245 target range: 160.800003 and range: 160.80 m.
2025-01-09T05:31:27.741Z,1736400687.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T05:31:27.741Z,1736400687.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:27.774Z,1736400687.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.80 m.
2025-01-09T05:31:27.781Z,1736400687.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.800003 m,
      nav range: 159.538513 m,
      bearing: 269.400994 deg,
      approach rate: -0.706904 m/s,
      LOS rate: -0.003768 deg/s,
      cmd heading: 265.350800 deg,
      new cmd heading: 265.346826 deg.

2025-01-09T05:31:27.782Z,1736400687.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631176 target range: 160.800003 and range: 160.80 m.
2025-01-09T05:31:28.148Z,1736400688.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T05:31:28.148Z,1736400688.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:28.156Z,1736400688.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:28.158Z,1736400688.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.80 m.
2025-01-09T05:31:28.161Z,1736400688.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.800003 m,
      nav range: 159.258713 m,
      bearing: 269.399784 deg,
      approach rate: -0.727728 m/s,
      LOS rate: -0.003154 deg/s,
      cmd heading: 265.346839 deg,
      new cmd heading: 265.343200 deg.

2025-01-09T05:31:28.161Z,1736400688.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631113 target range: 160.800003 and range: 160.80 m.
2025-01-09T05:31:28.250Z,1736400688.250 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:28.250Z,1736400688.250 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:28.250Z,1736400688.250 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:28.504Z,1736400688.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239513
2025-01-09T05:31:28.556Z,1736400688.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s.
2025-01-09T05:31:28.556Z,1736400688.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:28.565Z,1736400688.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.80 m.
2025-01-09T05:31:28.569Z,1736400688.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.800003 m,
      nav range: 158.978302 m,
      bearing: 269.398882 deg,
      approach rate: -0.688733 m/s,
      LOS rate: -0.002219 deg/s,
      cmd heading: 265.343205 deg,
      new cmd heading: 265.340494 deg.

2025-01-09T05:31:28.570Z,1736400688.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631065 target range: 160.800003 and range: 160.80 m.
2025-01-09T05:31:28.756Z,1736400688.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492213
2025-01-09T05:31:28.957Z,1736400688.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s.
2025-01-09T05:31:28.957Z,1736400688.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:28.966Z,1736400688.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.80 m.
2025-01-09T05:31:28.973Z,1736400688.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.800003 m,
      nav range: 158.702728 m,
      bearing: 269.398116 deg,
      approach rate: -0.687369 m/s,
      LOS rate: -0.001913 deg/s,
      cmd heading: 265.340500 deg,
      new cmd heading: 265.338199 deg.

2025-01-09T05:31:28.974Z,1736400688.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631025 target range: 160.800003 and range: 160.80 m.
2025-01-09T05:31:29.008Z,1736400689.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743548
2025-01-09T05:31:29.263Z,1736400689.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998014
2025-01-09T05:31:29.371Z,1736400689.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s.
2025-01-09T05:31:29.371Z,1736400689.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:29.380Z,1736400689.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.80 m.
2025-01-09T05:31:29.383Z,1736400689.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.800003 m,
      nav range: 158.418549 m,
      bearing: 269.397212 deg,
      approach rate: -0.686020 m/s,
      LOS rate: -0.002186 deg/s,
      cmd heading: 265.338205 deg,
      new cmd heading: 265.335489 deg.

2025-01-09T05:31:29.385Z,1736400689.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630978 target range: 160.800003 and range: 160.80 m.
2025-01-09T05:31:29.512Z,1736400689.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247514
2025-01-09T05:31:29.764Z,1736400689.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500265
2025-01-09T05:31:29.773Z,1736400689.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s.
2025-01-09T05:31:29.773Z,1736400689.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:29.785Z,1736400689.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.80 m.
2025-01-09T05:31:29.811Z,1736400689.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.800003 m,
      nav range: 158.142487 m,
      bearing: 269.396189 deg,
      approach rate: -0.682945 m/s,
      LOS rate: -0.002536 deg/s,
      cmd heading: 265.335501 deg,
      new cmd heading: 265.332425 deg.

2025-01-09T05:31:29.812Z,1736400689.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630924 target range: 160.800003 and range: 160.80 m.
2025-01-09T05:31:30.019Z,1736400690.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754777
2025-01-09T05:31:30.172Z,1736400690.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.1 s old, using for 20.0 s.
2025-01-09T05:31:30.172Z,1736400690.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:30.179Z,1736400690.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:30.187Z,1736400690.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.80 m.
2025-01-09T05:31:30.189Z,1736400690.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.800003 m,
      nav range: 157.867981 m,
      bearing: 269.395227 deg,
      approach rate: -0.685853 m/s,
      LOS rate: -0.002407 deg/s,
      cmd heading: 265.332413 deg,
      new cmd heading: 265.329523 deg.

2025-01-09T05:31:30.190Z,1736400690.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630874 target range: 160.800003 and range: 160.80 m.
2025-01-09T05:31:30.271Z,1736400690.271 [DAT](INFO): DAT read: Rx Time:05:31:28.9858

2025-01-09T05:31:30.272Z,1736400690.272 [DAT](INFO): Rx dataTimestamp_ set to:1736400690.271486
2025-01-09T05:31:30.276Z,1736400690.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009738
2025-01-09T05:31:30.520Z,1736400690.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255400
2025-01-09T05:31:30.587Z,1736400690.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.5 s old, using for 20.0 s.
2025-01-09T05:31:30.587Z,1736400690.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:30.596Z,1736400690.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.80 m.
2025-01-09T05:31:30.599Z,1736400690.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.800003 m,
      nav range: 157.583267 m,
      bearing: 269.394160 deg,
      approach rate: -0.691734 m/s,
      LOS rate: -0.002597 deg/s,
      cmd heading: 265.329517 deg,
      new cmd heading: 265.326311 deg.

2025-01-09T05:31:30.601Z,1736400690.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630818 target range: 160.800003 and range: 160.80 m.
2025-01-09T05:31:30.785Z,1736400690.785 [DAT](INFO): DAT read: 05:31:28.9858 LVL= 24224, 29937, 24370, 27235, AGC= 63, IDX= 413,-0.30, 2.283, 0.561, 2.150, 1.483, PHS= 0.888,-0.875, 0.664, RAW= 143.3,  -8.2, CAL= 149.8, -17.4, ROT=   0.2,  17.4

2025-01-09T05:31:30.786Z,1736400690.786 [DAT](INFO): got valid direction response:
 05:31:28.9858 LVL= 24224, 29937, 24370, 27235, AGC= 63, IDX= 413,-0.30, 2.283, 0.561, 2.150, 1.483, PHS= 0.888,-0.875, 0.664, RAW= 143.3,  -8.2, CAL= 149.8, -17.4, ROT=   0.2,  17.4

2025-01-09T05:31:30.787Z,1736400690.787 [DAT](INFO): DAT read: Bearing   0.2,  17.4 (Local)

2025-01-09T05:31:30.787Z,1736400690.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  17.4 (Local)

2025-01-09T05:31:30.789Z,1736400690.789 [DAT](INFO): DAT read: Range 10 to 50 : 158.2 m  (Round-trip  211.0 ms) speed  0.6 m/s

2025-01-09T05:31:30.789Z,1736400690.789 [DAT](INFO): DAT read: user:72>

2025-01-09T05:31:30.790Z,1736400690.790 [DAT](INFO): DAT read: Tx time:05:31:30.0707

2025-01-09T05:31:30.803Z,1736400690.803 [DAT](INFO): Ping request sent.
2025-01-09T05:31:30.804Z,1736400690.804 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:30.805Z,1736400690.805 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:30.808Z,1736400690.808 [DAT](INFO): direction in FSK: [0.954235,0.003331,-0.299041]
2025-01-09T05:31:30.809Z,1736400690.809 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:30.809Z,1736400690.809 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:30.817Z,1736400690.817 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:30.818Z,1736400690.818 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:31.001Z,1736400691.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.0 s old, using for 20.0 s.
2025-01-09T05:31:31.001Z,1736400691.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:31.025Z,1736400691.025 [DAT](INFO): DAT read: TxSync time:05:31:30.0699

2025-01-09T05:31:31.048Z,1736400691.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.199997 m,
      deltaT: 3.533761 s,
      deltaX: -2.600006 m,
      approachRate: -0.735762 m/s,
      rangeRepo size: 4

2025-01-09T05:31:31.056Z,1736400691.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 158.199997 m,
      bearing: 267.470016 deg,
      lat: 36.904026 deg,
      lon: -122.118965 deg,
      deltaT: 3.533761 s,
      deltaX: -2.600006 m,
      approachRate: -0.735762 m/s,
      posRepo size: 4

2025-01-09T05:31:31.056Z,1736400691.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-01-09T05:31:31.060Z,1736400691.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.199997 m,
      nav range: 157.430099 m,
      bearing: 267.583663 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002597 deg/s,
      cmd heading: 265.326321 deg,
      new cmd heading: 265.322802 deg.

2025-01-09T05:31:31.061Z,1736400691.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630756 target range: 158.199997 and range: 158.20 m.
2025-01-09T05:31:31.388Z,1736400691.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.3 s old, using for 20.0 s.
2025-01-09T05:31:31.388Z,1736400691.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:31.397Z,1736400691.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-01-09T05:31:31.401Z,1736400691.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.199997 m,
      nav range: 157.164413 m,
      bearing: 267.579786 deg,
      approach rate: -0.760463 m/s,
      LOS rate: -0.011115 deg/s,
      cmd heading: 265.322796 deg,
      new cmd heading: 265.311147 deg.

2025-01-09T05:31:31.402Z,1736400691.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630553 target range: 158.199997 and range: 158.20 m.
2025-01-09T05:31:31.796Z,1736400691.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.8 s old, using for 20.0 s.
2025-01-09T05:31:31.796Z,1736400691.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:31.806Z,1736400691.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-01-09T05:31:31.809Z,1736400691.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.199997 m,
      nav range: 156.884674 m,
      bearing: 267.575897 deg,
      approach rate: -0.684458 m/s,
      LOS rate: -0.009532 deg/s,
      cmd heading: 265.311158 deg,
      new cmd heading: 265.299470 deg.

2025-01-09T05:31:31.810Z,1736400691.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630349 target range: 158.199997 and range: 158.20 m.
2025-01-09T05:31:32.188Z,1736400692.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.1 s old, using for 20.0 s.
2025-01-09T05:31:32.188Z,1736400692.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:32.195Z,1736400692.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:32.197Z,1736400692.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-01-09T05:31:32.200Z,1736400692.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.199997 m,
      nav range: 156.616165 m,
      bearing: 267.572321 deg,
      approach rate: -0.686508 m/s,
      LOS rate: -0.009159 deg/s,
      cmd heading: 265.299464 deg,
      new cmd heading: 265.288718 deg.

2025-01-09T05:31:32.201Z,1736400692.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630162 target range: 158.199997 and range: 158.20 m.
2025-01-09T05:31:32.288Z,1736400692.288 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:32.288Z,1736400692.288 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:32.289Z,1736400692.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:32.536Z,1736400692.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732655
2025-01-09T05:31:32.615Z,1736400692.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.6 s old, using for 20.0 s.
2025-01-09T05:31:32.615Z,1736400692.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:32.626Z,1736400692.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-01-09T05:31:32.629Z,1736400692.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.199997 m,
      nav range: 156.323776 m,
      bearing: 267.568251 deg,
      approach rate: -0.681845 m/s,
      LOS rate: -0.009509 deg/s,
      cmd heading: 265.288727 deg,
      new cmd heading: 265.276494 deg.

2025-01-09T05:31:32.630Z,1736400692.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629948 target range: 158.199997 and range: 158.20 m.
2025-01-09T05:31:32.788Z,1736400692.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984768
2025-01-09T05:31:33.013Z,1736400693.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.0 s old, using for 20.0 s.
2025-01-09T05:31:33.013Z,1736400693.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:33.026Z,1736400693.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-01-09T05:31:33.029Z,1736400693.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.199997 m,
      nav range: 156.050400 m,
      bearing: 267.564391 deg,
      approach rate: -0.683525 m/s,
      LOS rate: -0.009667 deg/s,
      cmd heading: 265.276488 deg,
      new cmd heading: 265.264889 deg.

2025-01-09T05:31:33.030Z,1736400693.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629745 target range: 158.199997 and range: 158.20 m.
2025-01-09T05:31:33.040Z,1736400693.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236649
2025-01-09T05:31:33.292Z,1736400693.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488620
2025-01-09T05:31:33.431Z,1736400693.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:33.456Z,1736400693.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-01-09T05:31:33.463Z,1736400693.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.199997 m,
      nav range: 155.765488 m,
      bearing: 267.562473 deg,
      approach rate: -0.661468 m/s,
      LOS rate: -0.004462 deg/s,
      cmd heading: 265.264876 deg,
      new cmd heading: 265.259110 deg.

2025-01-09T05:31:33.464Z,1736400693.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629645 target range: 158.199997 and range: 158.20 m.
2025-01-09T05:31:33.544Z,1736400693.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741024
2025-01-09T05:31:33.796Z,1736400693.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992694
2025-01-09T05:31:33.806Z,1736400693.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:33.837Z,1736400693.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-01-09T05:31:33.843Z,1736400693.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.199997 m,
      nav range: 155.510315 m,
      bearing: 267.560683 deg,
      approach rate: -0.671270 m/s,
      LOS rate: -0.004717 deg/s,
      cmd heading: 265.259112 deg,
      new cmd heading: 265.253732 deg.

2025-01-09T05:31:33.844Z,1736400693.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629551 target range: 158.199997 and range: 158.20 m.
2025-01-09T05:31:34.048Z,1736400694.048 [DAT](INFO): DAT read: Rx Time:05:31:32.6823

2025-01-09T05:31:34.048Z,1736400694.048 [DAT](INFO): Rx dataTimestamp_ set to:1736400694.047873
2025-01-09T05:31:34.049Z,1736400694.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245636
2025-01-09T05:31:34.225Z,1736400694.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:34.232Z,1736400694.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:34.235Z,1736400694.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.20 m.
2025-01-09T05:31:34.237Z,1736400694.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.199997 m,
      nav range: 155.225052 m,
      bearing: 267.558661 deg,
      approach rate: -0.717033 m/s,
      LOS rate: -0.005091 deg/s,
      cmd heading: 265.253730 deg,
      new cmd heading: 265.247653 deg.

2025-01-09T05:31:34.238Z,1736400694.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629445 target range: 158.199997 and range: 158.20 m.
2025-01-09T05:31:34.300Z,1736400694.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496932
2025-01-09T05:31:34.557Z,1736400694.557 [DAT](INFO): DAT read: 05:31:32.6823 LVL= 23744, 27697, 21490, 29411, AGC= 64, IDX= 408,-0.32, 1.099,-0.615, 0.964, 0.302, PHS= 0.886,-0.870, 0.659, RAW= 143.2,  -8.2, CAL= 149.7, -17.4, ROT=   0.3,  17.4

2025-01-09T05:31:34.558Z,1736400694.558 [DAT](INFO): got valid direction response:
 05:31:32.6823 LVL= 23744, 27697, 21490, 29411, AGC= 64, IDX= 408,-0.32, 1.099,-0.615, 0.964, 0.302, PHS= 0.886,-0.870, 0.659, RAW= 143.2,  -8.2, CAL= 149.7, -17.4, ROT=   0.3,  17.4

2025-01-09T05:31:34.559Z,1736400694.559 [DAT](INFO): DAT read: Bearing   0.3,  17.4 (Local)

2025-01-09T05:31:34.560Z,1736400694.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3,  17.4 (Local)

2025-01-09T05:31:34.561Z,1736400694.561 [DAT](INFO): DAT read: Range 10 to 50 : 155.5 m  (Round-trip  207.4 ms) speed  0.7 m/s

2025-01-09T05:31:34.562Z,1736400694.562 [DAT](INFO): DAT read: user:73>

2025-01-09T05:31:34.563Z,1736400694.563 [DAT](INFO): DAT read: Tx time:05:31:33.7708

2025-01-09T05:31:34.563Z,1736400694.563 [DAT](INFO): Ping request sent.
2025-01-09T05:31:34.563Z,1736400694.563 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:34.563Z,1736400694.563 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:34.564Z,1736400694.564 [DAT](INFO): direction in FSK: [0.954227,0.004996,-0.299041]
2025-01-09T05:31:34.565Z,1736400694.565 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:34.565Z,1736400694.565 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:34.568Z,1736400694.568 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:34.569Z,1736400694.569 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:34.718Z,1736400694.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:34.768Z,1736400694.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.500000 m,
      deltaT: 3.777740 s,
      deltaX: -2.699997 m,
      approachRate: -0.714712 m/s,
      rangeRepo size: 4

2025-01-09T05:31:34.775Z,1736400694.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 155.500000 m,
      bearing: 267.487372 deg,
      lat: 36.904024 deg,
      lon: -122.118965 deg,
      deltaT: 3.777740 s,
      deltaX: -2.699997 m,
      approachRate: -0.714712 m/s,
      posRepo size: 4

2025-01-09T05:31:34.777Z,1736400694.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.50 m.
2025-01-09T05:31:34.792Z,1736400694.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.500000 m,
      nav range: 154.895325 m,
      bearing: 267.488734 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005091 deg/s,
      cmd heading: 265.247664 deg,
      new cmd heading: 265.239620 deg.

2025-01-09T05:31:34.793Z,1736400694.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629305 target range: 155.500000 and range: 155.50 m.
2025-01-09T05:31:34.804Z,1736400694.804 [DAT](INFO): DAT read: TxSync time:05:31:33.7700

2025-01-09T05:31:35.224Z,1736400695.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:35.249Z,1736400695.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.50 m.
2025-01-09T05:31:35.256Z,1736400695.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.500000 m,
      nav range: 154.548462 m,
      bearing: 267.485531 deg,
      approach rate: -0.711513 m/s,
      LOS rate: -0.006586 deg/s,
      cmd heading: 265.239632 deg,
      new cmd heading: 265.230000 deg.

2025-01-09T05:31:35.257Z,1736400695.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629137 target range: 155.500000 and range: 155.50 m.
2025-01-09T05:31:35.624Z,1736400695.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:35.653Z,1736400695.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.50 m.
2025-01-09T05:31:35.657Z,1736400695.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.500000 m,
      nav range: 154.276031 m,
      bearing: 267.483646 deg,
      approach rate: -0.673747 m/s,
      LOS rate: -0.004669 deg/s,
      cmd heading: 265.229988 deg,
      new cmd heading: 265.224325 deg.

2025-01-09T05:31:35.658Z,1736400695.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629038 target range: 155.500000 and range: 155.50 m.
2025-01-09T05:31:36.014Z,1736400696.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:36.031Z,1736400696.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.50 m.
2025-01-09T05:31:36.033Z,1736400696.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.500000 m,
      nav range: 154.010223 m,
      bearing: 267.482002 deg,
      approach rate: -0.703928 m/s,
      LOS rate: -0.004362 deg/s,
      cmd heading: 265.224332 deg,
      new cmd heading: 265.219391 deg.

2025-01-09T05:31:36.035Z,1736400696.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628952 target range: 155.500000 and range: 155.50 m.
2025-01-09T05:31:36.514Z,1736400696.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:36.523Z,1736400696.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:36.525Z,1736400696.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.50 m.
2025-01-09T05:31:36.528Z,1736400696.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.500000 m,
      nav range: 153.671753 m,
      bearing: 267.479717 deg,
      approach rate: -0.684312 m/s,
      LOS rate: -0.004630 deg/s,
      cmd heading: 265.219387 deg,
      new cmd heading: 265.212517 deg.

2025-01-09T05:31:36.529Z,1736400696.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628832 target range: 155.500000 and range: 155.50 m.
2025-01-09T05:31:36.569Z,1736400696.569 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:36.569Z,1736400696.569 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:36.569Z,1736400696.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:36.820Z,1736400696.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256532
2025-01-09T05:31:36.881Z,1736400696.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:36.892Z,1736400696.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.50 m.
2025-01-09T05:31:36.899Z,1736400696.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.500000 m,
      nav range: 153.422302 m,
      bearing: 267.477879 deg,
      approach rate: -0.682566 m/s,
      LOS rate: -0.005036 deg/s,
      cmd heading: 265.212530 deg,
      new cmd heading: 265.207008 deg.

2025-01-09T05:31:36.901Z,1736400696.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628736 target range: 155.500000 and range: 155.50 m.
2025-01-09T05:31:37.073Z,1736400697.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509802
2025-01-09T05:31:37.322Z,1736400697.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:37.324Z,1736400697.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760489
2025-01-09T05:31:37.340Z,1736400697.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.50 m.
2025-01-09T05:31:37.350Z,1736400697.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.500000 m,
      nav range: 153.122025 m,
      bearing: 267.475393 deg,
      approach rate: -0.667971 m/s,
      LOS rate: -0.005541 deg/s,
      cmd heading: 265.207011 deg,
      new cmd heading: 265.199538 deg.

2025-01-09T05:31:37.356Z,1736400697.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628605 target range: 155.500000 and range: 155.50 m.
2025-01-09T05:31:37.576Z,1736400697.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012704
2025-01-09T05:31:37.753Z,1736400697.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:37.788Z,1736400697.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.50 m.
2025-01-09T05:31:37.795Z,1736400697.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.500000 m,
      nav range: 152.831726 m,
      bearing: 267.470805 deg,
      approach rate: -0.648623 m/s,
      LOS rate: -0.010271 deg/s,
      cmd heading: 265.199525 deg,
      new cmd heading: 265.185734 deg.

2025-01-09T05:31:37.796Z,1736400697.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628364 target range: 155.500000 and range: 155.50 m.
2025-01-09T05:31:37.828Z,1736400697.828 [DAT](INFO): DAT read: Rx Time:05:31:36.3788

2025-01-09T05:31:37.828Z,1736400697.828 [DAT](INFO): Rx dataTimestamp_ set to:1736400697.828116
2025-01-09T05:31:37.829Z,1736400697.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265749
2025-01-09T05:31:38.081Z,1736400698.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518324
2025-01-09T05:31:38.183Z,1736400698.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:38.213Z,1736400698.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.50 m.
2025-01-09T05:31:38.229Z,1736400698.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.500000 m,
      nav range: 152.541931 m,
      bearing: 267.466075 deg,
      approach rate: -0.682410 m/s,
      LOS rate: -0.011158 deg/s,
      cmd heading: 265.185728 deg,
      new cmd heading: 265.171513 deg.

2025-01-09T05:31:38.239Z,1736400698.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628116 target range: 155.500000 and range: 155.50 m.
2025-01-09T05:31:38.342Z,1736400698.342 [DAT](INFO): DAT read: 05:31:36.3788 LVL= 21616, 24401, 18130, 30131, AGC= 62, IDX= 404, 0.05,-1.520, 3.123,-1.654,-2.277, PHS= 0.846,-0.835, 0.620, RAW= 142.9,  -8.0, CAL= 149.3, -17.3, ROT=   0.7,  17.3

2025-01-09T05:31:38.344Z,1736400698.344 [DAT](INFO): got valid direction response:
 05:31:36.3788 LVL= 21616, 24401, 18130, 30131, AGC= 62, IDX= 404, 0.05,-1.520, 3.123,-1.654,-2.277, PHS= 0.846,-0.835, 0.620, RAW= 142.9,  -8.0, CAL= 149.3, -17.3, ROT=   0.7,  17.3

2025-01-09T05:31:38.350Z,1736400698.350 [DAT](INFO): DAT read: Bearing   0.7,  17.3 (Local)

2025-01-09T05:31:38.352Z,1736400698.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  17.3 (Local)

2025-01-09T05:31:38.355Z,1736400698.355 [DAT](INFO): DAT read: Range 10 to 50 : 152.9 m  (Round-trip  203.9 ms) speed  0.6 m/s

2025-01-09T05:31:38.355Z,1736400698.355 [DAT](INFO): DAT read: user:74>

2025-01-09T05:31:38.356Z,1736400698.356 [DAT](INFO): DAT read: Tx time:05:31:37.4708

2025-01-09T05:31:38.356Z,1736400698.356 [DAT](INFO): Ping request sent.
2025-01-09T05:31:38.356Z,1736400698.356 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:38.357Z,1736400698.357 [DAT](INFO): DAT read: TxSync time:05:31:37.4700

2025-01-09T05:31:38.357Z,1736400698.357 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:38.359Z,1736400698.359 [DAT](INFO): direction in FSK: [0.954690,0.011664,-0.297375]
2025-01-09T05:31:38.360Z,1736400698.360 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:38.360Z,1736400698.360 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:38.365Z,1736400698.365 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:38.366Z,1736400698.366 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:38.606Z,1736400698.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:38.645Z,1736400698.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 152.899994 m,
      deltaT: 3.781161 s,
      deltaX: -2.600006 m,
      approachRate: -0.687621 m/s,
      rangeRepo size: 4

2025-01-09T05:31:38.651Z,1736400698.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.899994 m,
      bearing: 268.257363 deg,
      lat: 36.904024 deg,
      lon: -122.118964 deg,
      deltaT: 3.781161 s,
      deltaX: -2.600006 m,
      approachRate: -0.687621 m/s,
      posRepo size: 4

2025-01-09T05:31:38.652Z,1736400698.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-01-09T05:31:38.659Z,1736400698.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 152.203384 m,
      bearing: 267.459025 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011158 deg/s,
      cmd heading: 265.171521 deg,
      new cmd heading: 265.157078 deg.

2025-01-09T05:31:38.660Z,1736400698.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627864 target range: 152.899994 and range: 152.90 m.
2025-01-09T05:31:39.094Z,1736400699.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:39.109Z,1736400699.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:39.116Z,1736400699.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-01-09T05:31:39.124Z,1736400699.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 151.871902 m,
      bearing: 267.452066 deg,
      approach rate: -0.702264 m/s,
      LOS rate: -0.014775 deg/s,
      cmd heading: 265.157069 deg,
      new cmd heading: 265.136147 deg.

2025-01-09T05:31:39.126Z,1736400699.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627499 target range: 152.899994 and range: 152.90 m.
2025-01-09T05:31:39.340Z,1736400699.340 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:39.341Z,1736400699.341 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:39.341Z,1736400699.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:39.592Z,1736400699.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235224
2025-01-09T05:31:39.595Z,1736400699.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:39.605Z,1736400699.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-01-09T05:31:39.608Z,1736400699.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 151.539032 m,
      bearing: 267.442342 deg,
      approach rate: -0.680966 m/s,
      LOS rate: -0.019936 deg/s,
      cmd heading: 265.136141 deg,
      new cmd heading: 265.106905 deg.

2025-01-09T05:31:39.609Z,1736400699.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626988 target range: 152.899994 and range: 152.90 m.
2025-01-09T05:31:39.844Z,1736400699.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487441
2025-01-09T05:31:40.036Z,1736400700.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:40.044Z,1736400700.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-01-09T05:31:40.047Z,1736400700.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 151.244171 m,
      bearing: 267.433499 deg,
      approach rate: -0.670595 m/s,
      LOS rate: -0.020151 deg/s,
      cmd heading: 265.106908 deg,
      new cmd heading: 265.080327 deg.

2025-01-09T05:31:40.048Z,1736400700.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626524 target range: 152.899994 and range: 152.90 m.
2025-01-09T05:31:40.096Z,1736400700.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739675
2025-01-09T05:31:40.348Z,1736400700.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991120
2025-01-09T05:31:40.512Z,1736400700.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:40.522Z,1736400700.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-01-09T05:31:40.541Z,1736400700.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 150.931747 m,
      bearing: 267.421293 deg,
      approach rate: -0.654469 m/s,
      LOS rate: -0.025623 deg/s,
      cmd heading: 265.080325 deg,
      new cmd heading: 265.043630 deg.

2025-01-09T05:31:40.542Z,1736400700.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625884 target range: 152.899994 and range: 152.90 m.
2025-01-09T05:31:40.601Z,1736400700.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244173
2025-01-09T05:31:40.852Z,1736400700.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495623
2025-01-09T05:31:40.853Z,1736400700.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:40.861Z,1736400700.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-01-09T05:31:40.864Z,1736400700.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 150.709656 m,
      bearing: 267.412584 deg,
      approach rate: -0.654360 m/s,
      LOS rate: -0.025696 deg/s,
      cmd heading: 265.043633 deg,
      new cmd heading: 265.017469 deg.

2025-01-09T05:31:40.865Z,1736400700.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625427 target range: 152.899994 and range: 152.90 m.
2025-01-09T05:31:41.106Z,1736400701.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748710
2025-01-09T05:31:41.252Z,1736400701.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:41.259Z,1736400701.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:41.261Z,1736400701.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-01-09T05:31:41.264Z,1736400701.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 150.445267 m,
      bearing: 267.401792 deg,
      approach rate: -0.661016 m/s,
      LOS rate: -0.027031 deg/s,
      cmd heading: 265.017460 deg,
      new cmd heading: 264.985025 deg.

2025-01-09T05:31:41.265Z,1736400701.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624861 target range: 152.899994 and range: 152.90 m.
2025-01-09T05:31:41.356Z,1736400701.356 [DAT](INFO): DAT read: Rx Time:05:31:40.0757

2025-01-09T05:31:41.357Z,1736400701.357 [DAT](INFO): Rx dataTimestamp_ set to:1736400701.356603
2025-01-09T05:31:41.357Z,1736400701.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000944
2025-01-09T05:31:41.608Z,1736400701.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251529
2025-01-09T05:31:41.672Z,1736400701.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:41.701Z,1736400701.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-01-09T05:31:41.708Z,1736400701.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 150.173111 m,
      bearing: 267.390962 deg,
      approach rate: -0.618817 m/s,
      LOS rate: -0.024668 deg/s,
      cmd heading: 264.985030 deg,
      new cmd heading: 264.952483 deg.

2025-01-09T05:31:41.709Z,1736400701.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624293 target range: 152.899994 and range: 152.90 m.
2025-01-09T05:31:41.875Z,1736400701.875 [DAT](INFO): DAT read: 05:31:40.0757 LVL= 22128, 26881, 17010, 31555, AGC= 59, IDX= 405, 0.05, 0.333,-1.179, 0.264,-0.278, PHS= 0.699,-0.855, 0.539, RAW= 144.6,  -5.2, CAL= 150.0, -14.2, ROT= 360.0,  14.2

2025-01-09T05:31:41.876Z,1736400701.876 [DAT](INFO): got valid direction response:
 05:31:40.0757 LVL= 22128, 26881, 17010, 31555, AGC= 59, IDX= 405, 0.05, 0.333,-1.179, 0.264,-0.278, PHS= 0.699,-0.855, 0.539, RAW= 144.6,  -5.2, CAL= 150.0, -14.2, ROT= 360.0,  14.2

2025-01-09T05:31:41.877Z,1736400701.877 [DAT](INFO): DAT read: Bearing 360.0,  14.2 (Local)

2025-01-09T05:31:41.877Z,1736400701.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,  14.2 (Local)

2025-01-09T05:31:41.879Z,1736400701.879 [DAT](INFO): DAT read: Range 10 to 50 : 150.6 m  (Round-trip  200.8 ms) speed  0.6 m/s

2025-01-09T05:31:41.880Z,1736400701.880 [DAT](INFO): DAT read: user:75>

2025-01-09T05:31:41.880Z,1736400701.880 [DAT](INFO): DAT read: Tx time:05:31:41.1708

2025-01-09T05:31:41.880Z,1736400701.880 [DAT](INFO): Ping request sent.
2025-01-09T05:31:41.881Z,1736400701.881 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:41.881Z,1736400701.881 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:41.882Z,1736400701.882 [DAT](INFO): direction in FSK: [0.969445,0.000000,-0.245307]
2025-01-09T05:31:41.882Z,1736400701.882 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:41.882Z,1736400701.882 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:41.928Z,1736400701.928 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:41.929Z,1736400701.929 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:42.112Z,1736400702.112 [DAT](INFO): DAT read: TxSync time:05:31:41.1700

2025-01-09T05:31:42.132Z,1736400702.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:42.167Z,1736400702.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 150.600006 m,
      deltaT: 3.528459 s,
      deltaX: -2.299988 m,
      approachRate: -0.651839 m/s,
      rangeRepo size: 4

2025-01-09T05:31:42.172Z,1736400702.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 150.600006 m,
      bearing: 267.966289 deg,
      lat: 36.904039 deg,
      lon: -122.118964 deg,
      deltaT: 3.528459 s,
      deltaX: -2.299988 m,
      approachRate: -0.651839 m/s,
      posRepo size: 4

2025-01-09T05:31:42.173Z,1736400702.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m.
2025-01-09T05:31:42.181Z,1736400702.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.600006 m,
      nav range: 149.809341 m,
      bearing: 267.988334 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024668 deg/s,
      cmd heading: 264.952491 deg,
      new cmd heading: 264.919230 deg.

2025-01-09T05:31:42.182Z,1736400702.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623713 target range: 150.600006 and range: 150.60 m.
2025-01-09T05:31:42.555Z,1736400702.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:42.564Z,1736400702.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m.
2025-01-09T05:31:42.568Z,1736400702.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.600006 m,
      nav range: 149.541412 m,
      bearing: 267.977809 deg,
      approach rate: -0.647868 m/s,
      LOS rate: -0.025497 deg/s,
      cmd heading: 264.919242 deg,
      new cmd heading: 264.887609 deg.

2025-01-09T05:31:42.569Z,1736400702.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623161 target range: 150.600006 and range: 150.60 m.
2025-01-09T05:31:42.956Z,1736400702.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:42.986Z,1736400702.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m.
2025-01-09T05:31:42.993Z,1736400702.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.600006 m,
      nav range: 149.287857 m,
      bearing: 267.967802 deg,
      approach rate: -0.601448 m/s,
      LOS rate: -0.023778 deg/s,
      cmd heading: 264.887604 deg,
      new cmd heading: 264.857531 deg.

2025-01-09T05:31:42.993Z,1736400702.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622636 target range: 150.600006 and range: 150.60 m.
2025-01-09T05:31:43.367Z,1736400703.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:43.375Z,1736400703.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:43.377Z,1736400703.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m.
2025-01-09T05:31:43.380Z,1736400703.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.600006 m,
      nav range: 149.027802 m,
      bearing: 267.957537 deg,
      approach rate: -0.663852 m/s,
      LOS rate: -0.026248 deg/s,
      cmd heading: 264.857524 deg,
      new cmd heading: 264.826677 deg.

2025-01-09T05:31:43.381Z,1736400703.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622097 target range: 150.600006 and range: 150.60 m.
2025-01-09T05:31:43.624Z,1736400703.624 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:43.624Z,1736400703.624 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:43.624Z,1736400703.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:43.806Z,1736400703.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:43.814Z,1736400703.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m.
2025-01-09T05:31:43.818Z,1736400703.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.600006 m,
      nav range: 148.750641 m,
      bearing: 267.945756 deg,
      approach rate: -0.634331 m/s,
      LOS rate: -0.027015 deg/s,
      cmd heading: 264.826679 deg,
      new cmd heading: 264.791268 deg.

2025-01-09T05:31:43.820Z,1736400703.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621480 target range: 150.600006 and range: 150.60 m.
2025-01-09T05:31:43.877Z,1736400703.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996036
2025-01-09T05:31:44.128Z,1736400704.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246931
2025-01-09T05:31:44.187Z,1736400704.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:44.205Z,1736400704.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m.
2025-01-09T05:31:44.212Z,1736400704.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.600006 m,
      nav range: 148.512741 m,
      bearing: 267.935364 deg,
      approach rate: -0.610999 m/s,
      LOS rate: -0.026732 deg/s,
      cmd heading: 264.791271 deg,
      new cmd heading: 264.760045 deg.

2025-01-09T05:31:44.213Z,1736400704.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620934 target range: 150.600006 and range: 150.60 m.
2025-01-09T05:31:44.380Z,1736400704.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498922
2025-01-09T05:31:44.590Z,1736400704.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:44.598Z,1736400704.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m.
2025-01-09T05:31:44.621Z,1736400704.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.600006 m,
      nav range: 148.256668 m,
      bearing: 267.924441 deg,
      approach rate: -0.648866 m/s,
      LOS rate: -0.027725 deg/s,
      cmd heading: 264.760043 deg,
      new cmd heading: 264.727219 deg.

2025-01-09T05:31:44.622Z,1736400704.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620362 target range: 150.600006 and range: 150.60 m.
2025-01-09T05:31:44.632Z,1736400704.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751074
2025-01-09T05:31:44.884Z,1736400704.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003680
2025-01-09T05:31:44.976Z,1736400704.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:45.012Z,1736400705.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m.
2025-01-09T05:31:45.019Z,1736400705.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.600006 m,
      nav range: 148.013947 m,
      bearing: 267.913900 deg,
      approach rate: -0.586640 m/s,
      LOS rate: -0.025518 deg/s,
      cmd heading: 264.727231 deg,
      new cmd heading: 264.695557 deg.

2025-01-09T05:31:45.020Z,1736400705.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619809 target range: 150.600006 and range: 150.60 m.
2025-01-09T05:31:45.136Z,1736400705.136 [DAT](INFO): DAT read: Rx Time:05:31:43.7728

2025-01-09T05:31:45.136Z,1736400705.136 [DAT](INFO): Rx dataTimestamp_ set to:1736400705.136059
2025-01-09T05:31:45.137Z,1736400705.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256244
2025-01-09T05:31:45.388Z,1736400705.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507142
2025-01-09T05:31:45.426Z,1736400705.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:45.432Z,1736400705.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:45.436Z,1736400705.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.60 m.
2025-01-09T05:31:45.438Z,1736400705.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.600006 m,
      nav range: 147.730927 m,
      bearing: 267.901548 deg,
      approach rate: -0.667951 m/s,
      LOS rate: -0.029207 deg/s,
      cmd heading: 264.695566 deg,
      new cmd heading: 264.658440 deg.

2025-01-09T05:31:45.439Z,1736400705.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619161 target range: 150.600006 and range: 150.60 m.
2025-01-09T05:31:45.647Z,1736400705.647 [DAT](INFO): DAT read: 05:31:43.7728 LVL= 20528, 27505, 17394, 29587, AGC= 63, IDX= 407,-0.32,-2.736, 2.207,-2.645,-3.073, PHS= 0.425,-0.956, 0.425, RAW= 150.0,   1.6, CAL= 152.8,  -7.3, ROT= 357.2,   7.3

2025-01-09T05:31:45.648Z,1736400705.648 [DAT](INFO): got valid direction response:
 05:31:43.7728 LVL= 20528, 27505, 17394, 29587, AGC= 63, IDX= 407,-0.32,-2.736, 2.207,-2.645,-3.073, PHS= 0.425,-0.956, 0.425, RAW= 150.0,   1.6, CAL= 152.8,  -7.3, ROT= 357.2,   7.3

2025-01-09T05:31:45.650Z,1736400705.650 [DAT](INFO): DAT read: Bearing 357.2,   7.3 (Local)

2025-01-09T05:31:45.651Z,1736400705.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,   7.3 (Local)

2025-01-09T05:31:45.653Z,1736400705.653 [DAT](INFO): DAT read: Range 10 to 50 : 148.4 m  (Round-trip  197.9 ms) speed  0.4 m/s

2025-01-09T05:31:45.653Z,1736400705.653 [DAT](INFO): DAT read: user:76>

2025-01-09T05:31:45.654Z,1736400705.654 [DAT](INFO): DAT read: Tx time:05:31:44.8708

2025-01-09T05:31:45.654Z,1736400705.654 [DAT](INFO): Ping request sent.
2025-01-09T05:31:45.655Z,1736400705.655 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:45.655Z,1736400705.655 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:45.656Z,1736400705.656 [DAT](INFO): direction in FSK: [0.990710,-0.048454,-0.127065]
2025-01-09T05:31:45.656Z,1736400705.656 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:45.656Z,1736400705.656 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:45.664Z,1736400705.664 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:45.664Z,1736400705.664 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:45.893Z,1736400705.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:45.896Z,1736400705.896 [DAT](INFO): DAT read: TxSync time:05:31:44.8700

2025-01-09T05:31:45.921Z,1736400705.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.399994 m,
      deltaT: 3.780166 s,
      deltaX: -2.200012 m,
      approachRate: -0.581988 m/s,
      rangeRepo size: 4

2025-01-09T05:31:45.927Z,1736400705.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 148.399994 m,
      bearing: 264.603907 deg,
      lat: 36.904024 deg,
      lon: -122.118957 deg,
      deltaT: 3.780166 s,
      deltaX: -2.200012 m,
      approachRate: -0.581988 m/s,
      posRepo size: 4

2025-01-09T05:31:45.928Z,1736400705.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:45.930Z,1736400705.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 146.869690 m,
      bearing: 267.259016 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029207 deg/s,
      cmd heading: 264.658438 deg,
      new cmd heading: 264.616000 deg.

2025-01-09T05:31:45.936Z,1736400705.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618421 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:46.341Z,1736400706.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:46.350Z,1736400706.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:46.353Z,1736400706.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 146.584976 m,
      bearing: 267.246911 deg,
      approach rate: -0.663155 m/s,
      LOS rate: -0.028249 deg/s,
      cmd heading: 264.616008 deg,
      new cmd heading: 264.579623 deg.

2025-01-09T05:31:46.354Z,1736400706.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617785 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:46.781Z,1736400706.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:46.796Z,1736400706.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:46.808Z,1736400706.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 146.295700 m,
      bearing: 267.234468 deg,
      approach rate: -0.647624 m/s,
      LOS rate: -0.027912 deg/s,
      cmd heading: 264.579617 deg,
      new cmd heading: 264.542214 deg.

2025-01-09T05:31:46.809Z,1736400706.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617133 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:47.265Z,1736400707.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:47.274Z,1736400707.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:47.278Z,1736400707.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 145.977692 m,
      bearing: 267.220731 deg,
      approach rate: -0.665537 m/s,
      LOS rate: -0.028811 deg/s,
      cmd heading: 264.542215 deg,
      new cmd heading: 264.500915 deg.

2025-01-09T05:31:47.282Z,1736400707.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.616412 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:47.689Z,1736400707.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:47.696Z,1736400707.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:47.698Z,1736400707.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:47.702Z,1736400707.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 145.693420 m,
      bearing: 267.208877 deg,
      approach rate: -0.669917 m/s,
      LOS rate: -0.027991 deg/s,
      cmd heading: 264.500906 deg,
      new cmd heading: 264.465274 deg.

2025-01-09T05:31:47.703Z,1736400707.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615790 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:47.911Z,1736400707.911 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:47.912Z,1736400707.912 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:47.912Z,1736400707.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:48.052Z,1736400708.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:48.061Z,1736400708.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:48.064Z,1736400708.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 145.450272 m,
      bearing: 267.199252 deg,
      approach rate: -0.671048 m/s,
      LOS rate: -0.026606 deg/s,
      cmd heading: 264.465280 deg,
      new cmd heading: 264.436358 deg.

2025-01-09T05:31:48.065Z,1736400708.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615285 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:48.165Z,1736400708.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510065
2025-01-09T05:31:48.417Z,1736400708.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762021
2025-01-09T05:31:48.448Z,1736400708.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:48.457Z,1736400708.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:48.460Z,1736400708.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 145.184357 m,
      bearing: 267.188744 deg,
      approach rate: -0.670015 m/s,
      LOS rate: -0.026526 deg/s,
      cmd heading: 264.436347 deg,
      new cmd heading: 264.404765 deg.

2025-01-09T05:31:48.461Z,1736400708.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614734 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:48.668Z,1736400708.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013394
2025-01-09T05:31:48.885Z,1736400708.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:48.893Z,1736400708.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:48.897Z,1736400708.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 144.879776 m,
      bearing: 267.177110 deg,
      approach rate: -0.698846 m/s,
      LOS rate: -0.026751 deg/s,
      cmd heading: 264.404764 deg,
      new cmd heading: 264.369788 deg.

2025-01-09T05:31:48.898Z,1736400708.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614123 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:48.920Z,1736400708.920 [DAT](INFO): DAT read: Rx Time:05:31:47.5023

2025-01-09T05:31:48.920Z,1736400708.920 [DAT](INFO): Rx dataTimestamp_ set to:1736400708.919743
2025-01-09T05:31:48.921Z,1736400708.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266096
2025-01-09T05:31:49.172Z,1736400709.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517239
2025-01-09T05:31:49.321Z,1736400709.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:49.330Z,1736400709.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:49.332Z,1736400709.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 144.575745 m,
      bearing: 267.165540 deg,
      approach rate: -0.696885 m/s,
      LOS rate: -0.026576 deg/s,
      cmd heading: 264.369794 deg,
      new cmd heading: 264.335011 deg.

2025-01-09T05:31:49.333Z,1736400709.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613516 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:49.432Z,1736400709.432 [DAT](INFO): DAT read: 05:31:47.5023 LVL= 22368, 28657, 19730, 24819, AGC= 59, IDX= 228,-0.09,-3.075, 1.814,-3.037, 2.984, PHS= 0.312,-1.123, 0.259, RAW= 148.1,   7.9, CAL= 149.3,  -0.8, ROT=   0.7,   0.8

2025-01-09T05:31:49.434Z,1736400709.434 [DAT](INFO): got valid direction response:
 05:31:47.5023 LVL= 22368, 28657, 19730, 24819, AGC= 59, IDX= 228,-0.09,-3.075, 1.814,-3.037, 2.984, PHS= 0.312,-1.123, 0.259, RAW= 148.1,   7.9, CAL= 149.3,  -0.8, ROT=   0.7,   0.8

2025-01-09T05:31:49.435Z,1736400709.435 [DAT](INFO): DAT read: Bearing   0.7,   0.8 (Local)

2025-01-09T05:31:49.436Z,1736400709.436 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,   0.8 (Local)

2025-01-09T05:31:49.438Z,1736400709.438 [DAT](INFO): DAT read: Range 10 to 50 : 170.4 m  (Round-trip  227.3 ms) speed  0.4 m/s

2025-01-09T05:31:49.444Z,1736400709.444 [DAT](INFO): DAT read: user:77>

2025-01-09T05:31:49.445Z,1736400709.445 [DAT](INFO): DAT read: Tx time:05:31:48.6208

2025-01-09T05:31:49.445Z,1736400709.445 [DAT](INFO): Ping request sent.
2025-01-09T05:31:49.446Z,1736400709.446 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:49.446Z,1736400709.446 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:49.451Z,1736400709.451 [DAT](INFO): direction in FSK: [0.999828,0.012216,-0.013962]
2025-01-09T05:31:49.452Z,1736400709.452 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:49.452Z,1736400709.452 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:49.463Z,1736400709.463 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:49.464Z,1736400709.464 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:49.680Z,1736400709.680 [DAT](INFO): DAT read: TxSync time:05:31:48.6201

2025-01-09T05:31:49.739Z,1736400709.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:49.781Z,1736400709.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 170.399994 m,
 deltaT: 3.784353 s,
 deltaX: 22.000000 m,
 approachRate: 5.813411 m/s,
 rangeRepo size: 4
2025-01-09T05:31:49.782Z,1736400709.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:49.788Z,1736400709.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 144.283783 m,
      bearing: 267.154233 deg,
      approach rate: -0.647703 m/s,
      LOS rate: -0.025135 deg/s,
      cmd heading: 264.335014 deg,
      new cmd heading: 264.301025 deg.

2025-01-09T05:31:49.789Z,1736400709.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612923 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:50.091Z,1736400710.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:50.099Z,1736400710.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:50.102Z,1736400710.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:50.124Z,1736400710.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 144.037827 m,
      bearing: 267.145357 deg,
      approach rate: -0.765542 m/s,
      LOS rate: -0.027674 deg/s,
      cmd heading: 264.301027 deg,
      new cmd heading: 264.274354 deg.

2025-01-09T05:31:50.125Z,1736400710.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612458 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:50.185Z,1736400710.185 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:50.185Z,1736400710.185 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:50.185Z,1736400710.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:50.436Z,1736400710.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990039
2025-01-09T05:31:50.498Z,1736400710.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:50.508Z,1736400710.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:50.512Z,1736400710.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 143.753799 m,
      bearing: 267.135520 deg,
      approach rate: -0.698401 m/s,
      LOS rate: -0.024235 deg/s,
      cmd heading: 264.274362 deg,
      new cmd heading: 264.244795 deg.

2025-01-09T05:31:50.513Z,1736400710.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611942 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:50.580Z,1736400710.580 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:31:50.688Z,1736400710.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242158
2025-01-09T05:31:50.925Z,1736400710.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:50.934Z,1736400710.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:50.937Z,1736400710.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 143.452393 m,
      bearing: 267.126087 deg,
      approach rate: -0.707593 m/s,
      LOS rate: -0.022192 deg/s,
      cmd heading: 264.244801 deg,
      new cmd heading: 264.216442 deg.

2025-01-09T05:31:50.938Z,1736400710.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611447 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:50.940Z,1736400710.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494112
2025-01-09T05:31:51.192Z,1736400711.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745920
2025-01-09T05:31:51.301Z,1736400711.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:51.309Z,1736400711.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:51.313Z,1736400711.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 143.186630 m,
      bearing: 267.118130 deg,
      approach rate: -0.708271 m/s,
      LOS rate: -0.021245 deg/s,
      cmd heading: 264.216442 deg,
      new cmd heading: 264.192527 deg.

2025-01-09T05:31:51.314Z,1736400711.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611030 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:51.444Z,1736400711.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998026
2025-01-09T05:31:51.585Z,1736400711.585 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:31:51.696Z,1736400711.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250077
2025-01-09T05:31:51.721Z,1736400711.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:51.732Z,1736400711.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:51.756Z,1736400711.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 142.889160 m,
      bearing: 267.108592 deg,
      approach rate: -0.704346 m/s,
      LOS rate: -0.022632 deg/s,
      cmd heading: 264.192537 deg,
      new cmd heading: 264.163861 deg.

2025-01-09T05:31:51.763Z,1736400711.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610529 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:51.948Z,1736400711.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501972
2025-01-09T05:31:52.104Z,1736400712.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:52.111Z,1736400712.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:52.113Z,1736400712.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:52.117Z,1736400712.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 142.618073 m,
      bearing: 267.099981 deg,
      approach rate: -0.710714 m/s,
      LOS rate: -0.022619 deg/s,
      cmd heading: 264.163850 deg,
      new cmd heading: 264.137967 deg.

2025-01-09T05:31:52.118Z,1736400712.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610077 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:52.201Z,1736400712.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755627
2025-01-09T05:31:52.453Z,1736400712.453 [DAT](INFO): DAT read: Rx Time:05:31:51.2500

2025-01-09T05:31:52.454Z,1736400712.454 [DAT](INFO): Rx dataTimestamp_ set to:1736400712.453522
2025-01-09T05:31:52.454Z,1736400712.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008726
2025-01-09T05:31:52.522Z,1736400712.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:52.531Z,1736400712.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:52.535Z,1736400712.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 142.322357 m,
      bearing: 267.090748 deg,
      approach rate: -0.708772 m/s,
      LOS rate: -0.022175 deg/s,
      cmd heading: 264.137977 deg,
      new cmd heading: 264.110221 deg.

2025-01-09T05:31:52.536Z,1736400712.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609593 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:52.704Z,1736400712.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258047
2025-01-09T05:31:52.956Z,1736400712.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510172
2025-01-09T05:31:53.016Z,1736400713.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:53.056Z,1736400713.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.40 m.
2025-01-09T05:31:53.068Z,1736400713.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.399994 m,
      nav range: 141.981659 m,
      bearing: 267.080878 deg,
      approach rate: -0.647734 m/s,
      LOS rate: -0.018810 deg/s,
      cmd heading: 264.110219 deg,
      new cmd heading: 264.080538 deg.

2025-01-09T05:31:53.069Z,1736400713.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609075 target range: 148.399994 and range: 148.40 m.
2025-01-09T05:31:53.213Z,1736400713.213 [DAT](INFO): DAT read: 05:31:51.2500 LVL= 21024, 27185, 17474, 23907, AGC= 62, IDX= 412, 0.04,-2.255, 2.673,-2.265,-2.575, PHS= 0.408,-0.988, 0.307, RAW= 146.3,   4.1, CAL= 148.9,  -4.6, ROT=   1.1,   4.6

2025-01-09T05:31:53.214Z,1736400713.214 [DAT](INFO): got valid direction response:
 05:31:51.2500 LVL= 21024, 27185, 17474, 23907, AGC= 62, IDX= 412, 0.04,-2.255, 2.673,-2.265,-2.575, PHS= 0.408,-0.988, 0.307, RAW= 146.3,   4.1, CAL= 148.9,  -4.6, ROT=   1.1,   4.6

2025-01-09T05:31:53.215Z,1736400713.215 [DAT](INFO): DAT read: Bearing   1.1,   4.6 (Local)

2025-01-09T05:31:53.216Z,1736400713.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,   4.6 (Local)

2025-01-09T05:31:53.218Z,1736400713.218 [DAT](INFO): DAT read: Range 10 to 50 : 168.7 m  (Round-trip  225.0 ms) speed  0.1 m/s

2025-01-09T05:31:53.219Z,1736400713.219 [DAT](INFO): DAT read: user:78>

2025-01-09T05:31:53.219Z,1736400713.219 [DAT](INFO): DAT read: Tx time:05:31:52.3708

2025-01-09T05:31:53.220Z,1736400713.220 [DAT](INFO): Ping request sent.
2025-01-09T05:31:53.220Z,1736400713.220 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:53.220Z,1736400713.220 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:53.221Z,1736400713.221 [DAT](INFO): direction in FSK: [0.996595,0.019136,-0.080199]
2025-01-09T05:31:53.221Z,1736400713.221 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:53.221Z,1736400713.221 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:53.225Z,1736400713.225 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:53.225Z,1736400713.225 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:53.366Z,1736400713.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:53.401Z,1736400713.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 168.699997 m,
      deltaT: 7.566102 s,
      deltaX: 20.300003 m,
      approachRate: 2.683020 m/s,
      rangeRepo size: 4

2025-01-09T05:31:53.407Z,1736400713.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 168.699997 m,
      bearing: 266.338062 deg,
      lat: 36.903998 deg,
      lon: -122.118957 deg,
      deltaT: 7.566102 s,
      deltaX: 20.300003 m,
      approachRate: 2.683020 m/s,
      posRepo size: 4

2025-01-09T05:31:53.408Z,1736400713.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m.
2025-01-09T05:31:53.426Z,1736400713.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.699997 m,
      nav range: 141.911545 m,
      bearing: 265.899038 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018810 deg/s,
      cmd heading: 264.080549 deg,
      new cmd heading: 264.061142 deg.

2025-01-09T05:31:53.438Z,1736400713.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608737 target range: 168.699997 and range: 168.70 m.
2025-01-09T05:31:53.460Z,1736400713.460 [DAT](INFO): DAT read: TxSync time:05:31:52.3701

2025-01-09T05:31:53.874Z,1736400713.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:53.890Z,1736400713.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m.
2025-01-09T05:31:53.893Z,1736400713.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.699997 m,
      nav range: 141.565277 m,
      bearing: 265.885913 deg,
      approach rate: -0.706777 m/s,
      LOS rate: -0.026855 deg/s,
      cmd heading: 264.061151 deg,
      new cmd heading: 264.021680 deg.

2025-01-09T05:31:53.903Z,1736400713.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608047 target range: 168.699997 and range: 168.70 m.
2025-01-09T05:31:54.189Z,1736400714.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:54.196Z,1736400714.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:54.199Z,1736400714.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m.
2025-01-09T05:31:54.202Z,1736400714.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.699997 m,
      nav range: 141.349655 m,
      bearing: 265.877879 deg,
      approach rate: -0.699803 m/s,
      LOS rate: -0.026113 deg/s,
      cmd heading: 264.021673 deg,
      new cmd heading: 263.997535 deg.

2025-01-09T05:31:54.203Z,1736400714.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607626 target range: 168.699997 and range: 168.70 m.
2025-01-09T05:31:54.215Z,1736400714.215 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:54.216Z,1736400714.216 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:54.216Z,1736400714.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:54.468Z,1736400714.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248615
2025-01-09T05:31:54.592Z,1736400714.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:54.639Z,1736400714.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m.
2025-01-09T05:31:54.666Z,1736400714.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.699997 m,
      nav range: 141.074539 m,
      bearing: 265.867916 deg,
      approach rate: -0.632749 m/s,
      LOS rate: -0.022960 deg/s,
      cmd heading: 263.997521 deg,
      new cmd heading: 263.967573 deg.

2025-01-09T05:31:54.675Z,1736400714.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607103 target range: 168.699997 and range: 168.70 m.
2025-01-09T05:31:54.720Z,1736400714.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500544
2025-01-09T05:31:54.972Z,1736400714.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751968
2025-01-09T05:31:55.039Z,1736400715.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:55.047Z,1736400715.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m.
2025-01-09T05:31:55.055Z,1736400715.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.699997 m,
      nav range: 140.784866 m,
      bearing: 265.859405 deg,
      approach rate: -0.700249 m/s,
      LOS rate: -0.020618 deg/s,
      cmd heading: 263.967578 deg,
      new cmd heading: 263.941990 deg.

2025-01-09T05:31:55.056Z,1736400715.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606657 target range: 168.699997 and range: 168.70 m.
2025-01-09T05:31:55.224Z,1736400715.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003853
2025-01-09T05:31:55.404Z,1736400715.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:55.416Z,1736400715.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m.
2025-01-09T05:31:55.420Z,1736400715.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.699997 m,
      nav range: 140.547302 m,
      bearing: 265.852360 deg,
      approach rate: -0.643259 m/s,
      LOS rate: -0.019108 deg/s,
      cmd heading: 263.941978 deg,
      new cmd heading: 263.920807 deg.

2025-01-09T05:31:55.421Z,1736400715.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606287 target range: 168.699997 and range: 168.70 m.
2025-01-09T05:31:55.477Z,1736400715.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257302
2025-01-09T05:31:55.728Z,1736400715.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507809
2025-01-09T05:31:55.846Z,1736400715.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:55.856Z,1736400715.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m.
2025-01-09T05:31:55.858Z,1736400715.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.699997 m,
      nav range: 140.270157 m,
      bearing: 265.843911 deg,
      approach rate: -0.630836 m/s,
      LOS rate: -0.019267 deg/s,
      cmd heading: 263.920804 deg,
      new cmd heading: 263.895410 deg.

2025-01-09T05:31:55.859Z,1736400715.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.605844 target range: 168.699997 and range: 168.70 m.
2025-01-09T05:31:55.980Z,1736400715.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760057
2025-01-09T05:31:56.220Z,1736400716.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:56.227Z,1736400716.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:56.229Z,1736400716.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m.
2025-01-09T05:31:56.232Z,1736400716.232 [DAT](INFO): DAT read: Rx Time:05:31:54.9965

2025-01-09T05:31:56.233Z,1736400716.233 [DAT](INFO): Rx dataTimestamp_ set to:1736400716.231938
2025-01-09T05:31:56.236Z,1736400716.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015205
2025-01-09T05:31:56.240Z,1736400716.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.699997 m,
      nav range: 140.034683 m,
      bearing: 265.836707 deg,
      approach rate: -0.629974 m/s,
      LOS rate: -0.019306 deg/s,
      cmd heading: 263.895423 deg,
      new cmd heading: 263.873775 deg.

2025-01-09T05:31:56.241Z,1736400716.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.605466 target range: 168.699997 and range: 168.70 m.
2025-01-09T05:31:56.485Z,1736400716.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264990
2025-01-09T05:31:56.608Z,1736400716.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:56.621Z,1736400716.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m.
2025-01-09T05:31:56.643Z,1736400716.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.699997 m,
      nav range: 139.791229 m,
      bearing: 265.829184 deg,
      approach rate: -0.621659 m/s,
      LOS rate: -0.019246 deg/s,
      cmd heading: 263.873785 deg,
      new cmd heading: 263.851175 deg.

2025-01-09T05:31:56.651Z,1736400716.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.605072 target range: 168.699997 and range: 168.70 m.
2025-01-09T05:31:56.739Z,1736400716.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518756
2025-01-09T05:31:56.993Z,1736400716.993 [DAT](INFO): DAT read: 05:31:54.9965 LVL= 26992, 32753, 21730, 27171, AGC= 62, IDX= 415, 0.05, 0.420,-0.713, 0.529,-0.681, PHS= 1.189, 0.015, 1.207, RAW= 150.7, -35.8, CAL= 153.0, -40.3, ROT= 357.0,  40.3

2025-01-09T05:31:56.994Z,1736400716.994 [DAT](INFO): got valid direction response:
 05:31:54.9965 LVL= 26992, 32753, 21730, 27171, AGC= 62, IDX= 415, 0.05, 0.420,-0.713, 0.529,-0.681, PHS= 1.189, 0.015, 1.207, RAW= 150.7, -35.8, CAL= 153.0, -40.3, ROT= 357.0,  40.3

2025-01-09T05:31:56.995Z,1736400716.995 [DAT](INFO): DAT read: Bearing 357.0,  40.3 (Local)

2025-01-09T05:31:56.995Z,1736400716.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,  40.3 (Local)

2025-01-09T05:31:56.997Z,1736400716.997 [DAT](INFO): DAT read: Range 10 to 50 : 166.1 m  (Round-trip  221.5 ms) speed  0.8 m/s

2025-01-09T05:31:56.998Z,1736400716.998 [DAT](INFO): DAT read: user:79>

2025-01-09T05:31:56.000Z,1736400717.000 [DAT](INFO): DAT read: Tx time:05:31:56.1208

2025-01-09T05:31:57.001Z,1736400717.001 [DAT](INFO): Ping request sent.
2025-01-09T05:31:57.001Z,1736400717.001 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:31:57.007Z,1736400717.007 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:31:57.008Z,1736400717.008 [DAT](INFO): direction in FSK: [0.761623,-0.039915,-0.646790]
2025-01-09T05:31:57.008Z,1736400717.008 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:57.008Z,1736400717.008 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:57.016Z,1736400717.016 [DAT](INFO): publishing transmit ping time
2025-01-09T05:31:57.016Z,1736400717.016 [DAT](INFO): publishing direction and range info
2025-01-09T05:31:57.148Z,1736400717.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:57.179Z,1736400717.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 166.100006 m,
      deltaT: 3.779998 s,
      deltaX: -2.599991 m,
      approachRate: -0.687829 m/s,
      rangeRepo size: 4

2025-01-09T05:31:57.181Z,1736400717.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 166.100006 m,
      bearing: 267.652350 deg,
      lat: 36.903998 deg,
      lon: -122.118951 deg,
      deltaT: 3.779998 s,
      deltaX: -2.599991 m,
      approachRate: -0.687829 m/s,
      posRepo size: 4

2025-01-09T05:31:57.182Z,1736400717.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.10 m.
2025-01-09T05:31:57.189Z,1736400717.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.100006 m,
      nav range: 138.928131 m,
      bearing: 265.803985 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019246 deg/s,
      cmd heading: 263.851164 deg,
      new cmd heading: 263.819212 deg.

2025-01-09T05:31:57.190Z,1736400717.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604514 target range: 166.100006 and range: 166.10 m.
2025-01-09T05:31:57.240Z,1736400717.240 [DAT](INFO): DAT read: TxSync time:05:31:56.1201

2025-01-09T05:31:57.480Z,1736400717.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:57.499Z,1736400717.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.10 m.
2025-01-09T05:31:57.522Z,1736400717.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.100006 m,
      nav range: 138.720795 m,
      bearing: 265.798377 deg,
      approach rate: -0.637893 m/s,
      LOS rate: -0.017279 deg/s,
      cmd heading: 263.819226 deg,
      new cmd heading: 263.802377 deg.

2025-01-09T05:31:57.523Z,1736400717.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604220 target range: 166.100006 and range: 166.10 m.
2025-01-09T05:31:57.929Z,1736400717.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:57.951Z,1736400717.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.10 m.
2025-01-09T05:31:57.953Z,1736400717.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.100006 m,
      nav range: 138.442001 m,
      bearing: 265.790472 deg,
      approach rate: -0.619008 m/s,
      LOS rate: -0.017589 deg/s,
      cmd heading: 263.802369 deg,
      new cmd heading: 263.778604 deg.

2025-01-09T05:31:57.967Z,1736400717.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603805 target range: 166.100006 and range: 166.10 m.
2025-01-09T05:31:58.279Z,1736400718.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:58.287Z,1736400718.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:31:58.289Z,1736400718.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.10 m.
2025-01-09T05:31:58.292Z,1736400718.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.100006 m,
      nav range: 138.220581 m,
      bearing: 265.784272 deg,
      approach rate: -0.651804 m/s,
      LOS rate: -0.018278 deg/s,
      cmd heading: 263.778600 deg,
      new cmd heading: 263.759972 deg.

2025-01-09T05:31:58.293Z,1736400718.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603480 target range: 166.100006 and range: 166.10 m.
2025-01-09T05:31:58.501Z,1736400718.501 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:31:58.501Z,1736400718.501 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:31:58.501Z,1736400718.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:31:58.732Z,1736400718.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:58.752Z,1736400718.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751547
2025-01-09T05:31:58.770Z,1736400718.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.10 m.
2025-01-09T05:31:58.781Z,1736400718.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.100006 m,
      nav range: 137.938049 m,
      bearing: 265.776334 deg,
      approach rate: -0.588114 m/s,
      LOS rate: -0.016558 deg/s,
      cmd heading: 263.759967 deg,
      new cmd heading: 263.736103 deg.

2025-01-09T05:31:58.782Z,1736400718.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603064 target range: 166.100006 and range: 166.10 m.
2025-01-09T05:31:59.004Z,1736400719.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003103
2025-01-09T05:31:59.123Z,1736400719.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:59.132Z,1736400719.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.10 m.
2025-01-09T05:31:59.137Z,1736400719.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.100006 m,
      nav range: 137.685638 m,
      bearing: 265.768250 deg,
      approach rate: -0.696825 m/s,
      LOS rate: -0.022357 deg/s,
      cmd heading: 263.736116 deg,
      new cmd heading: 263.711821 deg.

2025-01-09T05:31:59.138Z,1736400719.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602640 target range: 166.100006 and range: 166.10 m.
2025-01-09T05:31:59.256Z,1736400719.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254850
2025-01-09T05:31:59.486Z,1736400719.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:59.508Z,1736400719.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507189
2025-01-09T05:31:59.511Z,1736400719.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.10 m.
2025-01-09T05:31:59.517Z,1736400719.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.100006 m,
      nav range: 137.452148 m,
      bearing: 265.760759 deg,
      approach rate: -0.617886 m/s,
      LOS rate: -0.019858 deg/s,
      cmd heading: 263.711828 deg,
      new cmd heading: 263.689316 deg.

2025-01-09T05:31:59.520Z,1736400719.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602247 target range: 166.100006 and range: 166.10 m.
2025-01-09T05:31:59.763Z,1736400719.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761643
2025-01-09T05:31:59.923Z,1736400719.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:31:59.932Z,1736400719.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.10 m.
2025-01-09T05:31:59.936Z,1736400719.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.100006 m,
      nav range: 137.162903 m,
      bearing: 265.748884 deg,
      approach rate: -0.685855 m/s,
      LOS rate: -0.028218 deg/s,
      cmd heading: 263.689316 deg,
      new cmd heading: 263.653615 deg.

2025-01-09T05:31:59.937Z,1736400719.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601624 target range: 166.100006 and range: 166.10 m.
2025-01-09T05:32:00.014Z,1736400720.014 [DAT](INFO): DAT read: Rx Time:05:31:58.7432

2025-01-09T05:32:00.014Z,1736400720.014 [DAT](INFO): Rx dataTimestamp_ set to:1736400720.013771
2025-01-09T05:32:00.015Z,1736400720.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014033
2025-01-09T05:32:00.276Z,1736400720.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274934
2025-01-09T05:32:00.294Z,1736400720.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:00.321Z,1736400720.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:00.327Z,1736400720.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.10 m.
2025-01-09T05:32:00.330Z,1736400720.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.100006 m,
      nav range: 136.916779 m,
      bearing: 265.738855 deg,
      approach rate: -0.621876 m/s,
      LOS rate: -0.025386 deg/s,
      cmd heading: 263.653607 deg,
      new cmd heading: 263.623466 deg.

2025-01-09T05:32:00.336Z,1736400720.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601098 target range: 166.100006 and range: 166.10 m.
2025-01-09T05:32:00.553Z,1736400720.553 [DAT](INFO): DAT read: 05:31:58.7433 LVL= 25584, 32753, 21650, 32755, AGC= 65, IDX= 407, 0.16, 0.759,-0.716, 0.668, 0.356, PHS= 0.491,-1.025, 0.309, RAW= 143.7,   3.2, CAL= 147.1,  -5.4, ROT=   2.9,   5.4

2025-01-09T05:32:00.554Z,1736400720.554 [DAT](INFO): got valid direction response:
 05:31:58.7433 LVL= 25584, 32753, 21650, 32755, AGC= 65, IDX= 407, 0.16, 0.759,-0.716, 0.668, 0.356, PHS= 0.491,-1.025, 0.309, RAW= 143.7,   3.2, CAL= 147.1,  -5.4, ROT=   2.9,   5.4

2025-01-09T05:32:00.555Z,1736400720.555 [DAT](INFO): DAT read: Bearing   2.9,   5.4 (Local)

2025-01-09T05:32:00.556Z,1736400720.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,   5.4 (Local)

2025-01-09T05:32:00.557Z,1736400720.557 [DAT](INFO): DAT read: Range 10 to 50 : 163.6 m  (Round-trip  218.2 ms) speed  0.0 m/s

2025-01-09T05:32:00.558Z,1736400720.558 [DAT](INFO): DAT read: user:80>

2025-01-09T05:32:00.559Z,1736400720.559 [DAT](INFO): DAT read: Tx time:05:31:59.8209

2025-01-09T05:32:00.559Z,1736400720.559 [DAT](INFO): Ping request sent.
2025-01-09T05:32:00.559Z,1736400720.559 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:32:00.560Z,1736400720.560 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:32:00.560Z,1736400720.560 [DAT](INFO): direction in FSK: [0.994287,0.050368,-0.094108]
2025-01-09T05:32:00.561Z,1736400720.561 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:00.561Z,1736400720.561 [DAT](INFO): publishing direction and range info
2025-01-09T05:32:00.598Z,1736400720.598 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:00.598Z,1736400720.598 [DAT](INFO): publishing direction and range info
2025-01-09T05:32:00.781Z,1736400720.781 [DAT](INFO): DAT read: TxSync time:05:31:59.8202

2025-01-09T05:32:00.788Z,1736400720.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:00.821Z,1736400720.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 163.600006 m,
      deltaT: 3.543667 s,
      deltaX: -2.500000 m,
      approachRate: -0.705484 m/s,
      rangeRepo size: 4

2025-01-09T05:32:00.828Z,1736400720.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 163.600006 m,
      bearing: 267.631486 deg,
      lat: 36.903998 deg,
      lon: -122.119240 deg,
      deltaT: 3.543667 s,
      deltaX: -2.500000 m,
      approachRate: -0.705484 m/s,
      posRepo size: 4

2025-01-09T05:32:00.828Z,1736400720.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:00.835Z,1736400720.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 162.157593 m,
      bearing: 266.400757 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025386 deg/s,
      cmd heading: 263.623473 deg,
      new cmd heading: 263.585911 deg.

2025-01-09T05:32:00.836Z,1736400720.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.600442 target range: 163.600006 and range: 163.60 m.
2025-01-09T05:32:01.143Z,1736400721.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:01.153Z,1736400721.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:01.156Z,1736400721.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 161.912720 m,
      bearing: 266.392030 deg,
      approach rate: -0.737507 m/s,
      LOS rate: -0.026323 deg/s,
      cmd heading: 263.585907 deg,
      new cmd heading: 263.559686 deg.

2025-01-09T05:32:01.157Z,1736400721.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599984 target range: 163.600006 and range: 163.60 m.
2025-01-09T05:32:01.505Z,1736400721.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:01.531Z,1736400721.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:01.534Z,1736400721.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 161.663223 m,
      bearing: 266.383459 deg,
      approach rate: -0.659982 m/s,
      LOS rate: -0.022709 deg/s,
      cmd heading: 263.559679 deg,
      new cmd heading: 263.533925 deg.

2025-01-09T05:32:01.539Z,1736400721.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599535 target range: 163.600006 and range: 163.60 m.
2025-01-09T05:32:01.968Z,1736400721.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:01.986Z,1736400721.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:01.993Z,1736400721.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 161.335144 m,
      bearing: 266.373045 deg,
      approach rate: -0.720510 m/s,
      LOS rate: -0.022916 deg/s,
      cmd heading: 263.533915 deg,
      new cmd heading: 263.502612 deg.

2025-01-09T05:32:01.994Z,1736400721.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598988 target range: 163.600006 and range: 163.60 m.
2025-01-09T05:32:02.323Z,1736400722.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:02.329Z,1736400722.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:02.331Z,1736400722.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:02.336Z,1736400722.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 161.084351 m,
      bearing: 266.365124 deg,
      approach rate: -0.726224 m/s,
      LOS rate: -0.022972 deg/s,
      cmd heading: 263.502606 deg,
      new cmd heading: 263.478806 deg.

2025-01-09T05:32:02.336Z,1736400722.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598573 target range: 163.600006 and range: 163.60 m.
2025-01-09T05:32:02.543Z,1736400722.543 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:02.544Z,1736400722.544 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:02.544Z,1736400722.544 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:02.721Z,1736400722.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:02.772Z,1736400722.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:02.797Z,1736400722.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237516
2025-01-09T05:32:02.799Z,1736400722.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 160.801880 m,
      bearing: 266.356390 deg,
      approach rate: -0.674180 m/s,
      LOS rate: -0.020883 deg/s,
      cmd heading: 263.478809 deg,
      new cmd heading: 263.452560 deg.

2025-01-09T05:32:02.801Z,1736400722.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598114 target range: 163.600006 and range: 163.60 m.
2025-01-09T05:32:03.049Z,1736400723.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489176
2025-01-09T05:32:03.156Z,1736400723.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:03.165Z,1736400723.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:03.169Z,1736400723.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 160.487015 m,
      bearing: 266.344112 deg,
      approach rate: -0.759562 m/s,
      LOS rate: -0.029678 deg/s,
      cmd heading: 263.452554 deg,
      new cmd heading: 263.415647 deg.

2025-01-09T05:32:03.170Z,1736400723.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.597470 target range: 163.600006 and range: 163.60 m.
2025-01-09T05:32:03.302Z,1736400723.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742404
2025-01-09T05:32:03.532Z,1736400723.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:03.540Z,1736400723.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:03.544Z,1736400723.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 160.215332 m,
      bearing: 266.333755 deg,
      approach rate: -0.723496 m/s,
      LOS rate: -0.027627 deg/s,
      cmd heading: 263.415644 deg,
      new cmd heading: 263.384521 deg.

2025-01-09T05:32:03.547Z,1736400723.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596927 target range: 163.600006 and range: 163.60 m.
2025-01-09T05:32:03.552Z,1736400723.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993104
2025-01-09T05:32:03.806Z,1736400723.806 [DAT](INFO): DAT read: Rx Time:05:32:02.4423

2025-01-09T05:32:03.808Z,1736400723.808 [DAT](INFO): Rx dataTimestamp_ set to:1736400723.807321
2025-01-09T05:32:03.810Z,1736400723.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250358
2025-01-09T05:32:04.053Z,1736400724.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:04.056Z,1736400724.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496471
2025-01-09T05:32:04.087Z,1736400724.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:04.089Z,1736400724.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 159.848541 m,
      bearing: 266.321277 deg,
      approach rate: -0.671612 m/s,
      LOS rate: -0.022901 deg/s,
      cmd heading: 263.384525 deg,
      new cmd heading: 263.347004 deg.

2025-01-09T05:32:04.091Z,1736400724.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596272 target range: 163.600006 and range: 163.60 m.
2025-01-09T05:32:04.310Z,1736400724.310 [DAT](INFO): DAT read: Range 10 to 50 : 162.9 m  (Round-trip  217.2 ms) speed  0.4 m/s

2025-01-09T05:32:04.311Z,1736400724.311 [DAT](INFO): DAT read: user:81>

2025-01-09T05:32:04.312Z,1736400724.312 [DAT](INFO): DAT read: Tx time:05:32:03.5209

2025-01-09T05:32:04.312Z,1736400724.312 [DAT](INFO): Ping request sent.
2025-01-09T05:32:04.312Z,1736400724.312 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:32:04.313Z,1736400724.313 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:32:04.313Z,1736400724.313 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:04.314Z,1736400724.314 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:04.347Z,1736400724.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:04.375Z,1736400724.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:04.378Z,1736400724.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 162.899994 m,
      deltaT: 3.776765 s,
      deltaX: -0.700012 m,
      approachRate: -0.185347 m/s,
      rangeRepo size: 4

2025-01-09T05:32:04.383Z,1736400724.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:04.386Z,1736400724.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 159.642197 m,
      bearing: 266.314271 deg,
      approach rate: -0.709993 m/s,
      LOS rate: -0.024137 deg/s,
      cmd heading: 263.347014 deg,
      new cmd heading: 263.325969 deg.

2025-01-09T05:32:04.396Z,1736400724.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595905 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:04.561Z,1736400724.561 [DAT](INFO): DAT read: TxSync time:05:32:03.5202

2025-01-09T05:32:04.562Z,1736400724.562 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:04.562Z,1736400724.562 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:04.563Z,1736400724.563 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:04.775Z,1736400724.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:04.816Z,1736400724.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502917
2025-01-09T05:32:04.836Z,1736400724.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:04.839Z,1736400724.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 159.341324 m,
      bearing: 266.304182 deg,
      approach rate: -0.656101 m/s,
      LOS rate: -0.022042 deg/s,
      cmd heading: 263.325977 deg,
      new cmd heading: 263.295654 deg.

2025-01-09T05:32:04.840Z,1736400724.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595376 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:05.064Z,1736400725.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751450
2025-01-09T05:32:05.192Z,1736400725.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:05.202Z,1736400725.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:05.209Z,1736400725.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 159.061157 m,
      bearing: 266.295615 deg,
      approach rate: -0.765219 m/s,
      LOS rate: -0.023439 deg/s,
      cmd heading: 263.295651 deg,
      new cmd heading: 263.269906 deg.

2025-01-09T05:32:05.210Z,1736400725.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594927 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:05.319Z,1736400725.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006791
2025-01-09T05:32:05.559Z,1736400725.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:05.568Z,1736400725.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255556
2025-01-09T05:32:05.569Z,1736400725.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:05.572Z,1736400725.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 158.815613 m,
      bearing: 266.288071 deg,
      approach rate: -0.668852 m/s,
      LOS rate: -0.020583 deg/s,
      cmd heading: 263.269915 deg,
      new cmd heading: 263.247246 deg.

2025-01-09T05:32:05.573Z,1736400725.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594531 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:05.822Z,1736400725.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509684
2025-01-09T05:32:05.985Z,1736400725.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:05.993Z,1736400725.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:05.996Z,1736400725.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 158.545654 m,
      bearing: 266.282049 deg,
      approach rate: -0.636331 m/s,
      LOS rate: -0.014220 deg/s,
      cmd heading: 263.247239 deg,
      new cmd heading: 263.229141 deg.

2025-01-09T05:32:05.997Z,1736400725.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594215 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:06.073Z,1736400726.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760861
2025-01-09T05:32:06.324Z,1736400726.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011384
2025-01-09T05:32:06.376Z,1736400726.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:06.382Z,1736400726.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:06.385Z,1736400726.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:06.388Z,1736400726.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 158.297562 m,
      bearing: 266.276194 deg,
      approach rate: -0.633219 m/s,
      LOS rate: -0.014966 deg/s,
      cmd heading: 263.229152 deg,
      new cmd heading: 263.211562 deg.

2025-01-09T05:32:06.389Z,1736400726.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593908 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:06.576Z,1736400726.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263776
2025-01-09T05:32:06.803Z,1736400726.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:06.831Z,1736400726.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517995
2025-01-09T05:32:06.858Z,1736400726.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:06.872Z,1736400726.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 158.029892 m,
      bearing: 266.269696 deg,
      approach rate: -0.565705 m/s,
      LOS rate: -0.013757 deg/s,
      cmd heading: 263.211558 deg,
      new cmd heading: 263.192030 deg.

2025-01-09T05:32:06.873Z,1736400726.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593567 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:07.080Z,1736400727.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767674
2025-01-09T05:32:07.200Z,1736400727.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:07.209Z,1736400727.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:07.212Z,1736400727.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 157.778793 m,
      bearing: 266.265217 deg,
      approach rate: -0.716066 m/s,
      LOS rate: -0.012792 deg/s,
      cmd heading: 263.192023 deg,
      new cmd heading: 263.178566 deg.

2025-01-09T05:32:07.213Z,1736400727.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593332 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:07.332Z,1736400727.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019582
2025-01-09T05:32:07.584Z,1736400727.584 [DAT](INFO): DAT read: Rx Time:05:32:06.1385

2025-01-09T05:32:07.584Z,1736400727.584 [DAT](INFO): Rx dataTimestamp_ set to:1736400727.583764
2025-01-09T05:32:07.585Z,1736400727.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272435
2025-01-09T05:32:07.603Z,1736400727.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:07.614Z,1736400727.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:07.658Z,1736400727.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 157.527130 m,
      bearing: 266.260714 deg,
      approach rate: -0.622043 m/s,
      LOS rate: -0.011148 deg/s,
      cmd heading: 263.178554 deg,
      new cmd heading: 263.165024 deg.

2025-01-09T05:32:07.668Z,1736400727.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593096 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:07.839Z,1736400727.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526158
2025-01-09T05:32:08.022Z,1736400728.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:08.030Z,1736400728.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:08.034Z,1736400728.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 157.270584 m,
      bearing: 266.256419 deg,
      approach rate: -0.615683 m/s,
      LOS rate: -0.010325 deg/s,
      cmd heading: 263.165030 deg,
      new cmd heading: 263.152124 deg.

2025-01-09T05:32:08.035Z,1736400728.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592871 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:08.096Z,1736400728.096 [DAT](INFO): DAT read: 05:32:06.1385 LVL= 24640, 32753, 23602, 28067, AGC= 69, IDX= 406,-0.02, 2.084, 0.594, 1.953, 1.677, PHS= 0.496,-1.036, 0.274, RAW= 142.3,   3.8, CAL= 145.8,  -4.6, ROT=   4.2,   4.6

2025-01-09T05:32:08.097Z,1736400728.097 [DAT](INFO): got valid direction response:
 05:32:06.1385 LVL= 24640, 32753, 23602, 28067, AGC= 69, IDX= 406,-0.02, 2.084, 0.594, 1.953, 1.677, PHS= 0.496,-1.036, 0.274, RAW= 142.3,   3.8, CAL= 145.8,  -4.6, ROT=   4.2,   4.6

2025-01-09T05:32:08.097Z,1736400728.097 [DAT](INFO): DAT read: $Error in header

2025-01-09T05:32:08.098Z,1736400728.098 [DAT](INFO): Received a bad header
2025-01-09T05:32:08.111Z,1736400728.111 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T05:32:08.112Z,1736400728.112 [DAT](INFO): direction in FSK: [0.994102,0.073002,-0.080199]
2025-01-09T05:32:08.117Z,1736400728.117 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:08.117Z,1736400728.117 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:08.117Z,1736400728.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:08.339Z,1736400728.339 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:08.339Z,1736400728.339 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:08.340Z,1736400728.340 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:08.390Z,1736400728.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:08.397Z,1736400728.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:08.399Z,1736400728.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:08.402Z,1736400728.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 157.045380 m,
      bearing: 266.252603 deg,
      approach rate: -0.611004 m/s,
      LOS rate: -0.010369 deg/s,
      cmd heading: 263.152135 deg,
      new cmd heading: 263.140670 deg.

2025-01-09T05:32:08.403Z,1736400728.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592671 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:08.591Z,1736400728.591 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:08.591Z,1736400728.591 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:08.592Z,1736400728.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:08.785Z,1736400728.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:08.795Z,1736400728.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:08.825Z,1736400728.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 156.803360 m,
      bearing: 266.248418 deg,
      approach rate: -0.612612 m/s,
      LOS rate: -0.010609 deg/s,
      cmd heading: 263.140660 deg,
      new cmd heading: 263.128086 deg.

2025-01-09T05:32:08.840Z,1736400728.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592452 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:08.846Z,1736400728.846 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:08.846Z,1736400728.846 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:08.847Z,1736400728.847 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:09.095Z,1736400729.095 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:09.095Z,1736400729.095 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:09.096Z,1736400729.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:09.236Z,1736400729.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:09.245Z,1736400729.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:09.248Z,1736400729.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 156.528214 m,
      bearing: 266.245328 deg,
      approach rate: -0.609678 m/s,
      LOS rate: -0.006859 deg/s,
      cmd heading: 263.128093 deg,
      new cmd heading: 263.118806 deg.

2025-01-09T05:32:09.250Z,1736400729.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592289 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:09.348Z,1736400729.348 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:09.348Z,1736400729.348 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:09.348Z,1736400729.348 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:09.600Z,1736400729.600 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:09.600Z,1736400729.600 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:09.600Z,1736400729.600 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:09.620Z,1736400729.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:09.631Z,1736400729.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:09.634Z,1736400729.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 156.278503 m,
      bearing: 266.242450 deg,
      approach rate: -0.646274 m/s,
      LOS rate: -0.007461 deg/s,
      cmd heading: 263.118804 deg,
      new cmd heading: 263.110156 deg.

2025-01-09T05:32:09.635Z,1736400729.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592138 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:09.854Z,1736400729.854 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:09.854Z,1736400729.854 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:09.855Z,1736400729.855 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:10.023Z,1736400730.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:10.059Z,1736400730.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:10.061Z,1736400730.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 156.013275 m,
      bearing: 266.239559 deg,
      approach rate: -0.627241 m/s,
      LOS rate: -0.006849 deg/s,
      cmd heading: 263.110143 deg,
      new cmd heading: 263.101455 deg.

2025-01-09T05:32:10.067Z,1736400730.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591987 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:10.104Z,1736400730.104 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:10.104Z,1736400730.104 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:10.104Z,1736400730.104 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:10.355Z,1736400730.355 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:10.356Z,1736400730.356 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:10.356Z,1736400730.356 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:10.499Z,1736400730.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:10.525Z,1736400730.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:10.529Z,1736400730.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:10.536Z,1736400730.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 155.701202 m,
      bearing: 266.236137 deg,
      approach rate: -0.657552 m/s,
      LOS rate: -0.007225 deg/s,
      cmd heading: 263.101455 deg,
      new cmd heading: 263.091168 deg.

2025-01-09T05:32:10.537Z,1736400730.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591807 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:10.608Z,1736400730.608 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:10.608Z,1736400730.608 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:10.608Z,1736400730.608 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:10.862Z,1736400730.862 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:10.863Z,1736400730.863 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:10.863Z,1736400730.863 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:10.985Z,1736400730.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:11.012Z,1736400731.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:11.019Z,1736400731.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 155.364594 m,
      bearing: 266.231304 deg,
      approach rate: -0.696346 m/s,
      LOS rate: -0.010019 deg/s,
      cmd heading: 263.091155 deg,
      new cmd heading: 263.076626 deg.

2025-01-09T05:32:11.020Z,1736400731.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591553 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:11.111Z,1736400731.111 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:11.112Z,1736400731.112 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:11.112Z,1736400731.112 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:11.363Z,1736400731.363 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:11.364Z,1736400731.364 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:11.364Z,1736400731.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:11.439Z,1736400731.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:11.451Z,1736400731.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:11.454Z,1736400731.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 155.049088 m,
      bearing: 266.226835 deg,
      approach rate: -0.719998 m/s,
      LOS rate: -0.010219 deg/s,
      cmd heading: 263.076620 deg,
      new cmd heading: 263.063187 deg.

2025-01-09T05:32:11.455Z,1736400731.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591319 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:11.616Z,1736400731.616 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:11.616Z,1736400731.616 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:11.616Z,1736400731.616 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:11.854Z,1736400731.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:11.868Z,1736400731.868 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:11.868Z,1736400731.868 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:11.868Z,1736400731.868 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:11.869Z,1736400731.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:11.872Z,1736400731.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 154.761459 m,
      bearing: 266.222926 deg,
      approach rate: -0.691072 m/s,
      LOS rate: -0.009409 deg/s,
      cmd heading: 263.063179 deg,
      new cmd heading: 263.051430 deg.

2025-01-09T05:32:11.874Z,1736400731.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591114 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:12.119Z,1736400732.119 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:12.119Z,1736400732.119 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:12.119Z,1736400732.119 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:12.274Z,1736400732.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:12.308Z,1736400732.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:12.318Z,1736400732.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 154.454758 m,
      bearing: 266.219824 deg,
      approach rate: -0.695152 m/s,
      LOS rate: -0.007046 deg/s,
      cmd heading: 263.051431 deg,
      new cmd heading: 263.042105 deg.

2025-01-09T05:32:12.343Z,1736400732.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590951 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:12.374Z,1736400732.374 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:12.374Z,1736400732.374 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:12.374Z,1736400732.374 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:12.625Z,1736400732.625 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:12.625Z,1736400732.625 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:12.625Z,1736400732.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:12.653Z,1736400732.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:12.662Z,1736400732.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:12.681Z,1736400732.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:12.689Z,1736400732.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 154.177872 m,
      bearing: 266.217240 deg,
      approach rate: -0.741622 m/s,
      LOS rate: -0.006935 deg/s,
      cmd heading: 263.042114 deg,
      new cmd heading: 263.034347 deg.

2025-01-09T05:32:12.696Z,1736400732.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590816 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:12.877Z,1736400732.877 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:12.877Z,1736400732.877 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:12.878Z,1736400732.878 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:13.073Z,1736400733.073 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +67,  +748,    -E, +748,    -9,A
2025-01-09T05:32:13.080Z,1736400733.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:32:13.080Z,1736400733.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:13.089Z,1736400733.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:13.092Z,1736400733.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 153.866852 m,
      bearing: 266.214543 deg,
      approach rate: -0.762061 m/s,
      LOS rate: -0.006620 deg/s,
      cmd heading: 263.034355 deg,
      new cmd heading: 263.026250 deg.

2025-01-09T05:32:13.093Z,1736400733.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590674 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:13.128Z,1736400733.128 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:13.128Z,1736400733.128 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:13.129Z,1736400733.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:13.379Z,1736400733.379 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:13.380Z,1736400733.379 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:13.380Z,1736400733.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:13.473Z,1736400733.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:32:13.474Z,1736400733.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:13.482Z,1736400733.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:13.502Z,1736400733.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 153.579559 m,
      bearing: 266.212043 deg,
      approach rate: -0.731177 m/s,
      LOS rate: -0.006376 deg/s,
      cmd heading: 263.026241 deg,
      new cmd heading: 263.018726 deg.

2025-01-09T05:32:13.517Z,1736400733.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590543 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:13.632Z,1736400733.632 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:13.632Z,1736400733.632 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:13.632Z,1736400733.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:13.865Z,1736400733.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:32:13.865Z,1736400733.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:13.874Z,1736400733.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:13.879Z,1736400733.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 153.293839 m,
      bearing: 266.209998 deg,
      approach rate: -0.729008 m/s,
      LOS rate: -0.005226 deg/s,
      cmd heading: 263.018728 deg,
      new cmd heading: 263.012583 deg.

2025-01-09T05:32:13.880Z,1736400733.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590436 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:13.884Z,1736400733.884 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:13.885Z,1736400733.885 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:13.885Z,1736400733.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:14.135Z,1736400734.135 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:14.136Z,1736400734.136 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:14.136Z,1736400734.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:14.299Z,1736400734.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:14.313Z,1736400734.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:14.319Z,1736400734.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 152.972946 m,
      bearing: 266.204909 deg,
      approach rate: -0.732720 m/s,
      LOS rate: -0.011646 deg/s,
      cmd heading: 263.012581 deg,
      new cmd heading: 262.997279 deg.

2025-01-09T05:32:14.321Z,1736400734.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590168 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:14.388Z,1736400734.388 [DAT](INFO): Reached modem response timeout
2025-01-09T05:32:14.389Z,1736400734.389 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:14.389Z,1736400734.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:14.639Z,1736400734.639 [DAT](INFO): Reached modem response timeout
2025-01-09T05:32:14.639Z,1736400734.639 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:14.640Z,1736400734.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:14.677Z,1736400734.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:14.685Z,1736400734.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:14.704Z,1736400734.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:14.709Z,1736400734.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 152.694122 m,
      bearing: 266.200674 deg,
      approach rate: -0.719958 m/s,
      LOS rate: -0.010956 deg/s,
      cmd heading: 262.997281 deg,
      new cmd heading: 262.984552 deg.

2025-01-09T05:32:14.710Z,1736400734.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589946 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:14.891Z,1736400734.891 [DAT](INFO): Reached modem response timeout
2025-01-09T05:32:14.892Z,1736400734.892 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:14.892Z,1736400734.892 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:15.128Z,1736400735.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:15.137Z,1736400735.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:15.140Z,1736400735.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 152.364426 m,
      bearing: 266.194095 deg,
      approach rate: -0.753060 m/s,
      LOS rate: -0.015059 deg/s,
      cmd heading: 262.984549 deg,
      new cmd heading: 262.964770 deg.

2025-01-09T05:32:15.141Z,1736400735.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589601 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:15.144Z,1736400735.144 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:32:15.144Z,1736400735.144 [DAT](INFO): response not received
2025-01-09T05:32:15.144Z,1736400735.144 [DAT](INFO): DAT read: user:83>

2025-01-09T05:32:15.145Z,1736400735.145 [DAT](ERROR): No response from remote modem.
2025-01-09T05:32:15.145Z,1736400735.145 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:15.145Z,1736400735.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:15.397Z,1736400735.397 [DAT](INFO): DAT read: Tx time:05:32:14.4710

2025-01-09T05:32:15.397Z,1736400735.397 [DAT](INFO): Ping request sent.
2025-01-09T05:32:15.397Z,1736400735.397 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:32:15.398Z,1736400735.398 [DAT](INFO): DAT read: TxSync time:05:32:14.4703

2025-01-09T05:32:15.399Z,1736400735.399 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:15.400Z,1736400735.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002942
2025-01-09T05:32:15.505Z,1736400735.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:15.522Z,1736400735.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:15.534Z,1736400735.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 152.089050 m,
      bearing: 266.188761 deg,
      approach rate: -0.715350 m/s,
      LOS rate: -0.013881 deg/s,
      cmd heading: 262.964769 deg,
      new cmd heading: 262.948739 deg.

2025-01-09T05:32:15.539Z,1736400735.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589321 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:15.648Z,1736400735.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251053
2025-01-09T05:32:15.883Z,1736400735.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:15.892Z,1736400735.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:15.900Z,1736400735.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503313
2025-01-09T05:32:15.919Z,1736400735.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 151.813416 m,
      bearing: 266.183521 deg,
      approach rate: -0.745852 m/s,
      LOS rate: -0.014204 deg/s,
      cmd heading: 262.948732 deg,
      new cmd heading: 262.932984 deg.

2025-01-09T05:32:15.920Z,1736400735.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589046 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:16.152Z,1736400736.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755262
2025-01-09T05:32:16.324Z,1736400736.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:16.334Z,1736400736.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:16.337Z,1736400736.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 151.503250 m,
      bearing: 266.177210 deg,
      approach rate: -0.703318 m/s,
      LOS rate: -0.014340 deg/s,
      cmd heading: 262.932995 deg,
      new cmd heading: 262.914023 deg.

2025-01-09T05:32:16.338Z,1736400736.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588716 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:16.405Z,1736400736.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007504
2025-01-09T05:32:16.656Z,1736400736.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258500
2025-01-09T05:32:16.717Z,1736400736.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:16.732Z,1736400736.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:16.734Z,1736400736.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:16.747Z,1736400736.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 151.226868 m,
      bearing: 266.171960 deg,
      approach rate: -0.689090 m/s,
      LOS rate: -0.013113 deg/s,
      cmd heading: 262.914035 deg,
      new cmd heading: 262.898257 deg.

2025-01-09T05:32:16.748Z,1736400736.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588440 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:16.908Z,1736400736.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510562
2025-01-09T05:32:17.125Z,1736400737.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:17.135Z,1736400737.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:17.138Z,1736400737.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 150.953690 m,
      bearing: 266.163675 deg,
      approach rate: -0.680650 m/s,
      LOS rate: -0.020681 deg/s,
      cmd heading: 262.898271 deg,
      new cmd heading: 262.873369 deg.

2025-01-09T05:32:17.139Z,1736400737.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588006 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:17.160Z,1736400737.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763176
2025-01-09T05:32:17.414Z,1736400737.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017257
2025-01-09T05:32:17.496Z,1736400737.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:17.507Z,1736400737.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:17.509Z,1736400737.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 150.705688 m,
      bearing: 266.156098 deg,
      approach rate: -0.667919 m/s,
      LOS rate: -0.020439 deg/s,
      cmd heading: 262.873381 deg,
      new cmd heading: 262.850614 deg.

2025-01-09T05:32:17.510Z,1736400737.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587609 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:17.668Z,1736400737.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270923
2025-01-09T05:32:17.902Z,1736400737.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:17.911Z,1736400737.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:17.913Z,1736400737.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 150.433929 m,
      bearing: 266.147701 deg,
      approach rate: -0.672611 m/s,
      LOS rate: -0.020820 deg/s,
      cmd heading: 262.850623 deg,
      new cmd heading: 262.825387 deg.

2025-01-09T05:32:17.914Z,1736400737.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587168 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:17.920Z,1736400737.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522745
2025-01-09T05:32:18.172Z,1736400738.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774499
2025-01-09T05:32:18.315Z,1736400738.315 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010821332310,35.0, +110,1493.5,  0
2025-01-09T05:32:18.324Z,1736400738.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:32:18.324Z,1736400738.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:18.336Z,1736400738.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:18.343Z,1736400738.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 150.151993 m,
      bearing: 266.138958 deg,
      approach rate: -0.663039 m/s,
      LOS rate: -0.020601 deg/s,
      cmd heading: 262.825379 deg,
      new cmd heading: 262.799099 deg.

2025-01-09T05:32:18.344Z,1736400738.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.586709 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:18.424Z,1736400738.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026812
2025-01-09T05:32:18.676Z,1736400738.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278570
2025-01-09T05:32:18.721Z,1736400738.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:32:18.721Z,1736400738.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:18.744Z,1736400738.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:18.764Z,1736400738.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:18.768Z,1736400738.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 149.888367 m,
      bearing: 266.130652 deg,
      approach rate: -0.616405 m/s,
      LOS rate: -0.019454 deg/s,
      cmd heading: 262.799096 deg,
      new cmd heading: 262.774135 deg.

2025-01-09T05:32:18.775Z,1736400738.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.586274 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:18.928Z,1736400738.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530480
2025-01-09T05:32:19.153Z,1736400739.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:19.162Z,1736400739.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:19.165Z,1736400739.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 149.613892 m,
      bearing: 266.120146 deg,
      approach rate: -0.688926 m/s,
      LOS rate: -0.026419 deg/s,
      cmd heading: 262.774125 deg,
      new cmd heading: 262.742548 deg.

2025-01-09T05:32:19.166Z,1736400739.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585722 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:19.189Z,1736400739.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792250
2025-01-09T05:32:19.440Z,1736400739.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042596
2025-01-09T05:32:19.538Z,1736400739.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:19.548Z,1736400739.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:19.553Z,1736400739.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 149.371750 m,
      bearing: 266.110811 deg,
      approach rate: -0.626799 m/s,
      LOS rate: -0.024202 deg/s,
      cmd heading: 262.742542 deg,
      new cmd heading: 262.714493 deg.

2025-01-09T05:32:19.554Z,1736400739.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585233 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:19.696Z,1736400739.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.299267
2025-01-09T05:32:19.925Z,1736400739.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:19.935Z,1736400739.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:19.937Z,1736400739.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 149.127777 m,
      bearing: 266.101258 deg,
      approach rate: -0.632262 m/s,
      LOS rate: -0.024797 deg/s,
      cmd heading: 262.714484 deg,
      new cmd heading: 262.685779 deg.

2025-01-09T05:32:19.938Z,1736400739.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584732 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:19.948Z,1736400739.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550919
2025-01-09T05:32:20.201Z,1736400740.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.803369
2025-01-09T05:32:20.364Z,1736400740.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:20.374Z,1736400740.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:20.377Z,1736400740.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 148.856537 m,
      bearing: 266.090703 deg,
      approach rate: -0.616933 m/s,
      LOS rate: -0.024052 deg/s,
      cmd heading: 262.685770 deg,
      new cmd heading: 262.654045 deg.

2025-01-09T05:32:20.378Z,1736400740.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584178 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:20.452Z,1736400740.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.054764
2025-01-09T05:32:20.704Z,1736400740.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.306501
2025-01-09T05:32:20.745Z,1736400740.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:20.778Z,1736400740.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:20.780Z,1736400740.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:20.787Z,1736400740.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 148.621155 m,
      bearing: 266.081421 deg,
      approach rate: -0.579441 m/s,
      LOS rate: -0.022885 deg/s,
      cmd heading: 262.654050 deg,
      new cmd heading: 262.626161 deg.

2025-01-09T05:32:20.788Z,1736400740.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583691 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:20.956Z,1736400740.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.558605
2025-01-09T05:32:21.196Z,1736400741.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:21.208Z,1736400741.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810638
2025-01-09T05:32:21.210Z,1736400741.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:21.218Z,1736400741.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 148.344696 m,
      bearing: 266.071223 deg,
      approach rate: -0.643164 m/s,
      LOS rate: -0.023770 deg/s,
      cmd heading: 262.626156 deg,
      new cmd heading: 262.595504 deg.

2025-01-09T05:32:21.224Z,1736400741.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583156 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:21.460Z,1736400741.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.063083
2025-01-09T05:32:21.538Z,1736400741.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:21.547Z,1736400741.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:21.551Z,1736400741.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 148.134521 m,
      bearing: 266.063413 deg,
      approach rate: -0.623736 m/s,
      LOS rate: -0.023209 deg/s,
      cmd heading: 262.595502 deg,
      new cmd heading: 262.572041 deg.

2025-01-09T05:32:21.552Z,1736400741.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582747 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:21.703Z,1736400741.703 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:32:21.712Z,1736400741.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.314587
2025-01-09T05:32:21.941Z,1736400741.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:21.952Z,1736400741.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:21.954Z,1736400741.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 147.887146 m,
      bearing: 266.054094 deg,
      approach rate: -0.612044 m/s,
      LOS rate: -0.023097 deg/s,
      cmd heading: 262.572033 deg,
      new cmd heading: 262.544027 deg.

2025-01-09T05:32:21.956Z,1736400741.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582258 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:21.964Z,1736400741.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566613
2025-01-09T05:32:22.217Z,1736400742.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.819590
2025-01-09T05:32:22.364Z,1736400742.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:22.376Z,1736400742.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:22.395Z,1736400742.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 147.620209 m,
      bearing: 266.047794 deg,
      approach rate: -0.628244 m/s,
      LOS rate: -0.014854 deg/s,
      cmd heading: 262.544030 deg,
      new cmd heading: 262.525095 deg.

2025-01-09T05:32:22.396Z,1736400742.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581927 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:22.468Z,1736400742.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.070999
2025-01-09T05:32:22.707Z,1736400742.707 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:32:22.720Z,1736400742.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.322595
2025-01-09T05:32:22.774Z,1736400742.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:22.815Z,1736400742.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:22.817Z,1736400742.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:22.824Z,1736400742.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 147.362106 m,
      bearing: 266.041549 deg,
      approach rate: -0.585168 m/s,
      LOS rate: -0.014182 deg/s,
      cmd heading: 262.525096 deg,
      new cmd heading: 262.506330 deg.

2025-01-09T05:32:22.825Z,1736400742.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581600 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:22.972Z,1736400742.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.574502
2025-01-09T05:32:23.224Z,1736400743.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826634
2025-01-09T05:32:23.277Z,1736400743.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:23.286Z,1736400743.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:23.289Z,1736400743.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 147.041824 m,
      bearing: 266.036340 deg,
      approach rate: -0.682705 m/s,
      LOS rate: -0.011128 deg/s,
      cmd heading: 262.506327 deg,
      new cmd heading: 262.490666 deg.

2025-01-09T05:32:23.290Z,1736400743.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581326 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:23.476Z,1736400743.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078553
2025-01-09T05:32:23.651Z,1736400743.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:23.660Z,1736400743.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:23.663Z,1736400743.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 146.803940 m,
      bearing: 266.032324 deg,
      approach rate: -0.636482 m/s,
      LOS rate: -0.010762 deg/s,
      cmd heading: 262.490672 deg,
      new cmd heading: 262.478605 deg.

2025-01-09T05:32:23.664Z,1736400743.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581116 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:23.728Z,1736400743.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.330678
2025-01-09T05:32:23.980Z,1736400743.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.582638
2025-01-09T05:32:24.044Z,1736400744.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:24.083Z,1736400744.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:24.108Z,1736400744.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 146.553635 m,
      bearing: 266.028080 deg,
      approach rate: -0.599605 m/s,
      LOS rate: -0.010185 deg/s,
      cmd heading: 262.478596 deg,
      new cmd heading: 262.465841 deg.

2025-01-09T05:32:24.116Z,1736400744.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580893 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:24.232Z,1736400744.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.834663
2025-01-09T05:32:24.486Z,1736400744.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.088768
2025-01-09T05:32:24.491Z,1736400744.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:24.509Z,1736400744.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:24.521Z,1736400744.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 146.277451 m,
      bearing: 266.026194 deg,
      approach rate: -0.638993 m/s,
      LOS rate: -0.004371 deg/s,
      cmd heading: 262.465838 deg,
      new cmd heading: 262.460171 deg.

2025-01-09T05:32:24.522Z,1736400744.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580794 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:24.736Z,1736400744.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338653
2025-01-09T05:32:24.865Z,1736400744.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:24.876Z,1736400744.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:24.878Z,1736400744.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:24.881Z,1736400744.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 146.028580 m,
      bearing: 266.024478 deg,
      approach rate: -0.674719 m/s,
      LOS rate: -0.004660 deg/s,
      cmd heading: 262.460182 deg,
      new cmd heading: 262.455026 deg.

2025-01-09T05:32:24.882Z,1736400744.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580704 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:24.988Z,1736400744.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590651
2025-01-09T05:32:25.240Z,1736400745.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842554
2025-01-09T05:32:25.352Z,1736400745.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:25.363Z,1736400745.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:25.365Z,1736400745.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 145.704651 m,
      bearing: 266.022563 deg,
      approach rate: -0.668820 m/s,
      LOS rate: -0.003964 deg/s,
      cmd heading: 262.455019 deg,
      new cmd heading: 262.449259 deg.

2025-01-09T05:32:25.368Z,1736400745.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580604 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:25.491Z,1736400745.491 [DAT](INFO): Reached modem response timeout
2025-01-09T05:32:25.492Z,1736400745.492 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:25.492Z,1736400745.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:25.680Z,1736400745.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:25.690Z,1736400745.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:25.693Z,1736400745.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 145.490906 m,
      bearing: 266.021294 deg,
      approach rate: -0.652488 m/s,
      LOS rate: -0.003878 deg/s,
      cmd heading: 262.449254 deg,
      new cmd heading: 262.445442 deg.

2025-01-09T05:32:25.694Z,1736400745.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580537 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:25.744Z,1736400745.744 [DAT](INFO): Reached modem response timeout
2025-01-09T05:32:25.745Z,1736400745.745 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:25.745Z,1736400745.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:25.995Z,1736400745.995 [DAT](INFO): Reached modem response timeout
2025-01-09T05:32:25.996Z,1736400745.996 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:25.996Z,1736400745.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:26.073Z,1736400746.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:26.082Z,1736400746.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:26.092Z,1736400746.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 145.234726 m,
      bearing: 266.019893 deg,
      approach rate: -0.654391 m/s,
      LOS rate: -0.003585 deg/s,
      cmd heading: 262.445429 deg,
      new cmd heading: 262.441219 deg.

2025-01-09T05:32:26.095Z,1736400746.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580463 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:26.248Z,1736400746.248 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:32:26.248Z,1736400746.248 [DAT](INFO): response not received
2025-01-09T05:32:26.248Z,1736400746.248 [DAT](INFO): DAT read: user:84>

2025-01-09T05:32:26.249Z,1736400746.249 [DAT](INFO): DAT read: Tx time:05:32:25.4211

2025-01-09T05:32:26.250Z,1736400746.250 [DAT](INFO): Ping request sent.
2025-01-09T05:32:26.250Z,1736400746.250 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:32:26.251Z,1736400746.251 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:26.252Z,1736400746.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001054
2025-01-09T05:32:26.497Z,1736400746.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:26.501Z,1736400746.501 [DAT](INFO): DAT read: TxSync time:05:32:25.4204

2025-01-09T05:32:26.502Z,1736400746.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251408
2025-01-09T05:32:26.509Z,1736400746.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:26.512Z,1736400746.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 144.946640 m,
      bearing: 266.016911 deg,
      approach rate: -0.673570 m/s,
      LOS rate: -0.006986 deg/s,
      cmd heading: 262.441222 deg,
      new cmd heading: 262.432258 deg.

2025-01-09T05:32:26.513Z,1736400746.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580307 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:26.753Z,1736400746.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502955
2025-01-09T05:32:26.883Z,1736400746.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:26.890Z,1736400746.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:26.892Z,1736400746.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:26.895Z,1736400746.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 144.684448 m,
      bearing: 266.014359 deg,
      approach rate: -0.684803 m/s,
      LOS rate: -0.006677 deg/s,
      cmd heading: 262.432260 deg,
      new cmd heading: 262.424591 deg.

2025-01-09T05:32:26.896Z,1736400746.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580173 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:27.004Z,1736400747.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753589
2025-01-09T05:32:27.257Z,1736400747.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006093
2025-01-09T05:32:27.331Z,1736400747.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:27.341Z,1736400747.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:27.344Z,1736400747.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 144.370667 m,
      bearing: 266.009994 deg,
      approach rate: -0.699302 m/s,
      LOS rate: -0.009751 deg/s,
      cmd heading: 262.424583 deg,
      new cmd heading: 262.411458 deg.

2025-01-09T05:32:27.345Z,1736400747.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579944 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:27.508Z,1736400747.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257353
2025-01-09T05:32:27.728Z,1736400747.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:27.738Z,1736400747.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:27.761Z,1736400747.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510350
2025-01-09T05:32:27.771Z,1736400747.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 144.093307 m,
      bearing: 266.006119 deg,
      approach rate: -0.698894 m/s,
      LOS rate: -0.009782 deg/s,
      cmd heading: 262.411469 deg,
      new cmd heading: 262.399823 deg.

2025-01-09T05:32:27.773Z,1736400747.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579741 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:28.012Z,1736400748.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762047
2025-01-09T05:32:28.243Z,1736400748.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:28.264Z,1736400748.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013640
2025-01-09T05:32:28.276Z,1736400748.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:28.284Z,1736400748.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 143.729721 m,
      bearing: 265.999588 deg,
      approach rate: -0.675549 m/s,
      LOS rate: -0.012165 deg/s,
      cmd heading: 262.399831 deg,
      new cmd heading: 262.380189 deg.

2025-01-09T05:32:28.285Z,1736400748.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579398 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:28.516Z,1736400748.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265479
2025-01-09T05:32:28.613Z,1736400748.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:28.639Z,1736400748.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:28.642Z,1736400748.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 143.469269 m,
      bearing: 265.994972 deg,
      approach rate: -0.751840 m/s,
      LOS rate: -0.013351 deg/s,
      cmd heading: 262.380187 deg,
      new cmd heading: 262.366312 deg.

2025-01-09T05:32:28.647Z,1736400748.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579156 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:28.768Z,1736400748.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517890
2025-01-09T05:32:29.020Z,1736400749.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769464
2025-01-09T05:32:29.028Z,1736400749.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:29.035Z,1736400749.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:29.037Z,1736400749.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:29.040Z,1736400749.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 143.176666 m,
      bearing: 265.990021 deg,
      approach rate: -0.705226 m/s,
      LOS rate: -0.011957 deg/s,
      cmd heading: 262.366308 deg,
      new cmd heading: 262.351425 deg.

2025-01-09T05:32:29.041Z,1736400749.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578896 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:29.272Z,1736400749.272 [DAT](INFO): DAT read: Rx Time:05:32:27.9832

2025-01-09T05:32:29.272Z,1736400749.272 [DAT](INFO): Rx dataTimestamp_ set to:1736400749.272138
2025-01-09T05:32:29.273Z,1736400749.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022737
2025-01-09T05:32:29.455Z,1736400749.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:29.473Z,1736400749.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:29.480Z,1736400749.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 142.869446 m,
      bearing: 265.985275 deg,
      approach rate: -0.705847 m/s,
      LOS rate: -0.010927 deg/s,
      cmd heading: 262.351418 deg,
      new cmd heading: 262.337150 deg.

2025-01-09T05:32:29.480Z,1736400749.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578647 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:29.524Z,1736400749.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273592
2025-01-09T05:32:29.791Z,1736400749.791 [DAT](INFO): DAT read: 05:32:27.9832 LVL= 28848, 29457, 23074, 28771, AGC= 65, IDX= 349,-0.02, 2.266, 0.915, 2.194, 1.847, PHS= 0.507,-0.885, 0.344, RAW= 143.8,   0.5, CAL= 147.7,  -8.4, ROT=   2.3,   8.4

2025-01-09T05:32:29.792Z,1736400749.792 [DAT](INFO): got valid direction response:
 05:32:27.9832 LVL= 28848, 29457, 23074, 28771, AGC= 65, IDX= 349,-0.02, 2.266, 0.915, 2.194, 1.847, PHS= 0.507,-0.885, 0.344, RAW= 143.8,   0.5, CAL= 147.7,  -8.4, ROT=   2.3,   8.4

2025-01-09T05:32:29.793Z,1736400749.793 [DAT](INFO): DAT read: $Error in header

2025-01-09T05:32:29.793Z,1736400749.793 [DAT](INFO): Received a bad header
2025-01-09T05:32:29.807Z,1736400749.807 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T05:32:29.808Z,1736400749.808 [DAT](INFO): direction in FSK: [0.988475,0.039701,-0.146083]
2025-01-09T05:32:29.811Z,1736400749.811 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:29.811Z,1736400749.811 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:29.811Z,1736400749.811 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:29.873Z,1736400749.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:29.890Z,1736400749.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:29.897Z,1736400749.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 142.569046 m,
      bearing: 265.980801 deg,
      approach rate: -0.720250 m/s,
      LOS rate: -0.010750 deg/s,
      cmd heading: 262.337157 deg,
      new cmd heading: 262.323707 deg.

2025-01-09T05:32:29.898Z,1736400749.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578413 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:30.029Z,1736400750.029 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:30.029Z,1736400750.029 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:30.029Z,1736400750.029 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:30.279Z,1736400750.279 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:30.280Z,1736400750.280 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:30.280Z,1736400750.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:30.289Z,1736400750.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:30.298Z,1736400750.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:30.302Z,1736400750.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 142.270828 m,
      bearing: 265.973891 deg,
      approach rate: -0.730661 m/s,
      LOS rate: -0.016965 deg/s,
      cmd heading: 262.323715 deg,
      new cmd heading: 262.302942 deg.

2025-01-09T05:32:30.327Z,1736400750.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578050 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:30.533Z,1736400750.533 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:30.533Z,1736400750.533 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:30.533Z,1736400750.533 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:30.637Z,1736400750.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:30.645Z,1736400750.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:30.648Z,1736400750.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 142.021759 m,
      bearing: 265.968415 deg,
      approach rate: -0.716577 m/s,
      LOS rate: -0.015782 deg/s,
      cmd heading: 262.302951 deg,
      new cmd heading: 262.286495 deg.

2025-01-09T05:32:30.650Z,1736400750.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577763 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:30.784Z,1736400750.784 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:30.784Z,1736400750.784 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:30.784Z,1736400750.784 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:31.037Z,1736400751.037 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:31.037Z,1736400751.037 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:31.037Z,1736400751.037 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:31.051Z,1736400751.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:31.058Z,1736400751.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:31.060Z,1736400751.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:31.087Z,1736400751.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 141.724854 m,
      bearing: 265.962036 deg,
      approach rate: -0.716044 m/s,
      LOS rate: -0.015416 deg/s,
      cmd heading: 262.286504 deg,
      new cmd heading: 262.267328 deg.

2025-01-09T05:32:31.088Z,1736400751.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577428 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:31.288Z,1736400751.288 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:31.288Z,1736400751.288 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:31.288Z,1736400751.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:31.484Z,1736400751.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:31.493Z,1736400751.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:31.496Z,1736400751.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 141.420181 m,
      bearing: 265.952229 deg,
      approach rate: -0.703896 m/s,
      LOS rate: -0.022708 deg/s,
      cmd heading: 262.267325 deg,
      new cmd heading: 262.237839 deg.

2025-01-09T05:32:31.497Z,1736400751.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576914 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:31.540Z,1736400751.540 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:31.541Z,1736400751.541 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:31.541Z,1736400751.541 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:31.791Z,1736400751.791 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:31.791Z,1736400751.791 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:31.792Z,1736400751.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:31.859Z,1736400751.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:31.871Z,1736400751.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:31.873Z,1736400751.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 141.156311 m,
      bearing: 265.943825 deg,
      approach rate: -0.698698 m/s,
      LOS rate: -0.022293 deg/s,
      cmd heading: 262.237846 deg,
      new cmd heading: 262.212588 deg.

2025-01-09T05:32:31.875Z,1736400751.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576473 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:32.046Z,1736400752.046 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:32.046Z,1736400752.046 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:32.046Z,1736400752.046 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:32.295Z,1736400752.295 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:32.296Z,1736400752.296 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:32.296Z,1736400752.296 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:32.323Z,1736400752.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:32.335Z,1736400752.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:32.338Z,1736400752.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 140.848267 m,
      bearing: 265.934697 deg,
      approach rate: -0.669254 m/s,
      LOS rate: -0.019875 deg/s,
      cmd heading: 262.212601 deg,
      new cmd heading: 262.185157 deg.

2025-01-09T05:32:32.343Z,1736400752.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575994 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:32.552Z,1736400752.552 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:32.552Z,1736400752.552 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:32.553Z,1736400752.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:32.658Z,1736400752.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:32.668Z,1736400752.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:32.675Z,1736400752.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 140.611115 m,
      bearing: 265.927713 deg,
      approach rate: -0.704171 m/s,
      LOS rate: -0.020771 deg/s,
      cmd heading: 262.185144 deg,
      new cmd heading: 262.164158 deg.

2025-01-09T05:32:32.676Z,1736400752.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575628 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:32.800Z,1736400752.800 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:32.800Z,1736400752.800 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:32.801Z,1736400752.801 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:33.051Z,1736400753.051 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:33.052Z,1736400753.052 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:33.052Z,1736400753.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:33.082Z,1736400753.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:33.117Z,1736400753.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:33.120Z,1736400753.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:33.122Z,1736400753.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 140.322159 m,
      bearing: 265.919172 deg,
      approach rate: -0.639075 m/s,
      LOS rate: -0.018930 deg/s,
      cmd heading: 262.164162 deg,
      new cmd heading: 262.138484 deg.

2025-01-09T05:32:33.124Z,1736400753.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575180 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:33.307Z,1736400753.307 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:33.307Z,1736400753.307 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:33.307Z,1736400753.307 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:33.484Z,1736400753.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:33.499Z,1736400753.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:33.520Z,1736400753.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 140.049500 m,
      bearing: 265.911667 deg,
      approach rate: -0.719883 m/s,
      LOS rate: -0.019854 deg/s,
      cmd heading: 262.138480 deg,
      new cmd heading: 262.115921 deg.

2025-01-09T05:32:33.527Z,1736400753.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574786 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:33.560Z,1736400753.560 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:33.560Z,1736400753.560 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:33.560Z,1736400753.560 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:33.811Z,1736400753.811 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:33.811Z,1736400753.811 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:33.812Z,1736400753.812 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:33.869Z,1736400753.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:33.889Z,1736400753.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:33.896Z,1736400753.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 139.789154 m,
      bearing: 265.904578 deg,
      approach rate: -0.666449 m/s,
      LOS rate: -0.018180 deg/s,
      cmd heading: 262.115913 deg,
      new cmd heading: 262.094607 deg.

2025-01-09T05:32:33.897Z,1736400753.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574414 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:34.063Z,1736400754.063 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:34.064Z,1736400754.064 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:34.064Z,1736400754.064 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:34.316Z,1736400754.316 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:34.317Z,1736400754.317 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:34.317Z,1736400754.317 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:34.325Z,1736400754.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:34.334Z,1736400754.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:34.337Z,1736400754.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 139.494156 m,
      bearing: 265.896648 deg,
      approach rate: -0.664068 m/s,
      LOS rate: -0.017889 deg/s,
      cmd heading: 262.094603 deg,
      new cmd heading: 262.070763 deg.

2025-01-09T05:32:34.338Z,1736400754.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573997 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:34.569Z,1736400754.569 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:34.569Z,1736400754.569 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:34.569Z,1736400754.569 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:34.683Z,1736400754.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:34.696Z,1736400754.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:34.698Z,1736400754.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 139.262573 m,
      bearing: 265.890459 deg,
      approach rate: -0.639194 m/s,
      LOS rate: -0.017112 deg/s,
      cmd heading: 262.070752 deg,
      new cmd heading: 262.052153 deg.

2025-01-09T05:32:34.701Z,1736400754.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573673 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:34.820Z,1736400754.820 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:34.820Z,1736400754.820 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:34.820Z,1736400754.820 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:35.072Z,1736400755.072 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:35.072Z,1736400755.072 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:35.072Z,1736400755.072 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:35.110Z,1736400755.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:35.126Z,1736400755.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:35.132Z,1736400755.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:35.140Z,1736400755.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 138.986206 m,
      bearing: 265.883045 deg,
      approach rate: -0.633418 m/s,
      LOS rate: -0.017026 deg/s,
      cmd heading: 262.052147 deg,
      new cmd heading: 262.029861 deg.

2025-01-09T05:32:35.141Z,1736400755.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573284 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:35.324Z,1736400755.324 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:35.324Z,1736400755.324 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:35.324Z,1736400755.324 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:35.510Z,1736400755.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:35.520Z,1736400755.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:35.523Z,1736400755.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 138.737289 m,
      bearing: 265.876827 deg,
      approach rate: -0.641657 m/s,
      LOS rate: -0.016058 deg/s,
      cmd heading: 262.029853 deg,
      new cmd heading: 262.011165 deg.

2025-01-09T05:32:35.524Z,1736400755.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572958 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:35.576Z,1736400755.576 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:35.577Z,1736400755.577 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:35.577Z,1736400755.577 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:35.827Z,1736400755.827 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:35.827Z,1736400755.827 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:35.828Z,1736400755.828 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:35.902Z,1736400755.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:35.911Z,1736400755.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:35.914Z,1736400755.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 138.492920 m,
      bearing: 265.870723 deg,
      approach rate: -0.624057 m/s,
      LOS rate: -0.015614 deg/s,
      cmd heading: 262.011166 deg,
      new cmd heading: 261.992823 deg.

2025-01-09T05:32:35.915Z,1736400755.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572638 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:36.081Z,1736400756.081 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:36.081Z,1736400756.081 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:36.081Z,1736400756.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:32:36.331Z,1736400756.331 [DAT](INFO): Reached modem response timeout
2025-01-09T05:32:36.332Z,1736400756.332 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:36.332Z,1736400756.332 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:36.382Z,1736400756.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:36.392Z,1736400756.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:36.395Z,1736400756.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 138.192581 m,
      bearing: 265.864125 deg,
      approach rate: -0.625262 m/s,
      LOS rate: -0.013766 deg/s,
      cmd heading: 261.992833 deg,
      new cmd heading: 261.972996 deg.

2025-01-09T05:32:36.396Z,1736400756.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572291 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:36.584Z,1736400756.584 [DAT](INFO): Reached modem response timeout
2025-01-09T05:32:36.584Z,1736400756.584 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:36.585Z,1736400756.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:36.697Z,1736400756.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:36.708Z,1736400756.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:36.710Z,1736400756.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 137.995132 m,
      bearing: 265.859819 deg,
      approach rate: -0.625059 m/s,
      LOS rate: -0.013652 deg/s,
      cmd heading: 261.972998 deg,
      new cmd heading: 261.960061 deg.

2025-01-09T05:32:36.713Z,1736400756.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572065 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:36.836Z,1736400756.836 [DAT](INFO): Reached modem response timeout
2025-01-09T05:32:36.836Z,1736400756.836 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:36.836Z,1736400756.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:37.088Z,1736400757.088 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:32:37.088Z,1736400757.088 [DAT](INFO): response not received
2025-01-09T05:32:37.088Z,1736400757.088 [DAT](INFO): DAT read: user:86>

2025-01-09T05:32:37.089Z,1736400757.089 [DAT](INFO): DAT read: Tx time:05:32:36.3712

2025-01-09T05:32:37.089Z,1736400757.089 [DAT](INFO): Ping request sent.
2025-01-09T05:32:37.089Z,1736400757.089 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:32:37.090Z,1736400757.090 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:37.090Z,1736400757.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-01-09T05:32:37.110Z,1736400757.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:37.119Z,1736400757.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:37.121Z,1736400757.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 137.736572 m,
      bearing: 265.854185 deg,
      approach rate: -0.629350 m/s,
      LOS rate: -0.013738 deg/s,
      cmd heading: 261.960048 deg,
      new cmd heading: 261.943116 deg.

2025-01-09T05:32:37.123Z,1736400757.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571770 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:37.340Z,1736400757.340 [DAT](INFO): DAT read: TxSync time:05:32:36.3705

2025-01-09T05:32:37.341Z,1736400757.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251046
2025-01-09T05:32:37.524Z,1736400757.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:37.531Z,1736400757.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:37.535Z,1736400757.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:37.538Z,1736400757.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 137.480331 m,
      bearing: 265.851451 deg,
      approach rate: -0.616322 m/s,
      LOS rate: -0.006588 deg/s,
      cmd heading: 261.943110 deg,
      new cmd heading: 261.934892 deg.

2025-01-09T05:32:37.555Z,1736400757.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571626 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:37.592Z,1736400757.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502306
2025-01-09T05:32:37.844Z,1736400757.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754110
2025-01-09T05:32:37.911Z,1736400757.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:37.928Z,1736400757.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:37.930Z,1736400757.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 137.241409 m,
      bearing: 265.848755 deg,
      approach rate: -0.607617 m/s,
      LOS rate: -0.006868 deg/s,
      cmd heading: 261.934886 deg,
      new cmd heading: 261.926784 deg.

2025-01-09T05:32:37.946Z,1736400757.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571485 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:38.096Z,1736400758.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006551
2025-01-09T05:32:38.348Z,1736400758.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258210
2025-01-09T05:32:38.372Z,1736400758.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:38.384Z,1736400758.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:38.387Z,1736400758.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 136.963379 m,
      bearing: 265.847144 deg,
      approach rate: -0.608827 m/s,
      LOS rate: -0.003535 deg/s,
      cmd heading: 261.926772 deg,
      new cmd heading: 261.921928 deg.

2025-01-09T05:32:38.388Z,1736400758.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571400 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:38.601Z,1736400758.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511052
2025-01-09T05:32:38.725Z,1736400758.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:38.735Z,1736400758.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:38.738Z,1736400758.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 136.750153 m,
      bearing: 265.845968 deg,
      approach rate: -0.607462 m/s,
      LOS rate: -0.003357 deg/s,
      cmd heading: 261.921936 deg,
      new cmd heading: 261.918401 deg.

2025-01-09T05:32:38.740Z,1736400758.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571339 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:38.852Z,1736400758.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762915
2025-01-09T05:32:39.105Z,1736400759.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015538
2025-01-09T05:32:39.167Z,1736400759.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:39.192Z,1736400759.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:39.199Z,1736400759.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 136.484390 m,
      bearing: 265.844496 deg,
      approach rate: -0.581921 m/s,
      LOS rate: -0.003228 deg/s,
      cmd heading: 261.918412 deg,
      new cmd heading: 261.913989 deg.

2025-01-09T05:32:39.201Z,1736400759.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571261 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:39.356Z,1736400759.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266212
2025-01-09T05:32:39.553Z,1736400759.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:39.560Z,1736400759.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:39.562Z,1736400759.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:39.565Z,1736400759.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 136.248093 m,
      bearing: 265.844567 deg,
      approach rate: -0.638094 m/s,
      LOS rate: 0.000193 deg/s,
      cmd heading: 261.913986 deg,
      new cmd heading: 261.914200 deg.

2025-01-09T05:32:39.584Z,1736400759.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571265 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:39.610Z,1736400759.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520355
2025-01-09T05:32:39.860Z,1736400759.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770112
2025-01-09T05:32:39.943Z,1736400759.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:39.953Z,1736400759.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:39.956Z,1736400759.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 136.009842 m,
      bearing: 265.844498 deg,
      approach rate: -0.609747 m/s,
      LOS rate: -0.000178 deg/s,
      cmd heading: 261.914204 deg,
      new cmd heading: 261.913995 deg.

2025-01-09T05:32:39.957Z,1736400759.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571261 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:40.112Z,1736400760.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022092
2025-01-09T05:32:40.364Z,1736400760.364 [DAT](INFO): DAT read: Rx Time:05:32:38.9240

2025-01-09T05:32:40.364Z,1736400760.364 [DAT](INFO): Rx dataTimestamp_ set to:1736400760.364064
2025-01-09T05:32:40.365Z,1736400760.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275421
2025-01-09T05:32:40.402Z,1736400760.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:40.444Z,1736400760.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:40.453Z,1736400760.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 135.726486 m,
      bearing: 265.845100 deg,
      approach rate: -0.583461 m/s,
      LOS rate: 0.001242 deg/s,
      cmd heading: 261.913986 deg,
      new cmd heading: 261.915796 deg.

2025-01-09T05:32:40.454Z,1736400760.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571293 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:40.616Z,1736400760.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526112
2025-01-09T05:32:40.785Z,1736400760.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:40.810Z,1736400760.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.60 m.
2025-01-09T05:32:40.813Z,1736400760.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.600006 m,
      nav range: 135.489868 m,
      bearing: 265.845605 deg,
      approach rate: -0.637487 m/s,
      LOS rate: 0.001362 deg/s,
      cmd heading: 261.915789 deg,
      new cmd heading: 261.917306 deg.

2025-01-09T05:32:40.814Z,1736400760.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571320 target range: 163.600006 and range: 162.90 m.
2025-01-09T05:32:40.876Z,1736400760.876 [DAT](INFO): DAT read: 05:32:38.9240 LVL= 24112, 24145, 21314, 26931, AGC= 66, IDX= 349, 0.18, 0.653,-0.981, 0.471,-0.041, PHS= 0.782,-0.894, 0.508, RAW= 141.2,  -5.1, CAL= 146.9, -14.5, ROT=   3.1,  14.5

2025-01-09T05:32:40.877Z,1736400760.877 [DAT](INFO): got valid direction response:
 05:32:38.9240 LVL= 24112, 24145, 21314, 26931, AGC= 66, IDX= 349, 0.18, 0.653,-0.981, 0.471,-0.041, PHS= 0.782,-0.894, 0.508, RAW= 141.2,  -5.1, CAL= 146.9, -14.5, ROT=   3.1,  14.5

2025-01-09T05:32:40.878Z,1736400760.878 [DAT](INFO): DAT read: Bearing   3.1,  14.5 (Local)

2025-01-09T05:32:40.878Z,1736400760.878 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.1,  14.5 (Local)

2025-01-09T05:32:40.880Z,1736400760.880 [DAT](INFO): DAT read: Range 10 to 50 : 111.4 m  (Round-trip  148.6 ms) speed  0.7 m/s

2025-01-09T05:32:40.880Z,1736400760.880 [DAT](INFO): DAT read: user:87>

2025-01-09T05:32:40.881Z,1736400760.881 [DAT](INFO): DAT read: Tx time:05:32:40.0212

2025-01-09T05:32:40.881Z,1736400760.881 [DAT](INFO): Ping request sent.
2025-01-09T05:32:40.882Z,1736400760.882 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:32:40.882Z,1736400760.882 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:32:40.884Z,1736400760.884 [DAT](INFO): direction in FSK: [0.966731,0.052356,-0.250380]
2025-01-09T05:32:40.884Z,1736400760.884 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:40.885Z,1736400760.885 [DAT](INFO): publishing direction and range info
2025-01-09T05:32:40.888Z,1736400760.888 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:40.888Z,1736400760.888 [DAT](INFO): publishing direction and range info
2025-01-09T05:32:41.120Z,1736400761.120 [DAT](INFO): DAT read: TxSync time:05:32:40.0205

2025-01-09T05:32:41.176Z,1736400761.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:41.225Z,1736400761.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.400002 m,
      deltaT: 36.560478 s,
      deltaX: -51.499992 m,
      approachRate: -1.408625 m/s,
      rangeRepo size: 4

2025-01-09T05:32:41.232Z,1736400761.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.400002 m,
      bearing: 266.671455 deg,
      lat: 36.904029 deg,
      lon: -122.119240 deg,
      deltaT: 40.337243 s,
      deltaX: -52.200005 m,
      approachRate: -1.294090 m/s,
      posRepo size: 4

2025-01-09T05:32:41.239Z,1736400761.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:41.242Z,1736400761.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 135.043732 m,
      bearing: 267.288414 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001362 deg/s,
      cmd heading: 261.917319 deg,
      new cmd heading: 261.919012 deg.

2025-01-09T05:32:41.247Z,1736400761.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571349 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:41.586Z,1736400761.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:41.593Z,1736400761.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:41.595Z,1736400761.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:41.598Z,1736400761.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 134.782455 m,
      bearing: 267.290888 deg,
      approach rate: -0.705294 m/s,
      LOS rate: 0.006690 deg/s,
      cmd heading: 261.919013 deg,
      new cmd heading: 261.926448 deg.

2025-01-09T05:32:41.599Z,1736400761.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571479 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:41.623Z,1736400761.623 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:41.624Z,1736400761.624 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:41.624Z,1736400761.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:41.876Z,1736400761.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994261
2025-01-09T05:32:42.128Z,1736400762.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246016
2025-01-09T05:32:42.133Z,1736400762.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:42.160Z,1736400762.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:42.162Z,1736400762.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 134.432693 m,
      bearing: 267.293924 deg,
      approach rate: -0.619162 m/s,
      LOS rate: 0.005389 deg/s,
      cmd heading: 261.926444 deg,
      new cmd heading: 261.935577 deg.

2025-01-09T05:32:42.163Z,1736400762.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571638 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:42.383Z,1736400762.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500421
2025-01-09T05:32:42.447Z,1736400762.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:42.456Z,1736400762.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:42.475Z,1736400762.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 134.224030 m,
      bearing: 267.294480 deg,
      approach rate: -0.702818 m/s,
      LOS rate: 0.001874 deg/s,
      cmd heading: 261.935569 deg,
      new cmd heading: 261.937238 deg.

2025-01-09T05:32:42.476Z,1736400762.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571667 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:42.632Z,1736400762.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749958
2025-01-09T05:32:42.784Z,1736400762.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:42.793Z,1736400762.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:42.818Z,1736400762.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 133.999023 m,
      bearing: 267.295072 deg,
      approach rate: -0.668946 m/s,
      LOS rate: 0.001764 deg/s,
      cmd heading: 261.937236 deg,
      new cmd heading: 261.939015 deg.

2025-01-09T05:32:42.823Z,1736400762.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571698 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:42.885Z,1736400762.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003186
2025-01-09T05:32:43.137Z,1736400763.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255512
2025-01-09T05:32:43.179Z,1736400763.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:43.187Z,1736400763.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:43.190Z,1736400763.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 133.736313 m,
      bearing: 267.295798 deg,
      approach rate: -0.665908 m/s,
      LOS rate: 0.001843 deg/s,
      cmd heading: 261.939011 deg,
      new cmd heading: 261.941193 deg.

2025-01-09T05:32:43.191Z,1736400763.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571736 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:43.391Z,1736400763.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508719
2025-01-09T05:32:43.608Z,1736400763.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:43.615Z,1736400763.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:43.619Z,1736400763.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:43.621Z,1736400763.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 133.436066 m,
      bearing: 267.295537 deg,
      approach rate: -0.696587 m/s,
      LOS rate: -0.000607 deg/s,
      cmd heading: 261.941197 deg,
      new cmd heading: 261.940413 deg.

2025-01-09T05:32:43.640Z,1736400763.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758087
2025-01-09T05:32:43.640Z,1736400763.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571723 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:43.892Z,1736400763.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010252
2025-01-09T05:32:43.979Z,1736400763.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:43.989Z,1736400763.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:43.993Z,1736400763.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 133.176239 m,
      bearing: 267.295401 deg,
      approach rate: -0.700324 m/s,
      LOS rate: -0.000368 deg/s,
      cmd heading: 261.940405 deg,
      new cmd heading: 261.939995 deg.

2025-01-09T05:32:43.994Z,1736400763.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571715 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:44.145Z,1736400764.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263447
2025-01-09T05:32:44.400Z,1736400764.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517067
2025-01-09T05:32:44.477Z,1736400764.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:44.486Z,1736400764.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:44.489Z,1736400764.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 132.816376 m,
      bearing: 267.290788 deg,
      approach rate: -0.725063 m/s,
      LOS rate: -0.009319 deg/s,
      cmd heading: 261.939995 deg,
      new cmd heading: 261.926119 deg.

2025-01-09T05:32:44.490Z,1736400764.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571473 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:44.648Z,1736400764.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765955
2025-01-09T05:32:44.810Z,1736400764.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:44.820Z,1736400764.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:44.823Z,1736400764.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 132.575195 m,
      bearing: 267.287600 deg,
      approach rate: -0.721525 m/s,
      LOS rate: -0.009555 deg/s,
      cmd heading: 261.926116 deg,
      new cmd heading: 261.916534 deg.

2025-01-09T05:32:44.824Z,1736400764.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571306 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:44.900Z,1736400764.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018775
2025-01-09T05:32:45.153Z,1736400765.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271458
2025-01-09T05:32:45.205Z,1736400765.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:45.217Z,1736400765.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:45.220Z,1736400765.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 132.289978 m,
      bearing: 267.283788 deg,
      approach rate: -0.722665 m/s,
      LOS rate: -0.009680 deg/s,
      cmd heading: 261.916526 deg,
      new cmd heading: 261.905066 deg.

2025-01-09T05:32:45.221Z,1736400765.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571106 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:45.407Z,1736400765.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524921
2025-01-09T05:32:45.622Z,1736400765.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:45.629Z,1736400765.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:45.656Z,1736400765.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774121
2025-01-09T05:32:45.657Z,1736400765.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:45.668Z,1736400765.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 131.983871 m,
      bearing: 267.278523 deg,
      approach rate: -0.692461 m/s,
      LOS rate: -0.011937 deg/s,
      cmd heading: 261.905079 deg,
      new cmd heading: 261.889248 deg.

2025-01-09T05:32:45.669Z,1736400765.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570830 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:45.910Z,1736400765.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027799
2025-01-09T05:32:46.010Z,1736400766.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:46.020Z,1736400766.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:46.023Z,1736400766.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 131.699112 m,
      bearing: 267.273624 deg,
      approach rate: -0.783779 m/s,
      LOS rate: -0.013513 deg/s,
      cmd heading: 261.889260 deg,
      new cmd heading: 261.874531 deg.

2025-01-09T05:32:46.024Z,1736400766.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570573 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:46.160Z,1736400766.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.277965
2025-01-09T05:32:46.415Z,1736400766.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532648
2025-01-09T05:32:46.495Z,1736400766.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:46.515Z,1736400766.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:46.527Z,1736400766.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 131.356750 m,
      bearing: 267.265906 deg,
      approach rate: -0.691096 m/s,
      LOS rate: -0.015620 deg/s,
      cmd heading: 261.874534 deg,
      new cmd heading: 261.851320 deg.

2025-01-09T05:32:46.528Z,1736400766.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570168 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:46.664Z,1736400766.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782085
2025-01-09T05:32:46.824Z,1736400766.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:46.834Z,1736400766.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:46.837Z,1736400766.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 131.108734 m,
      bearing: 267.260292 deg,
      approach rate: -0.780468 m/s,
      LOS rate: -0.017699 deg/s,
      cmd heading: 261.851312 deg,
      new cmd heading: 261.834439 deg.

2025-01-09T05:32:46.838Z,1736400766.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569873 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:46.916Z,1736400766.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034550
2025-01-09T05:32:47.168Z,1736400767.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.286440
2025-01-09T05:32:47.229Z,1736400767.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:47.256Z,1736400767.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:47.264Z,1736400767.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 130.815765 m,
      bearing: 267.253728 deg,
      approach rate: -0.693032 m/s,
      LOS rate: -0.015564 deg/s,
      cmd heading: 261.834428 deg,
      new cmd heading: 261.814689 deg.

2025-01-09T05:32:47.265Z,1736400767.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569529 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:47.423Z,1736400767.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540640
2025-01-09T05:32:47.653Z,1736400767.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:47.660Z,1736400767.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:47.662Z,1736400767.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:47.672Z,1736400767.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.789958
2025-01-09T05:32:47.686Z,1736400767.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 130.512451 m,
      bearing: 267.247119 deg,
      approach rate: -0.746506 m/s,
      LOS rate: -0.016303 deg/s,
      cmd heading: 261.814702 deg,
      new cmd heading: 261.794829 deg.

2025-01-09T05:32:47.687Z,1736400767.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569182 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:47.924Z,1736400767.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.042348
2025-01-09T05:32:48.068Z,1736400768.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:48.093Z,1736400768.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:48.096Z,1736400768.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 130.216278 m,
      bearing: 267.240636 deg,
      approach rate: -0.687368 m/s,
      LOS rate: -0.015080 deg/s,
      cmd heading: 261.794840 deg,
      new cmd heading: 261.775347 deg.

2025-01-09T05:32:48.097Z,1736400768.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568842 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:48.178Z,1736400768.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.295896
2025-01-09T05:32:48.431Z,1736400768.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548619
2025-01-09T05:32:48.523Z,1736400768.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:48.531Z,1736400768.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:48.535Z,1736400768.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 129.904037 m,
      bearing: 267.234791 deg,
      approach rate: -0.712480 m/s,
      LOS rate: -0.013368 deg/s,
      cmd heading: 261.775360 deg,
      new cmd heading: 261.757784 deg.

2025-01-09T05:32:48.536Z,1736400768.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568535 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:48.680Z,1736400768.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.798325
2025-01-09T05:32:48.860Z,1736400768.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:48.869Z,1736400768.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:48.872Z,1736400768.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 129.672745 m,
      bearing: 267.230453 deg,
      approach rate: -0.684742 m/s,
      LOS rate: -0.012865 deg/s,
      cmd heading: 261.757793 deg,
      new cmd heading: 261.744756 deg.

2025-01-09T05:32:48.873Z,1736400768.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568308 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:48.933Z,1736400768.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.050779
2025-01-09T05:32:49.184Z,1736400769.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.302029
2025-01-09T05:32:49.287Z,1736400769.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:49.316Z,1736400769.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:49.321Z,1736400769.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 129.379944 m,
      bearing: 267.224940 deg,
      approach rate: -0.655960 m/s,
      LOS rate: -0.012380 deg/s,
      cmd heading: 261.744761 deg,
      new cmd heading: 261.728183 deg.

2025-01-09T05:32:49.323Z,1736400769.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568018 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:49.442Z,1736400769.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559898
2025-01-09T05:32:49.688Z,1736400769.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.806200
2025-01-09T05:32:49.709Z,1736400769.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:49.718Z,1736400769.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:49.721Z,1736400769.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:49.742Z,1736400769.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 129.109421 m,
      bearing: 267.222545 deg,
      approach rate: -0.666361 m/s,
      LOS rate: -0.005910 deg/s,
      cmd heading: 261.728177 deg,
      new cmd heading: 261.720979 deg.

2025-01-09T05:32:49.748Z,1736400769.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567893 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:49.940Z,1736400769.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.058225
2025-01-09T05:32:50.072Z,1736400770.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:50.080Z,1736400770.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:50.084Z,1736400770.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 128.877380 m,
      bearing: 267.220381 deg,
      approach rate: -0.646543 m/s,
      LOS rate: -0.006043 deg/s,
      cmd heading: 261.720992 deg,
      new cmd heading: 261.714486 deg.

2025-01-09T05:32:50.085Z,1736400770.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567780 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:50.192Z,1736400770.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.310734
2025-01-09T05:32:50.447Z,1736400770.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565297
2025-01-09T05:32:50.543Z,1736400770.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:50.553Z,1736400770.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:50.556Z,1736400770.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 128.595306 m,
      bearing: 267.219887 deg,
      approach rate: -0.597245 m/s,
      LOS rate: -0.001047 deg/s,
      cmd heading: 261.714489 deg,
      new cmd heading: 261.713005 deg.

2025-01-09T05:32:50.557Z,1736400770.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567754 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:50.696Z,1736400770.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.814047
2025-01-09T05:32:50.879Z,1736400770.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:50.888Z,1736400770.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:50.891Z,1736400770.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 128.394806 m,
      bearing: 267.219451 deg,
      approach rate: -0.597119 m/s,
      LOS rate: -0.001302 deg/s,
      cmd heading: 261.713014 deg,
      new cmd heading: 261.711703 deg.

2025-01-09T05:32:50.892Z,1736400770.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567731 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:50.948Z,1736400770.948 [DAT](INFO): Reached modem response timeout
2025-01-09T05:32:50.948Z,1736400770.948 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:50.949Z,1736400770.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:51.199Z,1736400771.199 [DAT](INFO): Reached modem response timeout
2025-01-09T05:32:51.200Z,1736400771.200 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:51.200Z,1736400771.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:51.297Z,1736400771.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:51.314Z,1736400771.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:51.317Z,1736400771.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 128.144531 m,
      bearing: 267.218722 deg,
      approach rate: -0.587953 m/s,
      LOS rate: -0.001715 deg/s,
      cmd heading: 261.711703 deg,
      new cmd heading: 261.709513 deg.

2025-01-09T05:32:51.318Z,1736400771.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567693 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:51.453Z,1736400771.453 [DAT](INFO): Reached modem response timeout
2025-01-09T05:32:51.454Z,1736400771.454 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:32:51.455Z,1736400771.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:51.704Z,1736400771.704 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:32:51.704Z,1736400771.704 [DAT](INFO): response not received
2025-01-09T05:32:51.705Z,1736400771.705 [DAT](INFO): DAT read: user:88>

2025-01-09T05:32:51.705Z,1736400771.705 [DAT](INFO): DAT read: Tx time:05:32:50.9713

2025-01-09T05:32:51.706Z,1736400771.706 [DAT](INFO): Ping request sent.
2025-01-09T05:32:51.706Z,1736400771.706 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:32:51.706Z,1736400771.706 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:51.707Z,1736400771.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-01-09T05:32:51.793Z,1736400771.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:51.810Z,1736400771.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:51.817Z,1736400771.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:51.831Z,1736400771.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 127.858597 m,
      bearing: 267.221106 deg,
      approach rate: -0.569907 m/s,
      LOS rate: 0.004763 deg/s,
      cmd heading: 261.709517 deg,
      new cmd heading: 261.716686 deg.

2025-01-09T05:32:51.836Z,1736400771.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567818 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:51.956Z,1736400771.956 [DAT](INFO): DAT read: TxSync time:05:32:50.9706

2025-01-09T05:32:51.957Z,1736400771.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251137
2025-01-09T05:32:52.118Z,1736400772.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:52.127Z,1736400772.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:52.129Z,1736400772.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 127.671555 m,
      bearing: 267.222479 deg,
      approach rate: -0.601739 m/s,
      LOS rate: 0.004421 deg/s,
      cmd heading: 261.716675 deg,
      new cmd heading: 261.720798 deg.

2025-01-09T05:32:52.147Z,1736400772.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567890 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:52.209Z,1736400772.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502988
2025-01-09T05:32:52.461Z,1736400772.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754845
2025-01-09T05:32:52.579Z,1736400772.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:52.589Z,1736400772.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:52.612Z,1736400772.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 127.407150 m,
      bearing: 267.227674 deg,
      approach rate: -0.571835 m/s,
      LOS rate: 0.011258 deg/s,
      cmd heading: 261.720801 deg,
      new cmd heading: 261.736417 deg.

2025-01-09T05:32:52.613Z,1736400772.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568162 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:52.713Z,1736400772.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006810
2025-01-09T05:32:52.843Z,1736400772.843 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:32:52.933Z,1736400772.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:52.946Z,1736400772.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:52.964Z,1736400772.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257899
2025-01-09T05:32:52.984Z,1736400772.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 127.204498 m,
      bearing: 267.231551 deg,
      approach rate: -0.567481 m/s,
      LOS rate: 0.010875 deg/s,
      cmd heading: 261.736428 deg,
      new cmd heading: 261.748078 deg.

2025-01-09T05:32:52.985Z,1736400772.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568366 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:53.216Z,1736400773.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510376
2025-01-09T05:32:53.347Z,1736400773.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:53.355Z,1736400773.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:53.358Z,1736400773.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 126.966835 m,
      bearing: 267.236158 deg,
      approach rate: -0.580805 m/s,
      LOS rate: 0.011281 deg/s,
      cmd heading: 261.748067 deg,
      new cmd heading: 261.761915 deg.

2025-01-09T05:32:53.362Z,1736400773.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568607 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:53.470Z,1736400773.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763658
2025-01-09T05:32:53.721Z,1736400773.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015498
2025-01-09T05:32:53.784Z,1736400773.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:53.810Z,1736400773.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:53.824Z,1736400773.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 126.709534 m,
      bearing: 267.239591 deg,
      approach rate: -0.567370 m/s,
      LOS rate: 0.007584 deg/s,
      cmd heading: 261.761918 deg,
      new cmd heading: 261.772236 deg.

2025-01-09T05:32:53.828Z,1736400773.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568788 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:53.847Z,1736400773.847 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:32:53.972Z,1736400773.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265903
2025-01-09T05:32:54.137Z,1736400774.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:54.160Z,1736400774.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:54.161Z,1736400774.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:54.164Z,1736400774.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 126.502098 m,
      bearing: 267.242119 deg,
      approach rate: -0.588220 m/s,
      LOS rate: 0.007181 deg/s,
      cmd heading: 261.772246 deg,
      new cmd heading: 261.779843 deg.

2025-01-09T05:32:54.166Z,1736400774.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568920 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:54.225Z,1736400774.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518730
2025-01-09T05:32:54.476Z,1736400774.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769822
2025-01-09T05:32:54.604Z,1736400774.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:54.614Z,1736400774.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:54.617Z,1736400774.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 126.213776 m,
      bearing: 267.245908 deg,
      approach rate: -0.637901 m/s,
      LOS rate: 0.008402 deg/s,
      cmd heading: 261.779841 deg,
      new cmd heading: 261.791234 deg.

2025-01-09T05:32:54.618Z,1736400774.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569119 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:54.728Z,1736400774.728 [DAT](INFO): DAT read: Rx Time:05:32:53.5112

2025-01-09T05:32:54.729Z,1736400774.729 [DAT](INFO): Rx dataTimestamp_ set to:1736400774.728856
2025-01-09T05:32:54.730Z,1736400774.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023963
2025-01-09T05:32:54.980Z,1736400774.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273985
2025-01-09T05:32:54.981Z,1736400774.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:54.990Z,1736400774.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:54.993Z,1736400774.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 125.981911 m,
      bearing: 267.248792 deg,
      approach rate: -0.615436 m/s,
      LOS rate: 0.007669 deg/s,
      cmd heading: 261.791233 deg,
      new cmd heading: 261.799901 deg.

2025-01-09T05:32:54.994Z,1736400774.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569270 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:55.232Z,1736400775.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525813
2025-01-09T05:32:55.384Z,1736400775.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:55.407Z,1736400775.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.40 m.
2025-01-09T05:32:55.410Z,1736400775.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.400002 m,
      nav range: 125.733353 m,
      bearing: 267.251838 deg,
      approach rate: -0.602365 m/s,
      LOS rate: 0.007396 deg/s,
      cmd heading: 261.799894 deg,
      new cmd heading: 261.809050 deg.

2025-01-09T05:32:55.415Z,1736400775.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569430 target range: 111.400002 and range: 111.40 m.
2025-01-09T05:32:55.497Z,1736400775.497 [DAT](INFO): DAT read: 05:32:53.5113 LVL= 22000, 24641, 19442, 32115, AGC= 64, IDX= 281, 0.37, 2.979, 1.485, 2.805, 2.273, PHS= 0.794,-0.742, 0.529, RAW= 140.7,  -8.2, CAL= 147.1, -17.9, ROT=   2.9,  17.9

2025-01-09T05:32:55.499Z,1736400775.499 [DAT](INFO): got valid direction response:
 05:32:53.5113 LVL= 22000, 24641, 19442, 32115, AGC= 64, IDX= 281, 0.37, 2.979, 1.485, 2.805, 2.273, PHS= 0.794,-0.742, 0.529, RAW= 140.7,  -8.2, CAL= 147.1, -17.9, ROT=   2.9,  17.9

2025-01-09T05:32:55.501Z,1736400775.501 [DAT](INFO): DAT read: Bearing   2.9,  17.9 (Local)

2025-01-09T05:32:55.531Z,1736400775.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  17.9 (Local)

2025-01-09T05:32:55.545Z,1736400775.545 [DAT](INFO): DAT read: Range 10 to 50 : 101.7 m  (Round-trip  135.7 ms) speed  0.8 m/s

2025-01-09T05:32:55.571Z,1736400775.571 [DAT](INFO): DAT read: user:89>

2025-01-09T05:32:55.573Z,1736400775.573 [DAT](INFO): DAT read: Tx time:05:32:54.6214

2025-01-09T05:32:55.573Z,1736400775.573 [DAT](INFO): Ping request sent.
2025-01-09T05:32:55.573Z,1736400775.573 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:32:55.574Z,1736400775.574 [DAT](INFO): DAT read: TxSync time:05:32:54.6207

2025-01-09T05:32:55.580Z,1736400775.580 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:32:55.580Z,1736400775.580 [DAT](INFO): direction in FSK: [0.950376,0.048144,-0.307357]
2025-01-09T05:32:55.581Z,1736400775.581 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:55.581Z,1736400775.581 [DAT](INFO): publishing direction and range info
2025-01-09T05:32:55.589Z,1736400775.589 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:55.589Z,1736400775.589 [DAT](INFO): publishing direction and range info
2025-01-09T05:32:55.832Z,1736400775.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:55.871Z,1736400775.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.699997 m,
      deltaT: 14.617578 s,
      deltaX: -9.700005 m,
      approachRate: -0.663585 m/s,
      rangeRepo size: 4

2025-01-09T05:32:55.873Z,1736400775.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.699997 m,
      bearing: 267.586679 deg,
      lat: 36.904029 deg,
      lon: -122.118958 deg,
      deltaT: 14.617578 s,
      deltaX: -9.700005 m,
      approachRate: -0.663585 m/s,
      posRepo size: 4

2025-01-09T05:32:55.874Z,1736400775.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.70 m.
2025-01-09T05:32:55.877Z,1736400775.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.699997 m,
      nav range: 100.444984 m,
      bearing: 266.615443 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007396 deg/s,
      cmd heading: 261.809047 deg,
      new cmd heading: 261.819413 deg.

2025-01-09T05:32:55.878Z,1736400775.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569611 target range: 101.699997 and range: 101.70 m.
2025-01-09T05:32:56.163Z,1736400776.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:56.170Z,1736400776.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:56.172Z,1736400776.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.70 m.
2025-01-09T05:32:56.175Z,1736400776.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.699997 m,
      nav range: 100.228180 m,
      bearing: 266.616752 deg,
      approach rate: -0.717340 m/s,
      LOS rate: 0.004342 deg/s,
      cmd heading: 261.819401 deg,
      new cmd heading: 261.823338 deg.

2025-01-09T05:32:56.176Z,1736400776.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569679 target range: 101.699997 and range: 101.70 m.
2025-01-09T05:32:56.240Z,1736400776.240 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:32:56.241Z,1736400776.241 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:32:56.241Z,1736400776.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:32:56.492Z,1736400776.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.918258
2025-01-09T05:32:56.638Z,1736400776.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:56.671Z,1736400776.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.70 m.
2025-01-09T05:32:56.673Z,1736400776.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.699997 m,
      nav range: 99.894951 m,
      bearing: 266.614707 deg,
      approach rate: -0.674248 m/s,
      LOS rate: -0.004152 deg/s,
      cmd heading: 261.823335 deg,
      new cmd heading: 261.817179 deg.

2025-01-09T05:32:56.679Z,1736400776.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569572 target range: 101.699997 and range: 101.70 m.
2025-01-09T05:32:56.745Z,1736400776.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.171317
2025-01-09T05:32:56.979Z,1736400776.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:56.988Z,1736400776.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.70 m.
2025-01-09T05:32:56.991Z,1736400776.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.699997 m,
      nav range: 99.655914 m,
      bearing: 266.613571 deg,
      approach rate: -0.742649 m/s,
      LOS rate: -0.003538 deg/s,
      cmd heading: 261.817188 deg,
      new cmd heading: 261.813772 deg.

2025-01-09T05:32:56.992Z,1736400776.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569512 target range: 101.699997 and range: 101.70 m.
2025-01-09T05:32:56.996Z,1736400776.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.422351
2025-01-09T05:32:57.248Z,1736400777.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.674289
2025-01-09T05:32:57.409Z,1736400777.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:57.425Z,1736400777.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.70 m.
2025-01-09T05:32:57.440Z,1736400777.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.699997 m,
      nav range: 99.354012 m,
      bearing: 266.612070 deg,
      approach rate: -0.691651 m/s,
      LOS rate: -0.003449 deg/s,
      cmd heading: 261.813773 deg,
      new cmd heading: 261.809256 deg.

2025-01-09T05:32:57.441Z,1736400777.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569434 target range: 101.699997 and range: 101.70 m.
2025-01-09T05:32:57.501Z,1736400777.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.927959
2025-01-09T05:32:57.752Z,1736400777.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.178643
2025-01-09T05:32:57.842Z,1736400777.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:57.852Z,1736400777.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.70 m.
2025-01-09T05:32:57.855Z,1736400777.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.699997 m,
      nav range: 99.039314 m,
      bearing: 266.606542 deg,
      approach rate: -0.736794 m/s,
      LOS rate: -0.012985 deg/s,
      cmd heading: 261.809265 deg,
      new cmd heading: 261.792627 deg.

2025-01-09T05:32:57.856Z,1736400777.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569143 target range: 101.699997 and range: 101.70 m.
2025-01-09T05:32:58.004Z,1736400778.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430521
2025-01-09T05:32:58.185Z,1736400778.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:58.192Z,1736400778.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:32:58.194Z,1736400778.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.70 m.
2025-01-09T05:32:58.197Z,1736400778.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.699997 m,
      nav range: 98.789413 m,
      bearing: 266.602112 deg,
      approach rate: -0.730813 m/s,
      LOS rate: -0.012987 deg/s,
      cmd heading: 261.792627 deg,
      new cmd heading: 261.779304 deg.

2025-01-09T05:32:58.198Z,1736400778.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568911 target range: 101.699997 and range: 101.70 m.
2025-01-09T05:32:58.256Z,1736400778.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682471
2025-01-09T05:32:58.509Z,1736400778.509 [DAT](INFO): DAT read: Rx Time:05:32:57.1577

2025-01-09T05:32:58.511Z,1736400778.511 [DAT](INFO): Rx dataTimestamp_ set to:1736400778.509718
2025-01-09T05:32:58.512Z,1736400778.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.938359
2025-01-09T05:32:58.663Z,1736400778.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:58.672Z,1736400778.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.70 m.
2025-01-09T05:32:58.696Z,1736400778.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.699997 m,
      nav range: 98.434273 m,
      bearing: 266.593996 deg,
      approach rate: -0.742286 m/s,
      LOS rate: -0.017024 deg/s,
      cmd heading: 261.779294 deg,
      new cmd heading: 261.754859 deg.

2025-01-09T05:32:58.701Z,1736400778.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568484 target range: 101.699997 and range: 101.70 m.
2025-01-09T05:32:58.761Z,1736400778.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.187262
2025-01-09T05:32:59.018Z,1736400779.018 [DAT](INFO): DAT read: 05:32:57.1577 LVL= 24944, 25873, 19842, 30195, AGC= 66, IDX= 405,-0.48, 1.654, 0.074, 1.418, 0.941, PHS= 0.801,-0.820, 0.474, RAW= 139.0,  -6.2, CAL= 144.8, -16.0, ROT=   5.2,  16.0

2025-01-09T05:32:59.020Z,1736400779.020 [DAT](INFO): got valid direction response:
 05:32:57.1577 LVL= 24944, 25873, 19842, 30195, AGC= 66, IDX= 405,-0.48, 1.654, 0.074, 1.418, 0.941, PHS= 0.801,-0.820, 0.474, RAW= 139.0,  -6.2, CAL= 144.8, -16.0, ROT=   5.2,  16.0

2025-01-09T05:32:59.020Z,1736400779.020 [DAT](INFO): DAT read: Bearing   5.2,  16.0 (Local)

2025-01-09T05:32:59.021Z,1736400779.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.2,  16.0 (Local)

2025-01-09T05:32:59.022Z,1736400779.022 [DAT](INFO): DAT read: Range 10 to 50 : 99.0 m  (Round-trip  132.1 ms) speed  0.6 m/s

2025-01-09T05:32:59.023Z,1736400779.023 [DAT](INFO): DAT read: user:90>

2025-01-09T05:32:59.024Z,1736400779.024 [DAT](INFO): DAT read: Tx time:05:32:58.2714

2025-01-09T05:32:59.024Z,1736400779.024 [DAT](INFO): Ping request sent.
2025-01-09T05:32:59.024Z,1736400779.024 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:32:59.024Z,1736400779.024 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:32:59.025Z,1736400779.025 [DAT](INFO): direction in FSK: [0.957306,0.087122,-0.275637]
2025-01-09T05:32:59.025Z,1736400779.025 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:59.026Z,1736400779.026 [DAT](INFO): publishing direction and range info
2025-01-09T05:32:59.029Z,1736400779.029 [DAT](INFO): publishing transmit ping time
2025-01-09T05:32:59.030Z,1736400779.030 [DAT](INFO): publishing direction and range info
2025-01-09T05:32:59.048Z,1736400779.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:59.101Z,1736400779.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.000000 m,
      deltaT: 3.525673 s,
      deltaX: -2.699997 m,
      approachRate: -0.765810 m/s,
      rangeRepo size: 4

2025-01-09T05:32:59.112Z,1736400779.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.000000 m,
      bearing: 269.077551 deg,
      lat: 36.904045 deg,
      lon: -122.118956 deg,
      deltaT: 3.525673 s,
      deltaX: -2.699997 m,
      approachRate: -0.765810 m/s,
      posRepo size: 4

2025-01-09T05:32:59.113Z,1736400779.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-01-09T05:32:59.128Z,1736400779.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 97.862823 m,
      bearing: 267.592374 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017024 deg/s,
      cmd heading: 261.754870 deg,
      new cmd heading: 261.733041 deg.

2025-01-09T05:32:59.129Z,1736400779.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568103 target range: 99.000000 and range: 99.00 m.
2025-01-09T05:32:59.264Z,1736400779.264 [DAT](INFO): DAT read: TxSync time:05:32:58.2707

2025-01-09T05:32:59.433Z,1736400779.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:59.441Z,1736400779.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-01-09T05:32:59.447Z,1736400779.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 97.576759 m,
      bearing: 267.589463 deg,
      approach rate: -0.838780 m/s,
      LOS rate: -0.008560 deg/s,
      cmd heading: 261.733040 deg,
      new cmd heading: 261.724282 deg.

2025-01-09T05:32:59.449Z,1736400779.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567950 target range: 99.000000 and range: 99.00 m.
2025-01-09T05:32:59.848Z,1736400779.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:32:59.858Z,1736400779.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-01-09T05:32:59.862Z,1736400779.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 97.267311 m,
      bearing: 267.585437 deg,
      approach rate: -0.741616 m/s,
      LOS rate: -0.009679 deg/s,
      cmd heading: 261.724270 deg,
      new cmd heading: 261.712155 deg.

2025-01-09T05:32:59.863Z,1736400779.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567739 target range: 99.000000 and range: 99.00 m.
2025-01-09T05:33:00.229Z,1736400780.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:00.257Z,1736400780.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:00.265Z,1736400780.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-01-09T05:33:00.269Z,1736400780.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 96.984505 m,
      bearing: 267.582042 deg,
      approach rate: -0.706244 m/s,
      LOS rate: -0.008505 deg/s,
      cmd heading: 261.712167 deg,
      new cmd heading: 261.701950 deg.

2025-01-09T05:33:00.270Z,1736400780.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567561 target range: 99.000000 and range: 99.00 m.
2025-01-09T05:33:00.272Z,1736400780.272 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:00.272Z,1736400780.272 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:00.272Z,1736400780.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:00.524Z,1736400780.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499888
2025-01-09T05:33:00.712Z,1736400780.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:00.723Z,1736400780.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-01-09T05:33:00.726Z,1736400780.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 96.634689 m,
      bearing: 267.578452 deg,
      approach rate: -0.752850 m/s,
      LOS rate: -0.007754 deg/s,
      cmd heading: 261.701949 deg,
      new cmd heading: 261.691141 deg.

2025-01-09T05:33:00.728Z,1736400780.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567372 target range: 99.000000 and range: 99.00 m.
2025-01-09T05:33:00.776Z,1736400780.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751979
2025-01-09T05:33:01.028Z,1736400781.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003549
2025-01-09T05:33:01.122Z,1736400781.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:01.151Z,1736400781.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-01-09T05:33:01.154Z,1736400781.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 96.337433 m,
      bearing: 267.575675 deg,
      approach rate: -0.701780 m/s,
      LOS rate: -0.006577 deg/s,
      cmd heading: 261.691130 deg,
      new cmd heading: 261.682773 deg.

2025-01-09T05:33:01.161Z,1736400781.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567226 target range: 99.000000 and range: 99.00 m.
2025-01-09T05:33:01.281Z,1736400781.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256695
2025-01-09T05:33:01.532Z,1736400781.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507615
2025-01-09T05:33:01.535Z,1736400781.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:01.547Z,1736400781.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-01-09T05:33:01.554Z,1736400781.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 96.038589 m,
      bearing: 267.573002 deg,
      approach rate: -0.749233 m/s,
      LOS rate: -0.006723 deg/s,
      cmd heading: 261.682770 deg,
      new cmd heading: 261.674725 deg.

2025-01-09T05:33:01.557Z,1736400781.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567086 target range: 99.000000 and range: 99.00 m.
2025-01-09T05:33:01.785Z,1736400781.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760923
2025-01-09T05:33:02.019Z,1736400782.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:02.028Z,1736400782.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-01-09T05:33:02.030Z,1736400782.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 95.701103 m,
      bearing: 267.569939 deg,
      approach rate: -0.700310 m/s,
      LOS rate: -0.006378 deg/s,
      cmd heading: 261.674738 deg,
      new cmd heading: 261.665518 deg.

2025-01-09T05:33:02.031Z,1736400782.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566925 target range: 99.000000 and range: 99.00 m.
2025-01-09T05:33:02.036Z,1736400782.036 [DAT](INFO): DAT read: Rx Time:05:33:00.8036

2025-01-09T05:33:02.036Z,1736400782.036 [DAT](INFO): Rx dataTimestamp_ set to:1736400782.036138
2025-01-09T05:33:02.037Z,1736400782.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012906
2025-01-09T05:33:02.288Z,1736400782.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264299
2025-01-09T05:33:02.401Z,1736400782.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:02.408Z,1736400782.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:02.410Z,1736400782.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-01-09T05:33:02.413Z,1736400782.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 95.434387 m,
      bearing: 267.567642 deg,
      approach rate: -0.697850 m/s,
      LOS rate: -0.006026 deg/s,
      cmd heading: 261.665531 deg,
      new cmd heading: 261.658621 deg.

2025-01-09T05:33:02.414Z,1736400782.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566804 target range: 99.000000 and range: 99.00 m.
2025-01-09T05:33:02.543Z,1736400782.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518663
2025-01-09T05:33:02.806Z,1736400782.806 [DAT](INFO): DAT read: 05:33:00.8036 LVL= 23952, 32369, 22258, 32755, AGC= 64, IDX= 395,-0.42,-2.027, 2.674,-2.235,-2.710, PHS= 0.772,-0.852, 0.472, RAW= 140.0,  -5.3, CAL= 145.7, -14.9, ROT=   4.3,  14.9

2025-01-09T05:33:02.807Z,1736400782.807 [DAT](INFO): got valid direction response:
 05:33:00.8036 LVL= 23952, 32369, 22258, 32755, AGC= 64, IDX= 395,-0.42,-2.027, 2.674,-2.235,-2.710, PHS= 0.772,-0.852, 0.472, RAW= 140.0,  -5.3, CAL= 145.7, -14.9, ROT=   4.3,  14.9

2025-01-09T05:33:02.808Z,1736400782.808 [DAT](INFO): DAT read: Bearing   4.3,  14.9 (Local)

2025-01-09T05:33:02.808Z,1736400782.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,  14.9 (Local)

2025-01-09T05:33:02.810Z,1736400782.810 [DAT](INFO): DAT read: Range 10 to 50 : 96.0 m  (Round-trip  128.0 ms) speed  0.5 m/s

2025-01-09T05:33:02.828Z,1736400782.828 [DAT](INFO): DAT read: user:91>

2025-01-09T05:33:02.830Z,1736400782.830 [DAT](INFO): DAT read: Tx time:05:33:01.9214

2025-01-09T05:33:02.831Z,1736400782.831 [DAT](INFO): Ping request sent.
2025-01-09T05:33:02.831Z,1736400782.831 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:02.833Z,1736400782.833 [DAT](INFO): DAT read: TxSync time:05:33:01.9207

2025-01-09T05:33:02.834Z,1736400782.834 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:02.852Z,1736400782.852 [DAT](INFO): direction in FSK: [0.963656,0.072458,-0.257133]
2025-01-09T05:33:02.852Z,1736400782.852 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:02.853Z,1736400782.853 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:02.865Z,1736400782.865 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:02.865Z,1736400782.865 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:02.924Z,1736400782.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:02.996Z,1736400782.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.000000 m,
      deltaT: 3.780015 s,
      deltaX: -3.000000 m,
      approachRate: -0.793648 m/s,
      rangeRepo size: 4

2025-01-09T05:33:02.998Z,1736400782.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.000000 m,
      bearing: 267.234232 deg,
      lat: 36.904040 deg,
      lon: -122.118956 deg,
      deltaT: 3.780015 s,
      deltaX: -3.000000 m,
      approachRate: -0.793648 m/s,
      posRepo size: 4

2025-01-09T05:33:02.998Z,1736400782.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-01-09T05:33:03.006Z,1736400783.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.000000 m,
      nav range: 95.122337 m,
      bearing: 267.234775 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006026 deg/s,
      cmd heading: 261.658618 deg,
      new cmd heading: 261.648045 deg.

2025-01-09T05:33:03.011Z,1736400783.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566620 target range: 96.000000 and range: 96.00 m.
2025-01-09T05:33:03.280Z,1736400783.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:03.289Z,1736400783.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-01-09T05:33:03.292Z,1736400783.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.000000 m,
      nav range: 94.892944 m,
      bearing: 267.233762 deg,
      approach rate: -0.778897 m/s,
      LOS rate: -0.003448 deg/s,
      cmd heading: 261.648045 deg,
      new cmd heading: 261.644999 deg.

2025-01-09T05:33:03.293Z,1736400783.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566566 target range: 96.000000 and range: 96.00 m.
2025-01-09T05:33:03.738Z,1736400783.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:03.752Z,1736400783.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-01-09T05:33:03.757Z,1736400783.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.000000 m,
      nav range: 94.608276 m,
      bearing: 267.237290 deg,
      approach rate: -0.614718 m/s,
      LOS rate: 0.007642 deg/s,
      cmd heading: 261.644985 deg,
      new cmd heading: 261.655602 deg.

2025-01-09T05:33:03.759Z,1736400783.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566752 target range: 96.000000 and range: 96.00 m.
2025-01-09T05:33:04.089Z,1736400784.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:04.098Z,1736400784.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-01-09T05:33:04.104Z,1736400784.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.000000 m,
      nav range: 94.390213 m,
      bearing: 267.239959 deg,
      approach rate: -0.630496 m/s,
      LOS rate: 0.007734 deg/s,
      cmd heading: 261.655613 deg,
      new cmd heading: 261.663638 deg.

2025-01-09T05:33:04.105Z,1736400784.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566892 target range: 96.000000 and range: 96.00 m.
2025-01-09T05:33:04.527Z,1736400784.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:04.534Z,1736400784.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:04.538Z,1736400784.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-01-09T05:33:04.543Z,1736400784.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.000000 m,
      nav range: 94.118614 m,
      bearing: 267.243024 deg,
      approach rate: -0.618408 m/s,
      LOS rate: 0.006998 deg/s,
      cmd heading: 261.663646 deg,
      new cmd heading: 261.672867 deg.

2025-01-09T05:33:04.544Z,1736400784.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567053 target range: 96.000000 and range: 96.00 m.
2025-01-09T05:33:04.564Z,1736400784.564 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:04.564Z,1736400784.564 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:04.565Z,1736400784.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:04.817Z,1736400784.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985709
2025-01-09T05:33:04.936Z,1736400784.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:04.945Z,1736400784.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-01-09T05:33:04.948Z,1736400784.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.000000 m,
      nav range: 93.880188 m,
      bearing: 267.248240 deg,
      approach rate: -0.584997 m/s,
      LOS rate: 0.012831 deg/s,
      cmd heading: 261.672880 deg,
      new cmd heading: 261.688568 deg.

2025-01-09T05:33:04.949Z,1736400784.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567327 target range: 96.000000 and range: 96.00 m.
2025-01-09T05:33:05.068Z,1736400785.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237188
2025-01-09T05:33:05.320Z,1736400785.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488863
2025-01-09T05:33:05.369Z,1736400785.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:05.377Z,1736400785.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-01-09T05:33:05.380Z,1736400785.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.000000 m,
      nav range: 93.628136 m,
      bearing: 267.253100 deg,
      approach rate: -0.582760 m/s,
      LOS rate: 0.011267 deg/s,
      cmd heading: 261.688562 deg,
      new cmd heading: 261.703182 deg.

2025-01-09T05:33:05.381Z,1736400785.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567582 target range: 96.000000 and range: 96.00 m.
2025-01-09T05:33:05.572Z,1736400785.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740475
2025-01-09T05:33:05.788Z,1736400785.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:05.817Z,1736400785.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-01-09T05:33:05.824Z,1736400785.824 [DAT](INFO): DAT read: Rx Time:05:33:04.4509

2025-01-09T05:33:05.824Z,1736400785.824 [DAT](INFO): Rx dataTimestamp_ set to:1736400785.823900
2025-01-09T05:33:05.825Z,1736400785.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993552
2025-01-09T05:33:05.831Z,1736400785.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.000000 m,
      nav range: 93.386864 m,
      bearing: 267.260557 deg,
      approach rate: -0.548736 m/s,
      LOS rate: 0.017002 deg/s,
      cmd heading: 261.703179 deg,
      new cmd heading: 261.725606 deg.

2025-01-09T05:33:05.832Z,1736400785.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567974 target range: 96.000000 and range: 96.00 m.
2025-01-09T05:33:06.076Z,1736400786.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244556
2025-01-09T05:33:06.159Z,1736400786.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:06.169Z,1736400786.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.00 m.
2025-01-09T05:33:06.192Z,1736400786.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.000000 m,
      nav range: 93.173134 m,
      bearing: 267.266915 deg,
      approach rate: -0.607829 m/s,
      LOS rate: 0.018122 deg/s,
      cmd heading: 261.725609 deg,
      new cmd heading: 261.744726 deg.

2025-01-09T05:33:06.201Z,1736400786.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568307 target range: 96.000000 and range: 96.00 m.
2025-01-09T05:33:06.337Z,1736400786.337 [DAT](INFO): DAT read: 05:33:04.4509 LVL= 23952, 30481, 23074, 32755, AGC= 61, IDX= 415, 0.21, 2.866, 1.324, 2.649, 2.135, PHS= 0.818,-0.765, 0.510, RAW= 139.4,  -7.8, CAL= 145.6, -17.8, ROT=   4.4,  17.8

2025-01-09T05:33:06.338Z,1736400786.338 [DAT](INFO): got valid direction response:
 05:33:04.4509 LVL= 23952, 30481, 23074, 32755, AGC= 61, IDX= 415, 0.21, 2.866, 1.324, 2.649, 2.135, PHS= 0.818,-0.765, 0.510, RAW= 139.4,  -7.8, CAL= 145.6, -17.8, ROT=   4.4,  17.8

2025-01-09T05:33:06.339Z,1736400786.339 [DAT](INFO): DAT read: Bearing   4.4,  17.8 (Local)

2025-01-09T05:33:06.339Z,1736400786.339 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.4,  17.8 (Local)

2025-01-09T05:33:06.341Z,1736400786.341 [DAT](INFO): DAT read: Range 10 to 50 : 93.9 m  (Round-trip  125.3 ms) speed  0.4 m/s

2025-01-09T05:33:06.341Z,1736400786.341 [DAT](INFO): DAT read: user:92>

2025-01-09T05:33:06.342Z,1736400786.342 [DAT](INFO): DAT read: Tx time:05:33:05.5714

2025-01-09T05:33:06.342Z,1736400786.342 [DAT](INFO): Ping request sent.
2025-01-09T05:33:06.342Z,1736400786.342 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:06.346Z,1736400786.346 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:06.370Z,1736400786.370 [DAT](INFO): direction in FSK: [0.949323,0.073046,-0.305695]
2025-01-09T05:33:06.370Z,1736400786.370 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:06.375Z,1736400786.375 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:06.378Z,1736400786.378 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:06.378Z,1736400786.378 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:06.580Z,1736400786.580 [DAT](INFO): DAT read: TxSync time:05:33:05.5707

2025-01-09T05:33:06.584Z,1736400786.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:06.621Z,1736400786.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.900002 m,
      deltaT: 3.536786 s,
      deltaX: -2.099998 m,
      approachRate: -0.593759 m/s,
      rangeRepo size: 4

2025-01-09T05:33:06.629Z,1736400786.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.900002 m,
      bearing: 268.370261 deg,
      lat: 36.904045 deg,
      lon: -122.118956 deg,
      deltaT: 3.536786 s,
      deltaX: -2.099998 m,
      approachRate: -0.593759 m/s,
      posRepo size: 4

2025-01-09T05:33:06.635Z,1736400786.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-01-09T05:33:06.644Z,1736400786.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 92.896004 m,
      bearing: 267.613994 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018122 deg/s,
      cmd heading: 261.744734 deg,
      new cmd heading: 261.769298 deg.

2025-01-09T05:33:06.645Z,1736400786.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568736 target range: 93.900002 and range: 93.90 m.
2025-01-09T05:33:06.994Z,1736400786.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:07.002Z,1736400787.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:07.004Z,1736400787.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-01-09T05:33:07.007Z,1736400787.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 92.654099 m,
      bearing: 267.620874 deg,
      approach rate: -0.630518 m/s,
      LOS rate: 0.017979 deg/s,
      cmd heading: 261.769295 deg,
      new cmd heading: 261.789989 deg.

2025-01-09T05:33:07.008Z,1736400787.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569097 target range: 93.900002 and range: 93.90 m.
2025-01-09T05:33:07.084Z,1736400787.084 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:07.084Z,1736400787.084 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:07.085Z,1736400787.085 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:07.336Z,1736400787.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993290
2025-01-09T05:33:07.392Z,1736400787.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:07.402Z,1736400787.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-01-09T05:33:07.405Z,1736400787.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 92.418312 m,
      bearing: 267.627418 deg,
      approach rate: -0.592567 m/s,
      LOS rate: 0.016488 deg/s,
      cmd heading: 261.789977 deg,
      new cmd heading: 261.809659 deg.

2025-01-09T05:33:07.406Z,1736400787.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569440 target range: 93.900002 and range: 93.90 m.
2025-01-09T05:33:07.589Z,1736400787.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246808
2025-01-09T05:33:07.805Z,1736400787.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:07.830Z,1736400787.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-01-09T05:33:07.837Z,1736400787.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 92.163078 m,
      bearing: 267.633491 deg,
      approach rate: -0.596541 m/s,
      LOS rate: 0.014233 deg/s,
      cmd heading: 261.809648 deg,
      new cmd heading: 261.827917 deg.

2025-01-09T05:33:07.838Z,1736400787.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569759 target range: 93.900002 and range: 93.90 m.
2025-01-09T05:33:07.840Z,1736400787.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497442
2025-01-09T05:33:08.092Z,1736400788.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749727
2025-01-09T05:33:08.185Z,1736400788.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:08.194Z,1736400788.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-01-09T05:33:08.197Z,1736400788.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 91.928261 m,
      bearing: 267.638731 deg,
      approach rate: -0.645362 m/s,
      LOS rate: 0.014437 deg/s,
      cmd heading: 261.827925 deg,
      new cmd heading: 261.843684 deg.

2025-01-09T05:33:08.198Z,1736400788.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570035 target range: 93.900002 and range: 93.90 m.
2025-01-09T05:33:08.344Z,1736400788.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001202
2025-01-09T05:33:08.586Z,1736400788.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:08.594Z,1736400788.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-01-09T05:33:08.596Z,1736400788.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253441
2025-01-09T05:33:08.599Z,1736400788.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 91.680794 m,
      bearing: 267.644140 deg,
      approach rate: -0.618204 m/s,
      LOS rate: 0.013550 deg/s,
      cmd heading: 261.843689 deg,
      new cmd heading: 261.859961 deg.

2025-01-09T05:33:08.600Z,1736400788.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570319 target range: 93.900002 and range: 93.90 m.
2025-01-09T05:33:08.848Z,1736400788.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505185
2025-01-09T05:33:09.009Z,1736400789.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:09.016Z,1736400789.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:09.043Z,1736400789.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-01-09T05:33:09.046Z,1736400789.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 91.407494 m,
      bearing: 267.647643 deg,
      approach rate: -0.644100 m/s,
      LOS rate: 0.008280 deg/s,
      cmd heading: 261.859972 deg,
      new cmd heading: 261.870513 deg.

2025-01-09T05:33:09.051Z,1736400789.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570503 target range: 93.900002 and range: 93.90 m.
2025-01-09T05:33:09.100Z,1736400789.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758163
2025-01-09T05:33:09.352Z,1736400789.352 [DAT](INFO): DAT read: Rx Time:05:33:08.0983

2025-01-09T05:33:09.352Z,1736400789.352 [DAT](INFO): Rx dataTimestamp_ set to:1736400789.351889
2025-01-09T05:33:09.353Z,1736400789.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010360
2025-01-09T05:33:09.426Z,1736400789.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:09.435Z,1736400789.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-01-09T05:33:09.438Z,1736400789.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 91.138084 m,
      bearing: 267.651070 deg,
      approach rate: -0.645901 m/s,
      LOS rate: 0.008240 deg/s,
      cmd heading: 261.870518 deg,
      new cmd heading: 261.880829 deg.

2025-01-09T05:33:09.440Z,1736400789.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570683 target range: 93.900002 and range: 93.90 m.
2025-01-09T05:33:09.605Z,1736400789.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262349
2025-01-09T05:33:09.859Z,1736400789.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516643
2025-01-09T05:33:09.883Z,1736400789.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:09.914Z,1736400789.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m.
2025-01-09T05:33:09.940Z,1736400789.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.900002 m,
      nav range: 90.825722 m,
      bearing: 267.652865 deg,
      approach rate: -0.662735 m/s,
      LOS rate: 0.003821 deg/s,
      cmd heading: 261.880818 deg,
      new cmd heading: 261.886222 deg.

2025-01-09T05:33:09.941Z,1736400789.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570777 target range: 93.900002 and range: 93.90 m.
2025-01-09T05:33:10.114Z,1736400790.114 [DAT](INFO): DAT read: 05:33:08.0983 LVL= 22880, 32241, 19314, 32483, AGC= 64, IDX= 419, 0.38,-3.050, 1.707, 3.001, 2.517, PHS= 0.804,-0.763, 0.481, RAW= 138.7,  -7.3, CAL= 144.8, -17.4, ROT=   5.2,  17.4

2025-01-09T05:33:10.115Z,1736400790.115 [DAT](INFO): got valid direction response:
 05:33:08.0983 LVL= 22880, 32241, 19314, 32483, AGC= 64, IDX= 419, 0.38,-3.050, 1.707, 3.001, 2.517, PHS= 0.804,-0.763, 0.481, RAW= 138.7,  -7.3, CAL= 144.8, -17.4, ROT=   5.2,  17.4

2025-01-09T05:33:10.116Z,1736400790.116 [DAT](INFO): DAT read: Bearing   5.2,  17.4 (Local)

2025-01-09T05:33:10.117Z,1736400790.117 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.2,  17.4 (Local)

2025-01-09T05:33:10.119Z,1736400790.119 [DAT](INFO): DAT read: Range 10 to 50 : 91.9 m  (Round-trip  122.6 ms) speed  0.6 m/s

2025-01-09T05:33:10.120Z,1736400790.120 [DAT](INFO): DAT read: user:93>

2025-01-09T05:33:10.121Z,1736400790.121 [DAT](INFO): DAT read: Tx time:05:33:09.2215

2025-01-09T05:33:10.121Z,1736400790.121 [DAT](INFO): Ping request sent.
2025-01-09T05:33:10.121Z,1736400790.121 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:10.122Z,1736400790.122 [DAT](INFO): DAT read: TxSync time:05:33:09.2208

2025-01-09T05:33:10.122Z,1736400790.122 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:10.124Z,1736400790.124 [DAT](INFO): direction in FSK: [0.950313,0.086485,-0.299041]
2025-01-09T05:33:10.124Z,1736400790.124 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:10.124Z,1736400790.124 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:10.133Z,1736400790.133 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:10.133Z,1736400790.133 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:10.305Z,1736400790.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:10.335Z,1736400790.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.900002 m,
      deltaT: 3.779138 s,
      deltaX: -2.000000 m,
      approachRate: -0.529221 m/s,
      rangeRepo size: 4

2025-01-09T05:33:10.337Z,1736400790.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.900002 m,
      bearing: 269.196238 deg,
      lat: 36.904056 deg,
      lon: -122.118956 deg,
      deltaT: 3.779138 s,
      deltaX: -2.000000 m,
      approachRate: -0.529221 m/s,
      posRepo size: 4

2025-01-09T05:33:10.338Z,1736400790.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-01-09T05:33:10.345Z,1736400790.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 90.487175 m,
      bearing: 268.438905 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003821 deg/s,
      cmd heading: 261.886228 deg,
      new cmd heading: 261.891085 deg.

2025-01-09T05:33:10.346Z,1736400790.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570862 target range: 91.900002 and range: 91.90 m.
2025-01-09T05:33:10.702Z,1736400790.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:10.713Z,1736400790.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-01-09T05:33:10.717Z,1736400790.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 90.213203 m,
      bearing: 268.443485 deg,
      approach rate: -0.715351 m/s,
      LOS rate: 0.011994 deg/s,
      cmd heading: 261.891091 deg,
      new cmd heading: 261.904872 deg.

2025-01-09T05:33:10.718Z,1736400790.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571102 target range: 91.900002 and range: 91.90 m.
2025-01-09T05:33:11.121Z,1736400791.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:11.129Z,1736400791.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:11.131Z,1736400791.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-01-09T05:33:11.134Z,1736400791.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 89.910942 m,
      bearing: 268.446365 deg,
      approach rate: -0.724517 m/s,
      LOS rate: 0.006927 deg/s,
      cmd heading: 261.904860 deg,
      new cmd heading: 261.913530 deg.

2025-01-09T05:33:11.155Z,1736400791.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571253 target range: 91.900002 and range: 91.90 m.
2025-01-09T05:33:11.369Z,1736400791.369 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:11.369Z,1736400791.369 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:11.369Z,1736400791.369 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:11.520Z,1736400791.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:11.528Z,1736400791.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-01-09T05:33:11.531Z,1736400791.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 89.623718 m,
      bearing: 268.449894 deg,
      approach rate: -0.722118 m/s,
      LOS rate: 0.008899 deg/s,
      cmd heading: 261.913521 deg,
      new cmd heading: 261.924140 deg.

2025-01-09T05:33:11.533Z,1736400791.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571439 target range: 91.900002 and range: 91.90 m.
2025-01-09T05:33:11.622Z,1736400791.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500305
2025-01-09T05:33:11.872Z,1736400791.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750749
2025-01-09T05:33:11.950Z,1736400791.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:11.960Z,1736400791.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-01-09T05:33:11.963Z,1736400791.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 89.311111 m,
      bearing: 268.451008 deg,
      approach rate: -0.724591 m/s,
      LOS rate: 0.002592 deg/s,
      cmd heading: 261.924149 deg,
      new cmd heading: 261.927504 deg.

2025-01-09T05:33:11.964Z,1736400791.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571497 target range: 91.900002 and range: 91.90 m.
2025-01-09T05:33:12.124Z,1736400792.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002405
2025-01-09T05:33:12.320Z,1736400792.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:12.328Z,1736400792.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-01-09T05:33:12.331Z,1736400792.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 89.040886 m,
      bearing: 268.452127 deg,
      approach rate: -0.732946 m/s,
      LOS rate: 0.003046 deg/s,
      cmd heading: 261.927509 deg,
      new cmd heading: 261.930878 deg.

2025-01-09T05:33:12.333Z,1736400792.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571556 target range: 91.900002 and range: 91.90 m.
2025-01-09T05:33:12.377Z,1736400792.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255197
2025-01-09T05:33:12.628Z,1736400792.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507156
2025-01-09T05:33:12.733Z,1736400792.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:12.748Z,1736400792.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-01-09T05:33:12.753Z,1736400792.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 88.740639 m,
      bearing: 268.453547 deg,
      approach rate: -0.715547 m/s,
      LOS rate: 0.003395 deg/s,
      cmd heading: 261.930870 deg,
      new cmd heading: 261.935144 deg.

2025-01-09T05:33:12.761Z,1736400792.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571630 target range: 91.900002 and range: 91.90 m.
2025-01-09T05:33:12.881Z,1736400792.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759124
2025-01-09T05:33:13.132Z,1736400793.132 [DAT](INFO): DAT read: Rx Time:05:33:11.7444

2025-01-09T05:33:13.133Z,1736400793.133 [DAT](INFO): Rx dataTimestamp_ set to:1736400793.132163
2025-01-09T05:33:13.133Z,1736400793.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012266
2025-01-09T05:33:13.176Z,1736400793.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:13.184Z,1736400793.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:13.186Z,1736400793.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-01-09T05:33:13.211Z,1736400793.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 88.423698 m,
      bearing: 268.454676 deg,
      approach rate: -0.724351 m/s,
      LOS rate: 0.002589 deg/s,
      cmd heading: 261.935132 deg,
      new cmd heading: 261.938530 deg.

2025-01-09T05:33:13.212Z,1736400793.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571690 target range: 91.900002 and range: 91.90 m.
2025-01-09T05:33:13.384Z,1736400793.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262787
2025-01-09T05:33:13.554Z,1736400793.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:13.564Z,1736400793.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-01-09T05:33:13.568Z,1736400793.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 88.154724 m,
      bearing: 268.455812 deg,
      approach rate: -0.711670 m/s,
      LOS rate: 0.003015 deg/s,
      cmd heading: 261.938520 deg,
      new cmd heading: 261.941939 deg.

2025-01-09T05:33:13.569Z,1736400793.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571749 target range: 91.900002 and range: 91.90 m.
2025-01-09T05:33:13.648Z,1736400793.648 [DAT](INFO): DAT read: 05:33:11.7444 LVL= 23648, 21585, 17266, 27859, AGC= 62, IDX= 395, 0.17,-1.230,-2.765,-1.435,-1.975, PHS= 0.833,-0.743, 0.537, RAW= 139.8,  -8.7, CAL= 146.2, -18.7, ROT=   3.8,  18.7

2025-01-09T05:33:13.649Z,1736400793.649 [DAT](INFO): got valid direction response:
 05:33:11.7444 LVL= 23648, 21585, 17266, 27859, AGC= 62, IDX= 395, 0.17,-1.230,-2.765,-1.435,-1.975, PHS= 0.833,-0.743, 0.537, RAW= 139.8,  -8.7, CAL= 146.2, -18.7, ROT=   3.8,  18.7

2025-01-09T05:33:13.654Z,1736400793.654 [DAT](INFO): DAT read: Bearing   3.8,  18.7 (Local)

2025-01-09T05:33:13.655Z,1736400793.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8,  18.7 (Local)

2025-01-09T05:33:13.656Z,1736400793.656 [DAT](INFO): DAT read: Range 10 to 50 : 89.0 m  (Round-trip  118.7 ms) speed  0.8 m/s

2025-01-09T05:33:13.657Z,1736400793.657 [DAT](INFO): DAT read: user:94>

2025-01-09T05:33:13.658Z,1736400793.658 [DAT](INFO): DAT read: Tx time:05:33:12.8715

2025-01-09T05:33:13.658Z,1736400793.658 [DAT](INFO): Ping request sent.
2025-01-09T05:33:13.658Z,1736400793.658 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:13.659Z,1736400793.659 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:13.659Z,1736400793.659 [DAT](INFO): direction in FSK: [0.945128,0.062775,-0.320613]
2025-01-09T05:33:13.660Z,1736400793.660 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:13.660Z,1736400793.660 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:13.680Z,1736400793.680 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:13.680Z,1736400793.680 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:13.888Z,1736400793.888 [DAT](INFO): DAT read: TxSync time:05:33:12.8708

2025-01-09T05:33:13.988Z,1736400793.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:14.008Z,1736400794.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.000000 m,
      deltaT: 3.529757 s,
      deltaX: -2.900002 m,
      approachRate: -0.821587 m/s,
      rangeRepo size: 4

2025-01-09T05:33:14.010Z,1736400794.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.000000 m,
      bearing: 267.179081 deg,
      lat: 36.904056 deg,
      lon: -122.118956 deg,
      deltaT: 3.529757 s,
      deltaX: -2.900002 m,
      approachRate: -0.821587 m/s,
      posRepo size: 4

2025-01-09T05:33:14.011Z,1736400794.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.00 m.
2025-01-09T05:33:14.014Z,1736400794.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.000000 m,
      nav range: 87.850739 m,
      bearing: 268.454448 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003015 deg/s,
      cmd heading: 261.941935 deg,
      new cmd heading: 261.945951 deg.

2025-01-09T05:33:14.015Z,1736400794.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571819 target range: 89.000000 and range: 89.00 m.
2025-01-09T05:33:14.335Z,1736400794.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:14.343Z,1736400794.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.00 m.
2025-01-09T05:33:14.346Z,1736400794.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.000000 m,
      nav range: 87.608620 m,
      bearing: 268.453668 deg,
      approach rate: -0.721605 m/s,
      LOS rate: -0.002330 deg/s,
      cmd heading: 261.945951 deg,
      new cmd heading: 261.943606 deg.

2025-01-09T05:33:14.347Z,1736400794.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571778 target range: 89.000000 and range: 89.00 m.
2025-01-09T05:33:14.738Z,1736400794.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:14.751Z,1736400794.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.00 m.
2025-01-09T05:33:14.771Z,1736400794.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.000000 m,
      nav range: 87.327065 m,
      bearing: 268.452666 deg,
      approach rate: -0.691608 m/s,
      LOS rate: -0.002470 deg/s,
      cmd heading: 261.943601 deg,
      new cmd heading: 261.940585 deg.

2025-01-09T05:33:14.774Z,1736400794.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571726 target range: 89.000000 and range: 89.00 m.
2025-01-09T05:33:15.198Z,1736400795.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:15.207Z,1736400795.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:15.209Z,1736400795.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.00 m.
2025-01-09T05:33:15.212Z,1736400795.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.000000 m,
      nav range: 87.016525 m,
      bearing: 268.456409 deg,
      approach rate: -0.677152 m/s,
      LOS rate: 0.008191 deg/s,
      cmd heading: 261.940596 deg,
      new cmd heading: 261.951865 deg.

2025-01-09T05:33:15.213Z,1736400795.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571922 target range: 89.000000 and range: 89.00 m.
2025-01-09T05:33:15.408Z,1736400795.408 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:15.408Z,1736400795.408 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:15.409Z,1736400795.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:15.563Z,1736400795.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:15.587Z,1736400795.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.00 m.
2025-01-09T05:33:15.589Z,1736400795.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.000000 m,
      nav range: 86.773712 m,
      bearing: 268.459201 deg,
      approach rate: -0.650565 m/s,
      LOS rate: 0.007500 deg/s,
      cmd heading: 261.951852 deg,
      new cmd heading: 261.960250 deg.

2025-01-09T05:33:15.595Z,1736400795.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572069 target range: 89.000000 and range: 89.00 m.
2025-01-09T05:33:15.660Z,1736400795.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002108
2025-01-09T05:33:15.912Z,1736400795.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253373
2025-01-09T05:33:15.988Z,1736400795.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:16.005Z,1736400796.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.00 m.
2025-01-09T05:33:16.012Z,1736400796.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.000000 m,
      nav range: 86.502556 m,
      bearing: 268.462191 deg,
      approach rate: -0.641316 m/s,
      LOS rate: 0.007094 deg/s,
      cmd heading: 261.960240 deg,
      new cmd heading: 261.969238 deg.

2025-01-09T05:33:16.013Z,1736400796.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572226 target range: 89.000000 and range: 89.00 m.
2025-01-09T05:33:16.164Z,1736400796.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505430
2025-01-09T05:33:16.354Z,1736400796.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:16.369Z,1736400796.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.00 m.
2025-01-09T05:33:16.377Z,1736400796.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.000000 m,
      nav range: 86.271599 m,
      bearing: 268.464495 deg,
      approach rate: -0.635249 m/s,
      LOS rate: 0.006354 deg/s,
      cmd heading: 261.969228 deg,
      new cmd heading: 261.976159 deg.

2025-01-09T05:33:16.378Z,1736400796.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572347 target range: 89.000000 and range: 89.00 m.
2025-01-09T05:33:16.416Z,1736400796.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757571
2025-01-09T05:33:16.668Z,1736400796.668 [DAT](INFO): DAT read: Rx Time:05:33:15.3908

2025-01-09T05:33:16.668Z,1736400796.668 [DAT](INFO): Rx dataTimestamp_ set to:1736400796.667800
2025-01-09T05:33:16.669Z,1736400796.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010395
2025-01-09T05:33:16.774Z,1736400796.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:16.800Z,1736400796.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.00 m.
2025-01-09T05:33:16.808Z,1736400796.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.000000 m,
      nav range: 86.006615 m,
      bearing: 268.466961 deg,
      approach rate: -0.639366 m/s,
      LOS rate: 0.005970 deg/s,
      cmd heading: 261.976168 deg,
      new cmd heading: 261.983591 deg.

2025-01-09T05:33:16.809Z,1736400796.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572476 target range: 89.000000 and range: 89.00 m.
2025-01-09T05:33:16.921Z,1736400796.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262282
2025-01-09T05:33:17.186Z,1736400797.186 [DAT](INFO): DAT read: 05:33:15.3908 LVL= 19008, 22977, 16994, 28147, AGC= 63, IDX= 407, 0.12,-1.385,-2.973,-1.593,-2.151, PHS= 0.854,-0.775, 0.555, RAW= 140.0,  -8.5, CAL= 146.5, -18.4, ROT=   3.5,  18.4

2025-01-09T05:33:17.188Z,1736400797.188 [DAT](INFO): got valid direction response:
 05:33:15.3908 LVL= 19008, 22977, 16994, 28147, AGC= 63, IDX= 407, 0.12,-1.385,-2.973,-1.593,-2.151, PHS= 0.854,-0.775, 0.555, RAW= 140.0,  -8.5, CAL= 146.5, -18.4, ROT=   3.5,  18.4

2025-01-09T05:33:17.189Z,1736400797.189 [DAT](INFO): DAT read: Bearing   3.5,  18.4 (Local)

2025-01-09T05:33:17.189Z,1736400797.189 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.5,  18.4 (Local)

2025-01-09T05:33:17.191Z,1736400797.191 [DAT](INFO): DAT read: Range 10 to 50 : 86.3 m  (Round-trip  115.1 ms) speed  0.4 m/s

2025-01-09T05:33:17.192Z,1736400797.192 [DAT](INFO): DAT read: user:95>

2025-01-09T05:33:17.193Z,1736400797.193 [DAT](INFO): DAT read: Tx time:05:33:16.4715

2025-01-09T05:33:17.193Z,1736400797.193 [DAT](INFO): Ping request sent.
2025-01-09T05:33:17.193Z,1736400797.193 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:17.194Z,1736400797.194 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:17.195Z,1736400797.195 [DAT](INFO): direction in FSK: [0.947106,0.057927,-0.315649]
2025-01-09T05:33:17.195Z,1736400797.195 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:17.195Z,1736400797.195 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:17.198Z,1736400797.198 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:17.198Z,1736400797.198 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:17.326Z,1736400797.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:17.364Z,1736400797.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.300003 m,
      deltaT: 3.536094 s,
      deltaX: -2.699997 m,
      approachRate: -0.763554 m/s,
      rangeRepo size: 4

2025-01-09T05:33:17.375Z,1736400797.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.300003 m,
      bearing: 267.260536 deg,
      lat: 36.904040 deg,
      lon: -122.118951 deg,
      deltaT: 3.536094 s,
      deltaX: -2.699997 m,
      approachRate: -0.763554 m/s,
      posRepo size: 4

2025-01-09T05:33:17.376Z,1736400797.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-01-09T05:33:17.383Z,1736400797.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.300003 m,
      nav range: 85.295563 m,
      bearing: 267.274163 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005970 deg/s,
      cmd heading: 261.983599 deg,
      new cmd heading: 261.993977 deg.

2025-01-09T05:33:17.384Z,1736400797.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572658 target range: 86.300003 and range: 86.30 m.
2025-01-09T05:33:17.424Z,1736400797.424 [DAT](INFO): DAT read: TxSync time:05:33:16.4708

2025-01-09T05:33:17.661Z,1736400797.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:17.668Z,1736400797.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:17.670Z,1736400797.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-01-09T05:33:17.673Z,1736400797.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.300003 m,
      nav range: 85.087540 m,
      bearing: 267.274975 deg,
      approach rate: -0.675887 m/s,
      LOS rate: 0.002644 deg/s,
      cmd heading: 261.993981 deg,
      new cmd heading: 261.996422 deg.

2025-01-09T05:33:17.674Z,1736400797.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572700 target range: 86.300003 and range: 86.30 m.
2025-01-09T05:33:17.676Z,1736400797.676 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:17.676Z,1736400797.676 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:17.676Z,1736400797.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:17.928Z,1736400797.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.734716
2025-01-09T05:33:18.087Z,1736400798.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:18.095Z,1736400798.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-01-09T05:33:18.098Z,1736400798.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.300003 m,
      nav range: 84.833923 m,
      bearing: 267.278312 deg,
      approach rate: -0.596459 m/s,
      LOS rate: 0.007872 deg/s,
      cmd heading: 261.996412 deg,
      new cmd heading: 262.006453 deg.

2025-01-09T05:33:18.100Z,1736400798.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572875 target range: 86.300003 and range: 86.30 m.
2025-01-09T05:33:18.180Z,1736400798.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986833
2025-01-09T05:33:18.432Z,1736400798.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238487
2025-01-09T05:33:18.486Z,1736400798.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:18.495Z,1736400798.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-01-09T05:33:18.498Z,1736400798.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.300003 m,
      nav range: 84.595596 m,
      bearing: 267.281466 deg,
      approach rate: -0.596608 m/s,
      LOS rate: 0.007918 deg/s,
      cmd heading: 262.006466 deg,
      new cmd heading: 262.015955 deg.

2025-01-09T05:33:18.499Z,1736400798.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573041 target range: 86.300003 and range: 86.30 m.
2025-01-09T05:33:18.684Z,1736400798.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490385
2025-01-09T05:33:18.902Z,1736400798.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:18.936Z,1736400798.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742444
2025-01-09T05:33:18.952Z,1736400798.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-01-09T05:33:18.959Z,1736400798.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.300003 m,
      nav range: 84.348061 m,
      bearing: 267.284650 deg,
      approach rate: -0.541237 m/s,
      LOS rate: 0.006981 deg/s,
      cmd heading: 262.015947 deg,
      new cmd heading: 262.025526 deg.

2025-01-09T05:33:18.960Z,1736400798.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573208 target range: 86.300003 and range: 86.30 m.
2025-01-09T05:33:19.188Z,1736400799.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995138
2025-01-09T05:33:19.305Z,1736400799.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:19.314Z,1736400799.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-01-09T05:33:19.318Z,1736400799.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.300003 m,
      nav range: 84.103951 m,
      bearing: 267.289398 deg,
      approach rate: -0.674155 m/s,
      LOS rate: 0.013153 deg/s,
      cmd heading: 262.025536 deg,
      new cmd heading: 262.039824 deg.

2025-01-09T05:33:19.319Z,1736400799.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573458 target range: 86.300003 and range: 86.30 m.
2025-01-09T05:33:19.440Z,1736400799.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246479
2025-01-09T05:33:19.692Z,1736400799.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498682
2025-01-09T05:33:19.728Z,1736400799.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:19.738Z,1736400799.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:19.744Z,1736400799.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-01-09T05:33:19.749Z,1736400799.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.300003 m,
      nav range: 83.848984 m,
      bearing: 267.294008 deg,
      approach rate: -0.594292 m/s,
      LOS rate: 0.010776 deg/s,
      cmd heading: 262.039825 deg,
      new cmd heading: 262.053695 deg.

2025-01-09T05:33:19.773Z,1736400799.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573700 target range: 86.300003 and range: 86.30 m.
2025-01-09T05:33:19.944Z,1736400799.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750430
2025-01-09T05:33:20.152Z,1736400800.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:20.162Z,1736400800.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-01-09T05:33:20.165Z,1736400800.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.300003 m,
      nav range: 83.588715 m,
      bearing: 267.298301 deg,
      approach rate: -0.622055 m/s,
      LOS rate: 0.010294 deg/s,
      cmd heading: 262.053704 deg,
      new cmd heading: 262.066625 deg.

2025-01-09T05:33:20.187Z,1736400800.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573925 target range: 86.300003 and range: 86.30 m.
2025-01-09T05:33:20.196Z,1736400800.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002538
2025-01-09T05:33:20.447Z,1736400800.447 [DAT](INFO): DAT read: Rx Time:05:33:18.9882

2025-01-09T05:33:20.448Z,1736400800.448 [DAT](INFO): Rx dataTimestamp_ set to:1736400800.447684
2025-01-09T05:33:20.448Z,1736400800.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255213
2025-01-09T05:33:20.609Z,1736400800.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:20.618Z,1736400800.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.30 m.
2025-01-09T05:33:20.621Z,1736400800.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.300003 m,
      nav range: 83.308159 m,
      bearing: 267.302182 deg,
      approach rate: -0.614627 m/s,
      LOS rate: 0.008529 deg/s,
      cmd heading: 262.066627 deg,
      new cmd heading: 262.078306 deg.

2025-01-09T05:33:20.622Z,1736400800.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574130 target range: 86.300003 and range: 86.30 m.
2025-01-09T05:33:20.700Z,1736400800.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506524
2025-01-09T05:33:20.980Z,1736400800.980 [DAT](INFO): DAT read: 05:33:18.9882 LVL= 24048, 25329, 17042, 31971, AGC= 61, IDX= 413,-0.14, 1.758, 0.289, 1.596, 1.040, PHS= 0.806,-0.705, 0.552, RAW= 141.0,  -9.4, CAL= 147.7, -19.1, ROT=   2.3,  19.1

2025-01-09T05:33:20.981Z,1736400800.981 [DAT](INFO): got valid direction response:
 05:33:18.9882 LVL= 24048, 25329, 17042, 31971, AGC= 61, IDX= 413,-0.14, 1.758, 0.289, 1.596, 1.040, PHS= 0.806,-0.705, 0.552, RAW= 141.0,  -9.4, CAL= 147.7, -19.1, ROT=   2.3,  19.1

2025-01-09T05:33:20.982Z,1736400800.982 [DAT](INFO): DAT read: Bearing   2.3,  19.1 (Local)

2025-01-09T05:33:20.995Z,1736400800.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,  19.1 (Local)

2025-01-09T05:33:20.996Z,1736400800.996 [DAT](INFO): DAT read: Range 10 to 50 : 84.3 m  (Round-trip  112.5 ms) speed  0.5 m/s

2025-01-09T05:33:20.997Z,1736400800.997 [DAT](INFO): DAT read: user:96>

2025-01-09T05:33:20.998Z,1736400800.998 [DAT](INFO): DAT read: Tx time:05:33:20.0715

2025-01-09T05:33:20.998Z,1736400800.998 [DAT](INFO): Ping request sent.
2025-01-09T05:33:20.998Z,1736400800.998 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:20.000Z,1736400801.000 [DAT](INFO): DAT read: TxSync time:05:33:20.0708

2025-01-09T05:33:21.000Z,1736400801.000 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:21.001Z,1736400801.001 [DAT](INFO): direction in FSK: [0.944188,0.037922,-0.327218]
2025-01-09T05:33:21.002Z,1736400801.002 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:21.002Z,1736400801.002 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:21.009Z,1736400801.009 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:21.010Z,1736400801.010 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:21.116Z,1736400801.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:21.152Z,1736400801.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.300003 m,
      deltaT: 3.780451 s,
      deltaX: -2.000000 m,
      approachRate: -0.529037 m/s,
      rangeRepo size: 4

2025-01-09T05:33:21.154Z,1736400801.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.300003 m,
      bearing: 266.830294 deg,
      lat: 36.904040 deg,
      lon: -122.118950 deg,
      deltaT: 3.780451 s,
      deltaX: -2.000000 m,
      approachRate: -0.529037 m/s,
      posRepo size: 4

2025-01-09T05:33:21.154Z,1736400801.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-01-09T05:33:21.161Z,1736400801.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 82.929565 m,
      bearing: 267.305077 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008529 deg/s,
      cmd heading: 262.078320 deg,
      new cmd heading: 262.091743 deg.

2025-01-09T05:33:21.162Z,1736400801.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574364 target range: 84.300003 and range: 84.30 m.
2025-01-09T05:33:21.440Z,1736400801.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:21.450Z,1736400801.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-01-09T05:33:21.453Z,1736400801.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 82.725410 m,
      bearing: 267.308012 deg,
      approach rate: -0.666668 m/s,
      LOS rate: 0.009605 deg/s,
      cmd heading: 262.091734 deg,
      new cmd heading: 262.100559 deg.

2025-01-09T05:33:21.454Z,1736400801.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574518 target range: 84.300003 and range: 84.30 m.
2025-01-09T05:33:21.845Z,1736400801.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:21.854Z,1736400801.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:21.856Z,1736400801.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-01-09T05:33:21.859Z,1736400801.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 82.471375 m,
      bearing: 267.312097 deg,
      approach rate: -0.623397 m/s,
      LOS rate: 0.010057 deg/s,
      cmd heading: 262.100559 deg,
      new cmd heading: 262.112854 deg.

2025-01-09T05:33:21.860Z,1736400801.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574732 target range: 84.300003 and range: 84.30 m.
2025-01-09T05:33:21.962Z,1736400801.962 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:21.962Z,1736400801.962 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:21.963Z,1736400801.963 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:22.212Z,1736400802.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213404
2025-01-09T05:33:22.270Z,1736400802.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:22.297Z,1736400802.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-01-09T05:33:22.304Z,1736400802.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 82.192619 m,
      bearing: 267.318346 deg,
      approach rate: -0.632540 m/s,
      LOS rate: 0.014228 deg/s,
      cmd heading: 262.112853 deg,
      new cmd heading: 262.131664 deg.

2025-01-09T05:33:22.305Z,1736400802.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575061 target range: 84.300003 and range: 84.30 m.
2025-01-09T05:33:22.464Z,1736400802.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465424
2025-01-09T05:33:22.648Z,1736400802.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:22.657Z,1736400802.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-01-09T05:33:22.660Z,1736400802.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 81.945236 m,
      bearing: 267.323750 deg,
      approach rate: -0.687049 m/s,
      LOS rate: 0.015053 deg/s,
      cmd heading: 262.131677 deg,
      new cmd heading: 262.147938 deg.

2025-01-09T05:33:22.661Z,1736400802.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575345 target range: 84.300003 and range: 84.30 m.
2025-01-09T05:33:22.718Z,1736400802.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719371
2025-01-09T05:33:22.994Z,1736400802.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971971
2025-01-09T05:33:23.077Z,1736400803.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:23.100Z,1736400803.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-01-09T05:33:23.107Z,1736400803.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 81.649971 m,
      bearing: 267.328607 deg,
      approach rate: -0.674867 m/s,
      LOS rate: 0.011142 deg/s,
      cmd heading: 262.147933 deg,
      new cmd heading: 262.162558 deg.

2025-01-09T05:33:23.108Z,1736400803.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575600 target range: 84.300003 and range: 84.30 m.
2025-01-09T05:33:23.220Z,1736400803.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221743
2025-01-09T05:33:23.473Z,1736400803.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474853
2025-01-09T05:33:23.474Z,1736400803.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:23.484Z,1736400803.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-01-09T05:33:23.487Z,1736400803.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 81.375298 m,
      bearing: 267.333105 deg,
      approach rate: -0.706408 m/s,
      LOS rate: 0.011605 deg/s,
      cmd heading: 262.162550 deg,
      new cmd heading: 262.176087 deg.

2025-01-09T05:33:23.488Z,1736400803.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575836 target range: 84.300003 and range: 84.30 m.
2025-01-09T05:33:23.724Z,1736400803.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725393
2025-01-09T05:33:23.875Z,1736400803.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:23.886Z,1736400803.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:23.888Z,1736400803.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-01-09T05:33:23.909Z,1736400803.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 81.099045 m,
      bearing: 267.337659 deg,
      approach rate: -0.682994 m/s,
      LOS rate: 0.011297 deg/s,
      cmd heading: 262.176101 deg,
      new cmd heading: 262.189809 deg.

2025-01-09T05:33:23.925Z,1736400803.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576076 target range: 84.300003 and range: 84.30 m.
2025-01-09T05:33:23.979Z,1736400803.979 [DAT](INFO): DAT read: Rx Time:05:33:22.5854

2025-01-09T05:33:23.981Z,1736400803.981 [DAT](INFO): Rx dataTimestamp_ set to:1736400803.979883
2025-01-09T05:33:23.983Z,1736400803.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983845
2025-01-09T05:33:23.987Z,1736400803.987 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:33:24.228Z,1736400804.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229306
2025-01-09T05:33:24.320Z,1736400804.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:24.388Z,1736400804.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-01-09T05:33:24.395Z,1736400804.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 80.783775 m,
      bearing: 267.338671 deg,
      approach rate: -0.630929 m/s,
      LOS rate: 0.002034 deg/s,
      cmd heading: 262.189816 deg,
      new cmd heading: 262.192865 deg.

2025-01-09T05:33:24.396Z,1736400804.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576129 target range: 84.300003 and range: 84.30 m.
2025-01-09T05:33:24.488Z,1736400804.488 [DAT](INFO): DAT read: 05:33:22.5854 LVL= 20368, 28433, 18530, 32483, AGC= 62, IDX= 415,-0.06, 0.831,-0.530, 0.704, 0.199, PHS= 0.720,-0.682, 0.502, RAW= 141.7,  -8.3, CAL= 148.1, -17.8, ROT=   1.9,  17.8

2025-01-09T05:33:24.490Z,1736400804.490 [DAT](INFO): got valid direction response:
 05:33:22.5854 LVL= 20368, 28433, 18530, 32483, AGC= 62, IDX= 415,-0.06, 0.831,-0.530, 0.704, 0.199, PHS= 0.720,-0.682, 0.502, RAW= 141.7,  -8.3, CAL= 148.1, -17.8, ROT=   1.9,  17.8

2025-01-09T05:33:24.491Z,1736400804.491 [DAT](INFO): DAT read: Bearing   1.9,  17.8 (Local)

2025-01-09T05:33:24.492Z,1736400804.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  17.8 (Local)

2025-01-09T05:33:24.493Z,1736400804.493 [DAT](INFO): DAT read: Range 10 to 50 : 82.2 m  (Round-trip  109.6 ms) speed  0.7 m/s

2025-01-09T05:33:24.494Z,1736400804.494 [DAT](INFO): DAT read: user:97>

2025-01-09T05:33:24.495Z,1736400804.495 [DAT](INFO): DAT read: Tx time:05:33:23.6716

2025-01-09T05:33:24.495Z,1736400804.495 [DAT](INFO): Ping request sent.
2025-01-09T05:33:24.495Z,1736400804.495 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:24.495Z,1736400804.495 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:24.496Z,1736400804.496 [DAT](INFO): direction in FSK: [0.951606,0.031568,-0.305695]
2025-01-09T05:33:24.497Z,1736400804.497 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:24.497Z,1736400804.497 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:24.501Z,1736400804.501 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:24.501Z,1736400804.501 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:24.700Z,1736400804.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:24.732Z,1736400804.732 [DAT](INFO): DAT read: TxSync time:05:33:23.6708

2025-01-09T05:33:24.735Z,1736400804.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.199997 m,
      deltaT: 3.525861 s,
      deltaX: -2.100006 m,
      approachRate: -0.595601 m/s,
      rangeRepo size: 4

2025-01-09T05:33:24.737Z,1736400804.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.199997 m,
      bearing: 266.264369 deg,
      lat: 36.904039 deg,
      lon: -122.118950 deg,
      deltaT: 3.525861 s,
      deltaX: -2.100006 m,
      approachRate: -0.595601 m/s,
      posRepo size: 4

2025-01-09T05:33:24.738Z,1736400804.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-01-09T05:33:24.746Z,1736400804.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 80.519806 m,
      bearing: 267.226165 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002034 deg/s,
      cmd heading: 262.192876 deg,
      new cmd heading: 262.194963 deg.

2025-01-09T05:33:24.752Z,1736400804.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576165 target range: 82.199997 and range: 82.20 m.
2025-01-09T05:33:24.988Z,1736400804.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:33:25.101Z,1736400805.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:25.109Z,1736400805.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-01-09T05:33:25.112Z,1736400805.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 80.225594 m,
      bearing: 267.229013 deg,
      approach rate: -0.775590 m/s,
      LOS rate: 0.007535 deg/s,
      cmd heading: 262.194952 deg,
      new cmd heading: 262.203527 deg.

2025-01-09T05:33:25.113Z,1736400805.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576315 target range: 82.199997 and range: 82.20 m.
2025-01-09T05:33:25.483Z,1736400805.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:25.493Z,1736400805.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-01-09T05:33:25.495Z,1736400805.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 79.945045 m,
      bearing: 267.232338 deg,
      approach rate: -0.731539 m/s,
      LOS rate: 0.008702 deg/s,
      cmd heading: 262.203531 deg,
      new cmd heading: 262.213543 deg.

2025-01-09T05:33:25.496Z,1736400805.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576489 target range: 82.199997 and range: 82.20 m.
2025-01-09T05:33:25.879Z,1736400805.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:25.902Z,1736400805.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:25.908Z,1736400805.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-01-09T05:33:25.917Z,1736400805.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 79.652946 m,
      bearing: 267.235993 deg,
      approach rate: -0.702965 m/s,
      LOS rate: 0.008829 deg/s,
      cmd heading: 262.213530 deg,
      new cmd heading: 262.224536 deg.

2025-01-09T05:33:25.923Z,1736400805.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576682 target range: 82.199997 and range: 82.20 m.
2025-01-09T05:33:25.994Z,1736400805.994 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:25.995Z,1736400805.995 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:25.996Z,1736400805.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:26.244Z,1736400806.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748276
2025-01-09T05:33:26.319Z,1736400806.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:26.328Z,1736400806.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-01-09T05:33:26.331Z,1736400806.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 79.327774 m,
      bearing: 267.233937 deg,
      approach rate: -0.774742 m/s,
      LOS rate: -0.004920 deg/s,
      cmd heading: 262.224541 deg,
      new cmd heading: 262.218345 deg.

2025-01-09T05:33:26.332Z,1736400806.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576573 target range: 82.199997 and range: 82.20 m.
2025-01-09T05:33:26.496Z,1736400806.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000569
2025-01-09T05:33:26.700Z,1736400806.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:26.709Z,1736400806.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-01-09T05:33:26.713Z,1736400806.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 79.046211 m,
      bearing: 267.231822 deg,
      approach rate: -0.737631 m/s,
      LOS rate: -0.005560 deg/s,
      cmd heading: 262.218339 deg,
      new cmd heading: 262.211972 deg.

2025-01-09T05:33:26.714Z,1736400806.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576462 target range: 82.199997 and range: 82.20 m.
2025-01-09T05:33:26.748Z,1736400806.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253243
2025-01-09T05:33:27.005Z,1736400807.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509120
2025-01-09T05:33:27.128Z,1736400807.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:27.139Z,1736400807.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-01-09T05:33:27.141Z,1736400807.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 78.733765 m,
      bearing: 267.229384 deg,
      approach rate: -0.728168 m/s,
      LOS rate: -0.005705 deg/s,
      cmd heading: 262.211973 deg,
      new cmd heading: 262.204629 deg.

2025-01-09T05:33:27.143Z,1736400807.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576334 target range: 82.199997 and range: 82.20 m.
2025-01-09T05:33:27.256Z,1736400807.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760674
2025-01-09T05:33:27.501Z,1736400807.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:27.508Z,1736400807.508 [DAT](INFO): DAT read: Rx Time:05:33:26.1814

2025-01-09T05:33:27.508Z,1736400807.508 [DAT](INFO): Rx dataTimestamp_ set to:1736400807.507859
2025-01-09T05:33:27.509Z,1736400807.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013416
2025-01-09T05:33:27.535Z,1736400807.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-01-09T05:33:27.538Z,1736400807.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 78.463104 m,
      bearing: 267.226822 deg,
      approach rate: -0.697329 m/s,
      LOS rate: -0.006623 deg/s,
      cmd heading: 262.204624 deg,
      new cmd heading: 262.196912 deg.

2025-01-09T05:33:27.543Z,1736400807.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576200 target range: 82.199997 and range: 82.20 m.
2025-01-09T05:33:27.761Z,1736400807.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265805
2025-01-09T05:33:27.905Z,1736400807.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:27.922Z,1736400807.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:27.932Z,1736400807.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-01-09T05:33:27.969Z,1736400807.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 78.166367 m,
      bearing: 267.223751 deg,
      approach rate: -0.736872 m/s,
      LOS rate: -0.007655 deg/s,
      cmd heading: 262.196919 deg,
      new cmd heading: 262.187672 deg.

2025-01-09T05:33:28.032Z,1736400808.032 [DAT](INFO): DAT read: 05:33:26.1814 LVL= 20512, 22625, 16434, 30163, AGC= 64, IDX= 406,-0.07,-1.749, 2.973,-1.897,-2.443, PHS= 0.782,-0.820, 0.543, RAW= 142.1,  -6.8, CAL= 148.1, -16.2, ROT=   1.9,  16.2

2025-01-09T05:33:28.041Z,1736400808.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576038 target range: 82.199997 and range: 82.20 m.
2025-01-09T05:33:28.049Z,1736400808.049 [DAT](INFO): got valid direction response:
 05:33:26.1814 LVL= 20512, 22625, 16434, 30163, AGC= 64, IDX= 406,-0.07,-1.749, 2.973,-1.897,-2.443, PHS= 0.782,-0.820, 0.543, RAW= 142.1,  -6.8, CAL= 148.1, -16.2, ROT=   1.9,  16.2

2025-01-09T05:33:28.060Z,1736400808.060 [DAT](INFO): DAT read: Bearing   1.9,  16.2 (Local)

2025-01-09T05:33:28.060Z,1736400808.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  16.2 (Local)

2025-01-09T05:33:28.061Z,1736400808.061 [DAT](INFO): DAT read: Range 10 to 50 : 79.2 m  (Round-trip  105.6 ms) speed  0.7 m/s

2025-01-09T05:33:28.062Z,1736400808.062 [DAT](INFO): DAT read: user:98>

2025-01-09T05:33:28.071Z,1736400808.071 [DAT](INFO): DAT read: Tx time:05:33:27.2716

2025-01-09T05:33:28.071Z,1736400808.071 [DAT](INFO): Ping request sent.
2025-01-09T05:33:28.071Z,1736400808.071 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:28.072Z,1736400808.072 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:28.073Z,1736400808.073 [DAT](INFO): direction in FSK: [0.959766,0.031839,-0.278991]
2025-01-09T05:33:28.073Z,1736400808.073 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:28.073Z,1736400808.073 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:28.077Z,1736400808.077 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:28.077Z,1736400808.077 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:28.264Z,1736400808.264 [DAT](INFO): DAT read: TxSync time:05:33:27.2708

2025-01-09T05:33:28.338Z,1736400808.338 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00,  70.36,  72.23
2025-01-09T05:33:28.358Z,1736400808.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T05:33:28.358Z,1736400808.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:28.395Z,1736400808.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 79.199997 m,
      deltaT: 3.533756 s,
      deltaX: -3.000000 m,
      approachRate: -0.848955 m/s,
      rangeRepo size: 4

2025-01-09T05:33:28.397Z,1736400808.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.199997 m,
      bearing: 266.093843 deg,
      lat: 36.904034 deg,
      lon: -122.118950 deg,
      deltaT: 3.533756 s,
      deltaX: -3.000000 m,
      approachRate: -0.848955 m/s,
      posRepo size: 4

2025-01-09T05:33:28.397Z,1736400808.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m.
2025-01-09T05:33:28.404Z,1736400808.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.199997 m,
      nav range: 77.862152 m,
      bearing: 266.843625 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007655 deg/s,
      cmd heading: 262.187685 deg,
      new cmd heading: 262.177115 deg.

2025-01-09T05:33:28.405Z,1736400808.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575854 target range: 79.199997 and range: 79.20 m.
2025-01-09T05:33:28.734Z,1736400808.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:33:28.734Z,1736400808.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:28.745Z,1736400808.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m.
2025-01-09T05:33:28.751Z,1736400808.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.199997 m,
      nav range: 77.587540 m,
      bearing: 266.839638 deg,
      approach rate: -0.772586 m/s,
      LOS rate: -0.011258 deg/s,
      cmd heading: 262.177112 deg,
      new cmd heading: 262.165107 deg.

2025-01-09T05:33:28.753Z,1736400808.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575644 target range: 79.199997 and range: 79.20 m.
2025-01-09T05:33:29.206Z,1736400809.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:29.215Z,1736400809.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m.
2025-01-09T05:33:29.219Z,1736400809.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.199997 m,
      nav range: 77.265366 m,
      bearing: 266.831780 deg,
      approach rate: -0.685913 m/s,
      LOS rate: -0.016798 deg/s,
      cmd heading: 262.165118 deg,
      new cmd heading: 262.141448 deg.

2025-01-09T05:33:29.220Z,1736400809.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575232 target range: 79.199997 and range: 79.20 m.
2025-01-09T05:33:29.542Z,1736400809.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:29.567Z,1736400809.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m.
2025-01-09T05:33:29.570Z,1736400809.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.199997 m,
      nav range: 77.036659 m,
      bearing: 266.826443 deg,
      approach rate: -0.658046 m/s,
      LOS rate: -0.015402 deg/s,
      cmd heading: 262.141458 deg,
      new cmd heading: 262.125399 deg.

2025-01-09T05:33:29.575Z,1736400809.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574951 target range: 79.199997 and range: 79.20 m.
2025-01-09T05:33:29.963Z,1736400809.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:29.970Z,1736400809.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:29.972Z,1736400809.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m.
2025-01-09T05:33:29.975Z,1736400809.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.199997 m,
      nav range: 76.749557 m,
      bearing: 266.819535 deg,
      approach rate: -0.700759 m/s,
      LOS rate: -0.016925 deg/s,
      cmd heading: 262.125394 deg,
      new cmd heading: 262.104591 deg.

2025-01-09T05:33:29.978Z,1736400809.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574588 target range: 79.199997 and range: 79.20 m.
2025-01-09T05:33:30.034Z,1736400810.034 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:30.037Z,1736400810.037 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:30.038Z,1736400810.038 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:30.285Z,1736400810.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213014
2025-01-09T05:33:30.376Z,1736400810.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:30.386Z,1736400810.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m.
2025-01-09T05:33:30.389Z,1736400810.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.199997 m,
      nav range: 76.484467 m,
      bearing: 266.812960 deg,
      approach rate: -0.640545 m/s,
      LOS rate: -0.015941 deg/s,
      cmd heading: 262.104603 deg,
      new cmd heading: 262.084811 deg.

2025-01-09T05:33:30.390Z,1736400810.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574243 target range: 79.199997 and range: 79.20 m.
2025-01-09T05:33:30.536Z,1736400810.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464120
2025-01-09T05:33:30.764Z,1736400810.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:30.779Z,1736400810.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m.
2025-01-09T05:33:30.783Z,1736400810.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.199997 m,
      nav range: 76.235550 m,
      bearing: 266.806273 deg,
      approach rate: -0.632704 m/s,
      LOS rate: -0.017052 deg/s,
      cmd heading: 262.084822 deg,
      new cmd heading: 262.064696 deg.

2025-01-09T05:33:30.784Z,1736400810.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573892 target range: 79.199997 and range: 79.20 m.
2025-01-09T05:33:30.788Z,1736400810.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716207
2025-01-09T05:33:31.045Z,1736400811.045 [DAT](INFO): DAT read: Rx Time:05:33:29.7779

2025-01-09T05:33:31.047Z,1736400811.047 [DAT](INFO): Rx dataTimestamp_ set to:1736400811.045475
2025-01-09T05:33:31.050Z,1736400811.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977432
2025-01-09T05:33:31.248Z,1736400811.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:31.258Z,1736400811.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m.
2025-01-09T05:33:31.261Z,1736400811.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.199997 m,
      nav range: 75.938354 m,
      bearing: 266.799889 deg,
      approach rate: -0.620644 m/s,
      LOS rate: -0.013384 deg/s,
      cmd heading: 262.064687 deg,
      new cmd heading: 262.045460 deg.

2025-01-09T05:33:31.262Z,1736400811.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573556 target range: 79.199997 and range: 79.20 m.
2025-01-09T05:33:31.292Z,1736400811.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220252
2025-01-09T05:33:31.546Z,1736400811.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474044
2025-01-09T05:33:31.618Z,1736400811.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:31.626Z,1736400811.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m.
2025-01-09T05:33:31.629Z,1736400811.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.199997 m,
      nav range: 75.711624 m,
      bearing: 266.794537 deg,
      approach rate: -0.615973 m/s,
      LOS rate: -0.014584 deg/s,
      cmd heading: 262.045453 deg,
      new cmd heading: 262.029349 deg.

2025-01-09T05:33:31.630Z,1736400811.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573275 target range: 79.199997 and range: 79.20 m.
2025-01-09T05:33:31.805Z,1736400811.805 [DAT](INFO): DAT read: 05:33:29.7779 LVL= 19136, 26433, 18194, 30611, AGC= 64, IDX= 402,-0.37, 1.533,-0.012, 1.401, 0.849, PHS= 0.773,-0.814, 0.549, RAW= 142.5,  -6.9, CAL= 148.6, -16.2, ROT=   1.4,  16.2

2025-01-09T05:33:31.819Z,1736400811.819 [DAT](INFO): got valid direction response:
 05:33:29.7779 LVL= 19136, 26433, 18194, 30611, AGC= 64, IDX= 402,-0.37, 1.533,-0.012, 1.401, 0.849, PHS= 0.773,-0.814, 0.549, RAW= 142.5,  -6.9, CAL= 148.6, -16.2, ROT=   1.4,  16.2

2025-01-09T05:33:31.820Z,1736400811.820 [DAT](INFO): DAT read: Bearing   1.4,  16.2 (Local)

2025-01-09T05:33:31.820Z,1736400811.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4,  16.2 (Local)

2025-01-09T05:33:31.822Z,1736400811.822 [DAT](INFO): DAT read: Range 10 to 50 : 76.5 m  (Round-trip  102.1 ms) speed  0.4 m/s

2025-01-09T05:33:31.832Z,1736400811.832 [DAT](INFO): DAT read: user:99>

2025-01-09T05:33:31.834Z,1736400811.833 [DAT](INFO): DAT read: Tx time:05:33:30.8716

2025-01-09T05:33:31.834Z,1736400811.834 [DAT](INFO): Ping request sent.
2025-01-09T05:33:31.834Z,1736400811.834 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:31.843Z,1736400811.843 [DAT](INFO): DAT read: TxSync time:05:33:30.8708

2025-01-09T05:33:31.843Z,1736400811.843 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:31.844Z,1736400811.844 [DAT](INFO): direction in FSK: [0.960007,0.023462,-0.278991]
2025-01-09T05:33:31.844Z,1736400811.844 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:31.845Z,1736400811.845 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:31.852Z,1736400811.852 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:31.852Z,1736400811.852 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:32.036Z,1736400812.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:32.119Z,1736400812.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.500000 m,
      deltaT: 3.782391 s,
      deltaX: -2.699997 m,
      approachRate: -0.713833 m/s,
      rangeRepo size: 4

2025-01-09T05:33:32.121Z,1736400812.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.500000 m,
      bearing: 266.116322 deg,
      lat: 36.904026 deg,
      lon: -122.118948 deg,
      deltaT: 3.782391 s,
      deltaX: -2.699997 m,
      approachRate: -0.713833 m/s,
      posRepo size: 4

2025-01-09T05:33:32.122Z,1736400812.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-01-09T05:33:32.129Z,1736400812.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 75.323639 m,
      bearing: 266.131908 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014584 deg/s,
      cmd heading: 262.029361 deg,
      new cmd heading: 262.008035 deg.

2025-01-09T05:33:32.130Z,1736400812.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572903 target range: 76.500000 and range: 76.50 m.
2025-01-09T05:33:32.456Z,1736400812.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:32.483Z,1736400812.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:32.485Z,1736400812.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-01-09T05:33:32.492Z,1736400812.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 75.072304 m,
      bearing: 266.121531 deg,
      approach rate: -0.676569 m/s,
      LOS rate: -0.028027 deg/s,
      cmd heading: 262.008024 deg,
      new cmd heading: 261.976789 deg.

2025-01-09T05:33:32.493Z,1736400812.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572358 target range: 76.500000 and range: 76.50 m.
2025-01-09T05:33:32.553Z,1736400812.553 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:32.553Z,1736400812.553 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:32.553Z,1736400812.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:32.804Z,1736400812.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969710
2025-01-09T05:33:32.840Z,1736400812.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:32.858Z,1736400812.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-01-09T05:33:32.865Z,1736400812.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 74.841942 m,
      bearing: 266.111689 deg,
      approach rate: -0.617478 m/s,
      LOS rate: -0.026462 deg/s,
      cmd heading: 261.976796 deg,
      new cmd heading: 261.947180 deg.

2025-01-09T05:33:32.867Z,1736400812.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571841 target range: 76.500000 and range: 76.50 m.
2025-01-09T05:33:33.059Z,1736400813.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224010
2025-01-09T05:33:33.261Z,1736400813.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:33.272Z,1736400813.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-01-09T05:33:33.275Z,1736400813.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 74.590370 m,
      bearing: 266.100919 deg,
      approach rate: -0.610399 m/s,
      LOS rate: -0.026220 deg/s,
      cmd heading: 261.947180 deg,
      new cmd heading: 261.914761 deg.

2025-01-09T05:33:33.276Z,1736400813.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571275 target range: 76.500000 and range: 76.50 m.
2025-01-09T05:33:33.308Z,1736400813.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474399
2025-01-09T05:33:33.560Z,1736400813.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725679
2025-01-09T05:33:33.643Z,1736400813.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:33.652Z,1736400813.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-01-09T05:33:33.655Z,1736400813.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 74.361458 m,
      bearing: 266.090503 deg,
      approach rate: -0.599456 m/s,
      LOS rate: -0.027362 deg/s,
      cmd heading: 261.914751 deg,
      new cmd heading: 261.883405 deg.

2025-01-09T05:33:33.656Z,1736400813.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570728 target range: 76.500000 and range: 76.50 m.
2025-01-09T05:33:33.812Z,1736400813.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977793
2025-01-09T05:33:34.043Z,1736400814.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:34.058Z,1736400814.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-01-09T05:33:34.064Z,1736400814.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229793
2025-01-09T05:33:34.088Z,1736400814.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 74.122704 m,
      bearing: 266.078930 deg,
      approach rate: -0.590450 m/s,
      LOS rate: -0.028713 deg/s,
      cmd heading: 261.883414 deg,
      new cmd heading: 261.848582 deg.

2025-01-09T05:33:34.096Z,1736400814.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570120 target range: 76.500000 and range: 76.50 m.
2025-01-09T05:33:34.316Z,1736400814.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482389
2025-01-09T05:33:34.491Z,1736400814.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:34.498Z,1736400814.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:34.501Z,1736400814.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-01-09T05:33:34.504Z,1736400814.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 73.841927 m,
      bearing: 266.067600 deg,
      approach rate: -0.631702 m/s,
      LOS rate: -0.025586 deg/s,
      cmd heading: 261.848580 deg,
      new cmd heading: 261.814463 deg.

2025-01-09T05:33:34.505Z,1736400814.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569524 target range: 76.500000 and range: 76.50 m.
2025-01-09T05:33:34.569Z,1736400814.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734815
2025-01-09T05:33:34.820Z,1736400814.820 [DAT](INFO): DAT read: Rx Time:05:33:33.3756

2025-01-09T05:33:34.820Z,1736400814.820 [DAT](INFO): Rx dataTimestamp_ set to:1736400814.820150
2025-01-09T05:33:34.821Z,1736400814.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987028
2025-01-09T05:33:34.863Z,1736400814.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:34.873Z,1736400814.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-01-09T05:33:34.875Z,1736400814.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 73.610008 m,
      bearing: 266.057492 deg,
      approach rate: -0.624417 m/s,
      LOS rate: -0.027301 deg/s,
      cmd heading: 261.814456 deg,
      new cmd heading: 261.784036 deg.

2025-01-09T05:33:34.876Z,1736400814.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568994 target range: 76.500000 and range: 76.50 m.
2025-01-09T05:33:35.072Z,1736400815.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237762
2025-01-09T05:33:35.280Z,1736400815.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:35.317Z,1736400815.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-01-09T05:33:35.329Z,1736400815.329 [DAT](INFO): DAT read: 05:33:33.3756 LVL= 18368, 22449, 15122, 24691, AGC= 64, IDX= 409, 0.24,-0.526,-2.015,-0.610,-1.189, PHS= 0.751,-0.779, 0.576, RAW= 144.0,  -7.6, CAL= 150.2, -16.7, ROT= 359.8,  16.7

2025-01-09T05:33:35.330Z,1736400815.330 [DAT](INFO): got valid direction response:
 05:33:33.3756 LVL= 18368, 22449, 15122, 24691, AGC= 64, IDX= 409, 0.24,-0.526,-2.015,-0.610,-1.189, PHS= 0.751,-0.779, 0.576, RAW= 144.0,  -7.6, CAL= 150.2, -16.7, ROT= 359.8,  16.7

2025-01-09T05:33:35.336Z,1736400815.336 [DAT](INFO): DAT read: Bearing 359.8,  16.7 (Local)

2025-01-09T05:33:35.336Z,1736400815.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,  16.7 (Local)

2025-01-09T05:33:35.337Z,1736400815.337 [DAT](INFO): DAT read: Range 10 to 50 : 74.8 m  (Round-trip  99.8 ms) speed  0.4 m/s

2025-01-09T05:33:35.338Z,1736400815.338 [DAT](INFO): DAT read: user:100>

2025-01-09T05:33:35.339Z,1736400815.339 [DAT](INFO): DAT read: Tx time:05:33:34.4717

2025-01-09T05:33:35.339Z,1736400815.339 [DAT](INFO): Ping request sent.
2025-01-09T05:33:35.339Z,1736400815.339 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:35.339Z,1736400815.339 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:35.340Z,1736400815.340 [DAT](INFO): direction in FSK: [0.957817,-0.003344,-0.287361]
2025-01-09T05:33:35.341Z,1736400815.341 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:35.341Z,1736400815.341 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:35.344Z,1736400815.344 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:35.345Z,1736400815.345 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:35.355Z,1736400815.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 73.341057 m,
      bearing: 266.044597 deg,
      approach rate: -0.606298 m/s,
      LOS rate: -0.029176 deg/s,
      cmd heading: 261.784048 deg,
      new cmd heading: 261.745221 deg.

2025-01-09T05:33:35.357Z,1736400815.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568316 target range: 76.500000 and range: 76.50 m.
2025-01-09T05:33:35.577Z,1736400815.578 [DAT](INFO): DAT read: TxSync time:05:33:34.4709

2025-01-09T05:33:35.671Z,1736400815.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:35.686Z,1736400815.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.800003 m,
      deltaT: 3.527687 s,
      deltaX: -1.699997 m,
      approachRate: -0.481901 m/s,
      rangeRepo size: 4

2025-01-09T05:33:35.688Z,1736400815.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.800003 m,
      bearing: 265.315814 deg,
      lat: 36.904026 deg,
      lon: -122.118949 deg,
      deltaT: 3.527687 s,
      deltaX: -1.699997 m,
      approachRate: -0.481901 m/s,
      posRepo size: 4

2025-01-09T05:33:35.689Z,1736400815.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m.
2025-01-09T05:33:35.692Z,1736400815.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.800003 m,
      nav range: 73.190956 m,
      bearing: 266.022113 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029176 deg/s,
      cmd heading: 261.745225 deg,
      new cmd heading: 261.712928 deg.

2025-01-09T05:33:35.693Z,1736400815.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567752 target range: 74.800003 and range: 74.80 m.
2025-01-09T05:33:36.065Z,1736400816.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:36.073Z,1736400816.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m.
2025-01-09T05:33:36.078Z,1736400816.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.800003 m,
      nav range: 72.937073 m,
      bearing: 266.010915 deg,
      approach rate: -0.654354 m/s,
      LOS rate: -0.028964 deg/s,
      cmd heading: 261.712932 deg,
      new cmd heading: 261.679219 deg.

2025-01-09T05:33:36.081Z,1736400816.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567164 target range: 74.800003 and range: 74.80 m.
2025-01-09T05:33:36.512Z,1736400816.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:36.520Z,1736400816.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:36.522Z,1736400816.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m.
2025-01-09T05:33:36.525Z,1736400816.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.800003 m,
      nav range: 72.630081 m,
      bearing: 265.998242 deg,
      approach rate: -0.683982 m/s,
      LOS rate: -0.028354 deg/s,
      cmd heading: 261.679218 deg,
      new cmd heading: 261.641040 deg.

2025-01-09T05:33:36.526Z,1736400816.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566498 target range: 74.800003 and range: 74.80 m.
2025-01-09T05:33:36.585Z,1736400816.585 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:36.585Z,1736400816.585 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:36.585Z,1736400816.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:36.836Z,1736400816.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496334
2025-01-09T05:33:36.884Z,1736400816.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:36.898Z,1736400816.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m.
2025-01-09T05:33:36.902Z,1736400816.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.800003 m,
      nav range: 72.374901 m,
      bearing: 265.987916 deg,
      approach rate: -0.678908 m/s,
      LOS rate: -0.027569 deg/s,
      cmd heading: 261.641051 deg,
      new cmd heading: 261.609965 deg.

2025-01-09T05:33:36.903Z,1736400816.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565955 target range: 74.800003 and range: 74.80 m.
2025-01-09T05:33:37.088Z,1736400817.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748411
2025-01-09T05:33:37.299Z,1736400817.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:37.324Z,1736400817.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m.
2025-01-09T05:33:37.329Z,1736400817.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.800003 m,
      nav range: 72.077477 m,
      bearing: 265.977340 deg,
      approach rate: -0.697318 m/s,
      LOS rate: -0.024900 deg/s,
      cmd heading: 261.609960 deg,
      new cmd heading: 261.578099 deg.

2025-01-09T05:33:37.330Z,1736400817.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565399 target range: 74.800003 and range: 74.80 m.
2025-01-09T05:33:37.340Z,1736400817.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000516
2025-01-09T05:33:37.592Z,1736400817.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252679
2025-01-09T05:33:37.703Z,1736400817.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:37.727Z,1736400817.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m.
2025-01-09T05:33:37.730Z,1736400817.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.800003 m,
      nav range: 71.787437 m,
      bearing: 265.966941 deg,
      approach rate: -0.721305 m/s,
      LOS rate: -0.025965 deg/s,
      cmd heading: 261.578104 deg,
      new cmd heading: 261.546783 deg.

2025-01-09T05:33:37.731Z,1736400817.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564853 target range: 74.800003 and range: 74.80 m.
2025-01-09T05:33:37.844Z,1736400817.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504597
2025-01-09T05:33:38.096Z,1736400818.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756407
2025-01-09T05:33:38.104Z,1736400818.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:38.128Z,1736400818.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m.
2025-01-09T05:33:38.137Z,1736400818.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.800003 m,
      nav range: 71.499504 m,
      bearing: 265.956884 deg,
      approach rate: -0.716639 m/s,
      LOS rate: -0.025133 deg/s,
      cmd heading: 261.546795 deg,
      new cmd heading: 261.516501 deg.

2025-01-09T05:33:38.147Z,1736400818.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564324 target range: 74.800003 and range: 74.80 m.
2025-01-09T05:33:38.348Z,1736400818.348 [DAT](INFO): DAT read: Rx Time:05:33:36.9724

2025-01-09T05:33:38.348Z,1736400818.348 [DAT](INFO): Rx dataTimestamp_ set to:1736400818.347902
2025-01-09T05:33:38.349Z,1736400818.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009908
2025-01-09T05:33:38.532Z,1736400818.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:38.539Z,1736400818.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:38.541Z,1736400818.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.80 m.
2025-01-09T05:33:38.544Z,1736400818.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.800003 m,
      nav range: 71.177917 m,
      bearing: 265.949773 deg,
      approach rate: -0.778790 m/s,
      LOS rate: -0.017299 deg/s,
      cmd heading: 261.516496 deg,
      new cmd heading: 261.495066 deg.

2025-01-09T05:33:38.545Z,1736400818.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.563950 target range: 74.800003 and range: 74.80 m.
2025-01-09T05:33:38.601Z,1736400818.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261539
2025-01-09T05:33:38.857Z,1736400818.857 [DAT](INFO): DAT read: 05:33:36.9724 LVL= 21888, 30193, 19042, 30691, AGC= 64, IDX= 408, 0.45,-1.049,-2.374,-1.170,-1.665, PHS= 0.703,-0.662, 0.491, RAW= 141.7,  -8.4, CAL= 148.2, -17.9, ROT=   1.8,  17.9

2025-01-09T05:33:38.858Z,1736400818.858 [DAT](INFO): got valid direction response:
 05:33:36.9724 LVL= 21888, 30193, 19042, 30691, AGC= 64, IDX= 408, 0.45,-1.049,-2.374,-1.170,-1.665, PHS= 0.703,-0.662, 0.491, RAW= 141.7,  -8.4, CAL= 148.2, -17.9, ROT=   1.8,  17.9

2025-01-09T05:33:38.859Z,1736400818.859 [DAT](INFO): DAT read: Bearing   1.8,  17.9 (Local)

2025-01-09T05:33:38.860Z,1736400818.860 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.8,  17.9 (Local)

2025-01-09T05:33:38.862Z,1736400818.862 [DAT](INFO): DAT read: Range 10 to 50 : 72.3 m  (Round-trip  96.5 ms) speed  0.5 m/s

2025-01-09T05:33:38.868Z,1736400818.868 [DAT](INFO): DAT read: user:101>

2025-01-09T05:33:38.868Z,1736400818.868 [DAT](INFO): DAT read: Tx time:05:33:38.0717

2025-01-09T05:33:38.869Z,1736400818.869 [DAT](INFO): Ping request sent.
2025-01-09T05:33:38.869Z,1736400818.869 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:38.869Z,1736400818.869 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:38.870Z,1736400818.870 [DAT](INFO): direction in FSK: [0.951125,0.029890,-0.307357]
2025-01-09T05:33:38.870Z,1736400818.870 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:38.871Z,1736400818.871 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:38.874Z,1736400818.874 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:38.874Z,1736400818.874 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:38.945Z,1736400818.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:39.005Z,1736400819.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.300003 m,
      deltaT: 3.528047 s,
      deltaX: -2.500000 m,
      approachRate: -0.708607 m/s,
      rangeRepo size: 4

2025-01-09T05:33:39.016Z,1736400819.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.300003 m,
      bearing: 265.965085 deg,
      lat: 36.904026 deg,
      lon: -122.118949 deg,
      deltaT: 3.528047 s,
      deltaX: -2.500000 m,
      approachRate: -0.708607 m/s,
      posRepo size: 4

2025-01-09T05:33:39.016Z,1736400819.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-01-09T05:33:39.023Z,1736400819.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.300003 m,
      nav range: 70.867455 m,
      bearing: 265.943691 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017299 deg/s,
      cmd heading: 261.495076 deg,
      new cmd heading: 261.471171 deg.

2025-01-09T05:33:39.024Z,1736400819.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.563533 target range: 72.300003 and range: 72.30 m.
2025-01-09T05:33:39.106Z,1736400819.106 [DAT](INFO): DAT read: TxSync time:05:33:38.0709

2025-01-09T05:33:39.380Z,1736400819.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:39.404Z,1736400819.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-01-09T05:33:39.411Z,1736400819.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.300003 m,
      nav range: 70.541138 m,
      bearing: 265.937675 deg,
      approach rate: -0.810979 m/s,
      LOS rate: -0.015022 deg/s,
      cmd heading: 261.471171 deg,
      new cmd heading: 261.453038 deg.

2025-01-09T05:33:39.412Z,1736400819.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.563216 target range: 72.300003 and range: 72.30 m.
2025-01-09T05:33:39.703Z,1736400819.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:39.712Z,1736400819.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-01-09T05:33:39.714Z,1736400819.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.300003 m,
      nav range: 70.298615 m,
      bearing: 265.934125 deg,
      approach rate: -0.789053 m/s,
      LOS rate: -0.011590 deg/s,
      cmd heading: 261.453030 deg,
      new cmd heading: 261.442343 deg.

2025-01-09T05:33:39.716Z,1736400819.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.563030 target range: 72.300003 and range: 72.30 m.
2025-01-09T05:33:40.108Z,1736400820.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:40.138Z,1736400820.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-01-09T05:33:40.155Z,1736400820.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.300003 m,
      nav range: 69.994499 m,
      bearing: 265.930281 deg,
      approach rate: -0.712840 m/s,
      LOS rate: -0.009048 deg/s,
      cmd heading: 261.442347 deg,
      new cmd heading: 261.430767 deg.

2025-01-09T05:33:40.156Z,1736400820.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562828 target range: 72.300003 and range: 72.30 m.
2025-01-09T05:33:40.535Z,1736400820.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:40.542Z,1736400820.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:40.545Z,1736400820.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-01-09T05:33:40.547Z,1736400820.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.300003 m,
      nav range: 69.684654 m,
      bearing: 265.928180 deg,
      approach rate: -0.762354 m/s,
      LOS rate: -0.005194 deg/s,
      cmd heading: 261.430763 deg,
      new cmd heading: 261.424431 deg.

2025-01-09T05:33:40.549Z,1736400820.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562717 target range: 72.300003 and range: 72.30 m.
2025-01-09T05:33:40.617Z,1736400820.617 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:40.617Z,1736400820.617 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:40.617Z,1736400820.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:40.868Z,1736400820.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999175
2025-01-09T05:33:40.932Z,1736400820.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:40.941Z,1736400820.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-01-09T05:33:40.944Z,1736400820.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.300003 m,
      nav range: 69.396767 m,
      bearing: 265.925963 deg,
      approach rate: -0.726072 m/s,
      LOS rate: -0.005614 deg/s,
      cmd heading: 261.424425 deg,
      new cmd heading: 261.417747 deg.

2025-01-09T05:33:40.945Z,1736400820.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562601 target range: 72.300003 and range: 72.30 m.
2025-01-09T05:33:41.120Z,1736400821.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250735
2025-01-09T05:33:41.336Z,1736400821.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:41.364Z,1736400821.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-01-09T05:33:41.372Z,1736400821.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502841
2025-01-09T05:33:41.373Z,1736400821.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.300003 m,
      nav range: 69.112091 m,
      bearing: 265.923566 deg,
      approach rate: -0.672830 m/s,
      LOS rate: -0.005688 deg/s,
      cmd heading: 261.417759 deg,
      new cmd heading: 261.410539 deg.

2025-01-09T05:33:41.379Z,1736400821.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562475 target range: 72.300003 and range: 72.30 m.
2025-01-09T05:33:41.624Z,1736400821.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754925
2025-01-09T05:33:41.717Z,1736400821.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:41.726Z,1736400821.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-01-09T05:33:41.729Z,1736400821.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.300003 m,
      nav range: 68.843330 m,
      bearing: 265.921147 deg,
      approach rate: -0.743123 m/s,
      LOS rate: -0.006717 deg/s,
      cmd heading: 261.410546 deg,
      new cmd heading: 261.403259 deg.

2025-01-09T05:33:41.730Z,1736400821.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562347 target range: 72.300003 and range: 72.30 m.
2025-01-09T05:33:41.876Z,1736400821.876 [DAT](INFO): DAT read: Rx Time:05:33:40.5685

2025-01-09T05:33:41.876Z,1736400821.876 [DAT](INFO): Rx dataTimestamp_ set to:1736400821.875828
2025-01-09T05:33:41.877Z,1736400821.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007759
2025-01-09T05:33:42.128Z,1736400822.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258776
2025-01-09T05:33:42.132Z,1736400822.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:42.141Z,1736400822.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-01-09T05:33:42.143Z,1736400822.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.300003 m,
      nav range: 68.550995 m,
      bearing: 265.918549 deg,
      approach rate: -0.704995 m/s,
      LOS rate: -0.006292 deg/s,
      cmd heading: 261.403251 deg,
      new cmd heading: 261.395425 deg.

2025-01-09T05:33:42.144Z,1736400822.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562211 target range: 72.300003 and range: 72.30 m.
2025-01-09T05:33:42.386Z,1736400822.386 [DAT](INFO): DAT read: 05:33:40.5685 LVL= 21680, 28465, 18386, 28083, AGC= 62, IDX= 400, 0.39,-2.327, 2.430,-2.481,-2.998, PHS= 0.760,-0.808, 0.514, RAW= 141.6,  -6.4, CAL= 147.6, -15.8, ROT=   2.4,  15.8

2025-01-09T05:33:42.388Z,1736400822.388 [DAT](INFO): got valid direction response:
 05:33:40.5685 LVL= 21680, 28465, 18386, 28083, AGC= 62, IDX= 400, 0.39,-2.327, 2.430,-2.481,-2.998, PHS= 0.760,-0.808, 0.514, RAW= 141.6,  -6.4, CAL= 147.6, -15.8, ROT=   2.4,  15.8

2025-01-09T05:33:42.388Z,1736400822.388 [DAT](INFO): DAT read: Bearing   2.4,  15.8 (Local)

2025-01-09T05:33:42.389Z,1736400822.389 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.4,  15.8 (Local)

2025-01-09T05:33:42.390Z,1736400822.390 [DAT](INFO): DAT read: Range 10 to 50 : 69.4 m  (Round-trip  92.6 ms) speed  0.6 m/s

2025-01-09T05:33:42.391Z,1736400822.391 [DAT](INFO): DAT read: user:102>

2025-01-09T05:33:42.392Z,1736400822.392 [DAT](INFO): DAT read: Tx time:05:33:41.6717

2025-01-09T05:33:42.392Z,1736400822.392 [DAT](INFO): Ping request sent.
2025-01-09T05:33:42.392Z,1736400822.392 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:42.392Z,1736400822.392 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:42.393Z,1736400822.393 [DAT](INFO): direction in FSK: [0.961374,0.040294,-0.272280]
2025-01-09T05:33:42.393Z,1736400822.393 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:42.394Z,1736400822.394 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:42.397Z,1736400822.397 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:42.397Z,1736400822.397 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:42.621Z,1736400822.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:42.633Z,1736400822.633 [DAT](INFO): DAT read: TxSync time:05:33:41.6709

2025-01-09T05:33:42.657Z,1736400822.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.400002 m,
      deltaT: 3.527983 s,
      deltaX: -2.900002 m,
      approachRate: -0.822000 m/s,
      rangeRepo size: 4

2025-01-09T05:33:42.663Z,1736400822.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.400002 m,
      bearing: 265.676581 deg,
      lat: 36.904025 deg,
      lon: -122.118948 deg,
      deltaT: 3.527983 s,
      deltaX: -2.900002 m,
      approachRate: -0.822000 m/s,
      posRepo size: 4

2025-01-09T05:33:42.664Z,1736400822.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-01-09T05:33:42.672Z,1736400822.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.400002 m,
      nav range: 68.125954 m,
      bearing: 265.777977 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006292 deg/s,
      cmd heading: 261.395438 deg,
      new cmd heading: 261.385706 deg.

2025-01-09T05:33:42.672Z,1736400822.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562041 target range: 69.400002 and range: 69.40 m.
2025-01-09T05:33:42.940Z,1736400822.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:42.947Z,1736400822.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:42.950Z,1736400822.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-01-09T05:33:42.953Z,1736400822.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.400002 m,
      nav range: 67.907158 m,
      bearing: 265.778450 deg,
      approach rate: -0.744474 m/s,
      LOS rate: 0.001616 deg/s,
      cmd heading: 261.385711 deg,
      new cmd heading: 261.387137 deg.

2025-01-09T05:33:42.954Z,1736400822.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562066 target range: 69.400002 and range: 69.40 m.
2025-01-09T05:33:43.137Z,1736400823.137 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:43.138Z,1736400823.138 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:43.138Z,1736400823.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:43.378Z,1736400823.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:43.388Z,1736400823.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995592
2025-01-09T05:33:43.412Z,1736400823.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-01-09T05:33:43.414Z,1736400823.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.400002 m,
      nav range: 67.614861 m,
      bearing: 265.775030 deg,
      approach rate: -0.633420 m/s,
      LOS rate: -0.007443 deg/s,
      cmd heading: 261.387132 deg,
      new cmd heading: 261.376828 deg.

2025-01-09T05:33:43.423Z,1736400823.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561886 target range: 69.400002 and range: 69.40 m.
2025-01-09T05:33:43.640Z,1736400823.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247421
2025-01-09T05:33:43.771Z,1736400823.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:43.784Z,1736400823.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-01-09T05:33:43.792Z,1736400823.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.400002 m,
      nav range: 67.352592 m,
      bearing: 265.772442 deg,
      approach rate: -0.703590 m/s,
      LOS rate: -0.006970 deg/s,
      cmd heading: 261.376832 deg,
      new cmd heading: 261.369038 deg.

2025-01-09T05:33:43.793Z,1736400823.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561750 target range: 69.400002 and range: 69.40 m.
2025-01-09T05:33:43.892Z,1736400823.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499719
2025-01-09T05:33:44.145Z,1736400824.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752508
2025-01-09T05:33:44.164Z,1736400824.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:44.172Z,1736400824.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-01-09T05:33:44.175Z,1736400824.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.400002 m,
      nav range: 67.089821 m,
      bearing: 265.769872 deg,
      approach rate: -0.677115 m/s,
      LOS rate: -0.006649 deg/s,
      cmd heading: 261.369046 deg,
      new cmd heading: 261.361305 deg.

2025-01-09T05:33:44.176Z,1736400824.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561615 target range: 69.400002 and range: 69.40 m.
2025-01-09T05:33:44.396Z,1736400824.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003542
2025-01-09T05:33:44.637Z,1736400824.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:44.646Z,1736400824.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-01-09T05:33:44.648Z,1736400824.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255993
2025-01-09T05:33:44.652Z,1736400824.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.400002 m,
      nav range: 66.784637 m,
      bearing: 265.764448 deg,
      approach rate: -0.643927 m/s,
      LOS rate: -0.011498 deg/s,
      cmd heading: 261.361314 deg,
      new cmd heading: 261.344966 deg.

2025-01-09T05:33:44.653Z,1736400824.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561330 target range: 69.400002 and range: 69.40 m.
2025-01-09T05:33:44.900Z,1736400824.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508230
2025-01-09T05:33:44.995Z,1736400824.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:45.002Z,1736400825.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:45.004Z,1736400825.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-01-09T05:33:45.023Z,1736400825.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.400002 m,
      nav range: 66.554405 m,
      bearing: 265.760092 deg,
      approach rate: -0.642773 m/s,
      LOS rate: -0.012202 deg/s,
      cmd heading: 261.344976 deg,
      new cmd heading: 261.331864 deg.

2025-01-09T05:33:45.024Z,1736400825.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561101 target range: 69.400002 and range: 69.40 m.
2025-01-09T05:33:45.153Z,1736400825.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760887
2025-01-09T05:33:45.404Z,1736400825.404 [DAT](INFO): DAT read: Rx Time:05:33:44.1653

2025-01-09T05:33:45.405Z,1736400825.405 [DAT](INFO): Rx dataTimestamp_ set to:1736400825.404572
2025-01-09T05:33:45.405Z,1736400825.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013278
2025-01-09T05:33:45.475Z,1736400825.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:45.488Z,1736400825.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-01-09T05:33:45.495Z,1736400825.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.400002 m,
      nav range: 66.248901 m,
      bearing: 265.745138 deg,
      approach rate: -0.631937 m/s,
      LOS rate: -0.031074 deg/s,
      cmd heading: 261.331862 deg,
      new cmd heading: 261.286795 deg.

2025-01-09T05:33:45.496Z,1736400825.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560315 target range: 69.400002 and range: 69.40 m.
2025-01-09T05:33:45.656Z,1736400825.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263512
2025-01-09T05:33:45.844Z,1736400825.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:45.854Z,1736400825.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.40 m.
2025-01-09T05:33:45.857Z,1736400825.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.400002 m,
      nav range: 66.009056 m,
      bearing: 265.733069 deg,
      approach rate: -0.654523 m/s,
      LOS rate: -0.033055 deg/s,
      cmd heading: 261.286783 deg,
      new cmd heading: 261.250444 deg.

2025-01-09T05:33:45.858Z,1736400825.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559680 target range: 69.400002 and range: 69.40 m.
2025-01-09T05:33:45.911Z,1736400825.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518955
2025-01-09T05:33:46.166Z,1736400826.166 [DAT](INFO): DAT read: 05:33:44.1653 LVL= 23696, 23585, 18594, 30563, AGC= 62, IDX= 415, 0.11,-1.243,-2.768,-1.353,-1.850, PHS= 0.695,-0.871, 0.494, RAW= 143.2,  -4.3, CAL= 148.5, -13.5, ROT=   1.5,  13.5

2025-01-09T05:33:46.168Z,1736400826.168 [DAT](INFO): got valid direction response:
 05:33:44.1653 LVL= 23696, 23585, 18594, 30563, AGC= 62, IDX= 415, 0.11,-1.243,-2.768,-1.353,-1.850, PHS= 0.695,-0.871, 0.494, RAW= 143.2,  -4.3, CAL= 148.5, -13.5, ROT=   1.5,  13.5

2025-01-09T05:33:46.170Z,1736400826.170 [DAT](INFO): DAT read: Bearing   1.5,  13.5 (Local)

2025-01-09T05:33:46.171Z,1736400826.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,  13.5 (Local)

2025-01-09T05:33:46.174Z,1736400826.174 [DAT](INFO): DAT read: Range 10 to 50 : 66.9 m  (Round-trip  89.3 ms) speed  0.4 m/s

2025-01-09T05:33:46.176Z,1736400826.176 [DAT](INFO): DAT read: user:103>

2025-01-09T05:33:46.178Z,1736400826.178 [DAT](INFO): DAT read: Tx time:05:33:45.2718

2025-01-09T05:33:46.178Z,1736400826.178 [DAT](INFO): Ping request sent.
2025-01-09T05:33:46.178Z,1736400826.178 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:46.179Z,1736400826.179 [DAT](INFO): DAT read: TxSync time:05:33:45.2710

2025-01-09T05:33:46.179Z,1736400826.179 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:46.180Z,1736400826.180 [DAT](INFO): direction in FSK: [0.972037,0.025454,-0.233445]
2025-01-09T05:33:46.181Z,1736400826.181 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:46.181Z,1736400826.181 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:46.191Z,1736400826.191 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:46.191Z,1736400826.191 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:46.408Z,1736400826.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:46.440Z,1736400826.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.900002 m,
      deltaT: 3.779847 s,
      deltaX: -2.500000 m,
      approachRate: -0.661402 m/s,
      rangeRepo size: 4

2025-01-09T05:33:46.442Z,1736400826.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.900002 m,
      bearing: 264.725923 deg,
      lat: 36.904024 deg,
      lon: -122.118948 deg,
      deltaT: 3.779847 s,
      deltaX: -2.500000 m,
      approachRate: -0.661402 m/s,
      posRepo size: 4

2025-01-09T05:33:46.447Z,1736400826.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m.
2025-01-09T05:33:46.450Z,1736400826.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.900002 m,
      nav range: 65.658844 m,
      bearing: 265.627068 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033055 deg/s,
      cmd heading: 261.250446 deg,
      new cmd heading: 261.192437 deg.

2025-01-09T05:33:46.452Z,1736400826.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558668 target range: 66.900002 and range: 66.90 m.
2025-01-09T05:33:46.729Z,1736400826.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:46.774Z,1736400826.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m.
2025-01-09T05:33:46.781Z,1736400826.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.900002 m,
      nav range: 65.454544 m,
      bearing: 265.619272 deg,
      approach rate: -0.611036 m/s,
      LOS rate: -0.023388 deg/s,
      cmd heading: 261.192444 deg,
      new cmd heading: 261.168985 deg.

2025-01-09T05:33:46.791Z,1736400826.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558259 target range: 66.900002 and range: 66.90 m.
2025-01-09T05:33:47.129Z,1736400827.129 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T05:33:47.137Z,1736400827.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:47.144Z,1736400827.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:47.146Z,1736400827.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m.
2025-01-09T05:33:47.149Z,1736400827.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.900002 m,
      nav range: 65.195068 m,
      bearing: 265.609956 deg,
      approach rate: -0.696594 m/s,
      LOS rate: -0.025109 deg/s,
      cmd heading: 261.168976 deg,
      new cmd heading: 261.140917 deg.

2025-01-09T05:33:47.150Z,1736400827.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557769 target range: 66.900002 and range: 66.90 m.
2025-01-09T05:33:47.168Z,1736400827.168 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:47.168Z,1736400827.168 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:47.168Z,1736400827.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:47.420Z,1736400827.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241328
2025-01-09T05:33:47.585Z,1736400827.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:47.606Z,1736400827.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m.
2025-01-09T05:33:47.609Z,1736400827.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.900002 m,
      nav range: 64.908096 m,
      bearing: 265.597521 deg,
      approach rate: -0.628587 m/s,
      LOS rate: -0.027358 deg/s,
      cmd heading: 261.140917 deg,
      new cmd heading: 261.103448 deg.

2025-01-09T05:33:47.610Z,1736400827.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557115 target range: 66.900002 and range: 66.90 m.
2025-01-09T05:33:47.673Z,1736400827.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494384
2025-01-09T05:33:47.924Z,1736400827.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745394
2025-01-09T05:33:47.961Z,1736400827.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:47.977Z,1736400827.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m.
2025-01-09T05:33:48.004Z,1736400828.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.900002 m,
      nav range: 64.666916 m,
      bearing: 265.586759 deg,
      approach rate: -0.645069 m/s,
      LOS rate: -0.028893 deg/s,
      cmd heading: 261.103461 deg,
      new cmd heading: 261.071053 deg.

2025-01-09T05:33:48.030Z,1736400828.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.556550 target range: 66.900002 and range: 66.90 m.
2025-01-09T05:33:48.176Z,1736400828.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997201
2025-01-09T05:33:48.416Z,1736400828.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:48.424Z,1736400828.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m.
2025-01-09T05:33:48.428Z,1736400828.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249417
2025-01-09T05:33:48.429Z,1736400828.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.900002 m,
      nav range: 64.358955 m,
      bearing: 265.572908 deg,
      approach rate: -0.687645 m/s,
      LOS rate: -0.031076 deg/s,
      cmd heading: 261.071058 deg,
      new cmd heading: 261.029306 deg.

2025-01-09T05:33:48.430Z,1736400828.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555821 target range: 66.900002 and range: 66.90 m.
2025-01-09T05:33:48.680Z,1736400828.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501632
2025-01-09T05:33:48.759Z,1736400828.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:48.791Z,1736400828.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m.
2025-01-09T05:33:48.794Z,1736400828.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.900002 m,
      nav range: 64.126038 m,
      bearing: 265.560903 deg,
      approach rate: -0.634883 m/s,
      LOS rate: -0.032842 deg/s,
      cmd heading: 261.029312 deg,
      new cmd heading: 260.993167 deg.

2025-01-09T05:33:48.803Z,1736400828.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555190 target range: 66.900002 and range: 66.90 m.
2025-01-09T05:33:48.932Z,1736400828.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753234
2025-01-09T05:33:49.157Z,1736400829.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:49.166Z,1736400829.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:49.168Z,1736400829.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m.
2025-01-09T05:33:49.171Z,1736400829.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.900002 m,
      nav range: 63.856308 m,
      bearing: 265.546707 deg,
      approach rate: -0.715820 m/s,
      LOS rate: -0.037834 deg/s,
      cmd heading: 260.993167 deg,
      new cmd heading: 260.950398 deg.

2025-01-09T05:33:49.172Z,1736400829.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.554444 target range: 66.900002 and range: 66.90 m.
2025-01-09T05:33:49.184Z,1736400829.184 [DAT](INFO): DAT read: Rx Time:05:33:47.7625

2025-01-09T05:33:49.184Z,1736400829.184 [DAT](INFO): Rx dataTimestamp_ set to:1736400829.184165
2025-01-09T05:33:49.185Z,1736400829.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006666
2025-01-09T05:33:49.436Z,1736400829.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257596
2025-01-09T05:33:49.612Z,1736400829.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:49.621Z,1736400829.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.90 m.
2025-01-09T05:33:49.624Z,1736400829.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.900002 m,
      nav range: 63.541862 m,
      bearing: 265.534035 deg,
      approach rate: -0.693842 m/s,
      LOS rate: -0.028099 deg/s,
      cmd heading: 260.950410 deg,
      new cmd heading: 260.912207 deg.

2025-01-09T05:33:49.625Z,1736400829.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.553777 target range: 66.900002 and range: 66.90 m.
2025-01-09T05:33:49.693Z,1736400829.693 [DAT](INFO): DAT read: 05:33:47.7625 LVL= 18000, 24417, 16306, 25827, AGC= 62, IDX= 419,-0.18,-1.998, 2.864,-2.080,-2.512, PHS= 0.602,-0.860, 0.429, RAW= 143.8,  -2.5, CAL= 148.5, -11.6, ROT=   1.5,  11.6

2025-01-09T05:33:49.694Z,1736400829.694 [DAT](INFO): got valid direction response:
 05:33:47.7625 LVL= 18000, 24417, 16306, 25827, AGC= 62, IDX= 419,-0.18,-1.998, 2.864,-2.080,-2.512, PHS= 0.602,-0.860, 0.429, RAW= 143.8,  -2.5, CAL= 148.5, -11.6, ROT=   1.5,  11.6

2025-01-09T05:33:49.695Z,1736400829.695 [DAT](INFO): DAT read: Bearing   1.5,  11.6 (Local)

2025-01-09T05:33:49.696Z,1736400829.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,  11.6 (Local)

2025-01-09T05:33:49.697Z,1736400829.697 [DAT](INFO): DAT read: Range 10 to 50 : 64.9 m  (Round-trip  86.6 ms) speed  0.8 m/s

2025-01-09T05:33:49.698Z,1736400829.698 [DAT](INFO): DAT read: user:104>

2025-01-09T05:33:49.699Z,1736400829.699 [DAT](INFO): DAT read: Tx time:05:33:48.8718

2025-01-09T05:33:49.700Z,1736400829.700 [DAT](INFO): Ping request sent.
2025-01-09T05:33:49.700Z,1736400829.700 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:49.700Z,1736400829.700 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:49.701Z,1736400829.701 [DAT](INFO): direction in FSK: [0.979240,0.025642,-0.201078]
2025-01-09T05:33:49.702Z,1736400829.702 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:49.702Z,1736400829.702 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:49.705Z,1736400829.705 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:49.705Z,1736400829.705 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:49.940Z,1736400829.940 [DAT](INFO): DAT read: TxSync time:05:33:48.8710

2025-01-09T05:33:49.972Z,1736400829.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:49.987Z,1736400829.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.900002 m,
      deltaT: 3.528268 s,
      deltaX: -2.000000 m,
      approachRate: -0.566850 m/s,
      rangeRepo size: 4

2025-01-09T05:33:49.989Z,1736400829.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.900002 m,
      bearing: 264.900372 deg,
      lat: 36.904018 deg,
      lon: -122.118949 deg,
      deltaT: 3.528268 s,
      deltaX: -2.000000 m,
      approachRate: -0.566850 m/s,
      posRepo size: 4

2025-01-09T05:33:49.990Z,1736400829.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.90 m.
2025-01-09T05:33:49.993Z,1736400829.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.900002 m,
      nav range: 63.446442 m,
      bearing: 264.957763 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028099 deg/s,
      cmd heading: 260.912215 deg,
      new cmd heading: 260.881457 deg.

2025-01-09T05:33:49.993Z,1736400829.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.553240 target range: 64.900002 and range: 64.90 m.
2025-01-09T05:33:50.429Z,1736400830.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:50.438Z,1736400830.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.90 m.
2025-01-09T05:33:50.441Z,1736400830.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.900002 m,
      nav range: 63.125736 m,
      bearing: 264.944103 deg,
      approach rate: -0.709304 m/s,
      LOS rate: -0.030365 deg/s,
      cmd heading: 260.881452 deg,
      new cmd heading: 260.840264 deg.

2025-01-09T05:33:50.442Z,1736400830.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552521 target range: 64.900002 and range: 64.90 m.
2025-01-09T05:33:50.776Z,1736400830.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:50.787Z,1736400830.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.90 m.
2025-01-09T05:33:50.790Z,1736400830.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.900002 m,
      nav range: 62.881821 m,
      bearing: 264.933960 deg,
      approach rate: -0.699261 m/s,
      LOS rate: -0.029190 deg/s,
      cmd heading: 260.840253 deg,
      new cmd heading: 260.809706 deg.

2025-01-09T05:33:50.791Z,1736400830.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551988 target range: 64.900002 and range: 64.90 m.
2025-01-09T05:33:51.169Z,1736400831.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:51.176Z,1736400831.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:51.177Z,1736400831.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.90 m.
2025-01-09T05:33:51.180Z,1736400831.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.900002 m,
      nav range: 62.606606 m,
      bearing: 264.922211 deg,
      approach rate: -0.704932 m/s,
      LOS rate: -0.030226 deg/s,
      cmd heading: 260.809708 deg,
      new cmd heading: 260.774306 deg.

2025-01-09T05:33:51.181Z,1736400831.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551370 target range: 64.900002 and range: 64.90 m.
2025-01-09T05:33:51.199Z,1736400831.199 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:51.200Z,1736400831.200 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:51.200Z,1736400831.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:51.452Z,1736400831.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751758
2025-01-09T05:33:51.620Z,1736400831.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:51.628Z,1736400831.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.90 m.
2025-01-09T05:33:51.631Z,1736400831.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.900002 m,
      nav range: 62.279739 m,
      bearing: 264.912426 deg,
      approach rate: -0.724955 m/s,
      LOS rate: -0.021817 deg/s,
      cmd heading: 260.774300 deg,
      new cmd heading: 260.744790 deg.

2025-01-09T05:33:51.633Z,1736400831.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550855 target range: 64.900002 and range: 64.90 m.
2025-01-09T05:33:51.705Z,1736400831.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004858
2025-01-09T05:33:51.956Z,1736400831.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255739
2025-01-09T05:33:51.988Z,1736400831.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:52.001Z,1736400832.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.90 m.
2025-01-09T05:33:52.008Z,1736400832.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.900002 m,
      nav range: 62.012745 m,
      bearing: 264.904058 deg,
      approach rate: -0.716437 m/s,
      LOS rate: -0.022551 deg/s,
      cmd heading: 260.744794 deg,
      new cmd heading: 260.719581 deg.

2025-01-09T05:33:52.012Z,1736400832.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550415 target range: 64.900002 and range: 64.90 m.
2025-01-09T05:33:52.208Z,1736400832.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507840
2025-01-09T05:33:52.445Z,1736400832.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:52.460Z,1736400832.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759677
2025-01-09T05:33:52.475Z,1736400832.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.90 m.
2025-01-09T05:33:52.486Z,1736400832.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.900002 m,
      nav range: 61.685024 m,
      bearing: 264.891062 deg,
      approach rate: -0.691187 m/s,
      LOS rate: -0.027554 deg/s,
      cmd heading: 260.719577 deg,
      new cmd heading: 260.680383 deg.

2025-01-09T05:33:52.492Z,1736400832.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549731 target range: 64.900002 and range: 64.90 m.
2025-01-09T05:33:52.712Z,1736400832.712 [DAT](INFO): DAT read: Rx Time:05:33:51.3590

2025-01-09T05:33:52.712Z,1736400832.712 [DAT](INFO): Rx dataTimestamp_ set to:1736400832.711798
2025-01-09T05:33:52.713Z,1736400832.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012704
2025-01-09T05:33:52.818Z,1736400832.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:52.827Z,1736400832.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.90 m.
2025-01-09T05:33:52.830Z,1736400832.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.900002 m,
      nav range: 61.416908 m,
      bearing: 264.880327 deg,
      approach rate: -0.763174 m/s,
      LOS rate: -0.030690 deg/s,
      cmd heading: 260.680371 deg,
      new cmd heading: 260.648025 deg.

2025-01-09T05:33:52.831Z,1736400832.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549166 target range: 64.900002 and range: 64.90 m.
2025-01-09T05:33:52.964Z,1736400832.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264281
2025-01-09T05:33:53.192Z,1736400833.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:53.200Z,1736400833.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:53.202Z,1736400833.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.90 m.
2025-01-09T05:33:53.205Z,1736400833.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.900002 m,
      nav range: 61.148602 m,
      bearing: 264.869717 deg,
      approach rate: -0.713990 m/s,
      LOS rate: -0.028359 deg/s,
      cmd heading: 260.648024 deg,
      new cmd heading: 260.616053 deg.

2025-01-09T05:33:53.206Z,1736400833.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548608 target range: 64.900002 and range: 64.90 m.
2025-01-09T05:33:53.222Z,1736400833.222 [DAT](INFO): DAT read: 05:33:51.3590 LVL= 18992, 24689, 17698, 28723, AGC= 64, IDX= 398, 0.33,-0.630,-2.052,-0.700,-1.141, PHS= 0.599,-0.864, 0.438, RAW= 144.3,  -2.5, CAL= 148.9, -11.6, ROT=   1.1,  11.6

2025-01-09T05:33:53.223Z,1736400833.223 [DAT](INFO): got valid direction response:
 05:33:51.3590 LVL= 18992, 24689, 17698, 28723, AGC= 64, IDX= 398, 0.33,-0.630,-2.052,-0.700,-1.141, PHS= 0.599,-0.864, 0.438, RAW= 144.3,  -2.5, CAL= 148.9, -11.6, ROT=   1.1,  11.6

2025-01-09T05:33:53.224Z,1736400833.224 [DAT](INFO): DAT read: Bearing   1.1,  11.6 (Local)

2025-01-09T05:33:53.225Z,1736400833.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,  11.6 (Local)

2025-01-09T05:33:53.226Z,1736400833.226 [DAT](INFO): DAT read: Range 10 to 50 : 62.3 m  (Round-trip  83.1 ms) speed  0.7 m/s

2025-01-09T05:33:53.227Z,1736400833.227 [DAT](INFO): DAT read: user:105>

2025-01-09T05:33:53.228Z,1736400833.228 [DAT](INFO): DAT read: Tx time:05:33:52.4719

2025-01-09T05:33:53.228Z,1736400833.228 [DAT](INFO): Ping request sent.
2025-01-09T05:33:53.228Z,1736400833.228 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:53.228Z,1736400833.228 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:53.229Z,1736400833.229 [DAT](INFO): direction in FSK: [0.979395,0.018805,-0.201078]
2025-01-09T05:33:53.229Z,1736400833.229 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:53.230Z,1736400833.230 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:53.237Z,1736400833.237 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:53.238Z,1736400833.238 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:53.472Z,1736400833.472 [DAT](INFO): DAT read: TxSync time:05:33:52.4711

2025-01-09T05:33:53.654Z,1736400833.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:53.685Z,1736400833.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.299999 m,
      deltaT: 3.527742 s,
      deltaX: -2.600002 m,
      approachRate: -0.737016 m/s,
      rangeRepo size: 4

2025-01-09T05:33:53.691Z,1736400833.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.299999 m,
      bearing: 264.218514 deg,
      lat: 36.904017 deg,
      lon: -122.118950 deg,
      deltaT: 3.527742 s,
      deltaX: -2.600002 m,
      approachRate: -0.737016 m/s,
      posRepo size: 4

2025-01-09T05:33:53.692Z,1736400833.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m.
2025-01-09T05:33:53.698Z,1736400833.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.299999 m,
      nav range: 60.839508 m,
      bearing: 264.745324 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028359 deg/s,
      cmd heading: 260.616058 deg,
      new cmd heading: 260.575031 deg.

2025-01-09T05:33:53.701Z,1736400833.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547892 target range: 62.299999 and range: 62.30 m.
2025-01-09T05:33:54.002Z,1736400834.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:54.011Z,1736400834.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m.
2025-01-09T05:33:54.014Z,1736400834.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.299999 m,
      nav range: 60.588505 m,
      bearing: 264.733628 deg,
      approach rate: -0.769271 m/s,
      LOS rate: -0.035993 deg/s,
      cmd heading: 260.575023 deg,
      new cmd heading: 260.539790 deg.

2025-01-09T05:33:54.015Z,1736400834.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547277 target range: 62.299999 and range: 62.30 m.
2025-01-09T05:33:54.478Z,1736400834.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:54.487Z,1736400834.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m.
2025-01-09T05:33:54.490Z,1736400834.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.299999 m,
      nav range: 60.257912 m,
      bearing: 264.718422 deg,
      approach rate: -0.694642 m/s,
      LOS rate: -0.032127 deg/s,
      cmd heading: 260.539779 deg,
      new cmd heading: 260.493909 deg.

2025-01-09T05:33:54.491Z,1736400834.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546476 target range: 62.299999 and range: 62.30 m.
2025-01-09T05:33:54.821Z,1736400834.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:54.830Z,1736400834.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m.
2025-01-09T05:33:54.834Z,1736400834.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.299999 m,
      nav range: 60.018715 m,
      bearing: 264.707314 deg,
      approach rate: -0.696883 m/s,
      LOS rate: -0.032489 deg/s,
      cmd heading: 260.493907 deg,
      new cmd heading: 260.460453 deg.

2025-01-09T05:33:54.835Z,1736400834.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545893 target range: 62.299999 and range: 62.30 m.
2025-01-09T05:33:55.119Z,1736400835.119 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:33:55.210Z,1736400835.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:55.218Z,1736400835.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:55.220Z,1736400835.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m.
2025-01-09T05:33:55.223Z,1736400835.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.299999 m,
      nav range: 59.748608 m,
      bearing: 264.695160 deg,
      approach rate: -0.691995 m/s,
      LOS rate: -0.031280 deg/s,
      cmd heading: 260.460467 deg,
      new cmd heading: 260.423838 deg.

2025-01-09T05:33:55.224Z,1736400835.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545253 target range: 62.299999 and range: 62.30 m.
2025-01-09T05:33:55.232Z,1736400835.232 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:55.232Z,1736400835.232 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:55.233Z,1736400835.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:55.484Z,1736400835.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256258
2025-01-09T05:33:55.662Z,1736400835.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:55.692Z,1736400835.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m.
2025-01-09T05:33:55.699Z,1736400835.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.299999 m,
      nav range: 59.444759 m,
      bearing: 264.677670 deg,
      approach rate: -0.644108 m/s,
      LOS rate: -0.037264 deg/s,
      cmd heading: 260.423830 deg,
      new cmd heading: 260.371094 deg.

2025-01-09T05:33:55.701Z,1736400835.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544333 target range: 62.299999 and range: 62.30 m.
2025-01-09T05:33:55.736Z,1736400835.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507668
2025-01-09T05:33:55.990Z,1736400835.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761776
2025-01-09T05:33:56.053Z,1736400836.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:56.069Z,1736400836.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m.
2025-01-09T05:33:56.076Z,1736400836.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.299999 m,
      nav range: 59.181969 m,
      bearing: 264.662295 deg,
      approach rate: -0.696278 m/s,
      LOS rate: -0.040918 deg/s,
      cmd heading: 260.371101 deg,
      new cmd heading: 260.324770 deg.

2025-01-09T05:33:56.077Z,1736400836.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543524 target range: 62.299999 and range: 62.30 m.
2025-01-09T05:33:56.123Z,1736400836.123 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:33:56.240Z,1736400836.240 [DAT](INFO): DAT read: Rx Time:05:33:54.9554

2025-01-09T05:33:56.241Z,1736400836.241 [DAT](INFO): Rx dataTimestamp_ set to:1736400836.240362
2025-01-09T05:33:56.242Z,1736400836.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013461
2025-01-09T05:33:56.492Z,1736400836.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263611
2025-01-09T05:33:56.527Z,1736400836.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:56.537Z,1736400836.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.30 m.
2025-01-09T05:33:56.540Z,1736400836.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.299999 m,
      nav range: 58.880440 m,
      bearing: 264.641131 deg,
      approach rate: -0.645100 m/s,
      LOS rate: -0.045510 deg/s,
      cmd heading: 260.324765 deg,
      new cmd heading: 260.260948 deg.

2025-01-09T05:33:56.541Z,1736400836.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542410 target range: 62.299999 and range: 62.30 m.
2025-01-09T05:33:56.754Z,1736400836.754 [DAT](INFO): DAT read: 05:33:54.9554 LVL= 19680, 30449, 19490, 30355, AGC= 63, IDX= 409, 0.15, 1.095,-0.305, 1.015, 0.597, PHS= 0.586,-0.855, 0.415, RAW= 143.8,  -2.2, CAL= 148.4, -11.3, ROT=   1.6,  11.3

2025-01-09T05:33:56.763Z,1736400836.763 [DAT](INFO): got valid direction response:
 05:33:54.9554 LVL= 19680, 30449, 19490, 30355, AGC= 63, IDX= 409, 0.15, 1.095,-0.305, 1.015, 0.597, PHS= 0.586,-0.855, 0.415, RAW= 143.8,  -2.2, CAL= 148.4, -11.3, ROT=   1.6,  11.3

2025-01-09T05:33:56.765Z,1736400836.765 [DAT](INFO): DAT read: Bearing   1.6,  11.3 (Local)

2025-01-09T05:33:56.765Z,1736400836.765 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  11.3 (Local)

2025-01-09T05:33:56.793Z,1736400836.793 [DAT](INFO): DAT read: Range 10 to 50 : 59.4 m  (Round-trip  79.3 ms) speed  0.5 m/s

2025-01-09T05:33:56.794Z,1736400836.794 [DAT](INFO): DAT read: user:106>

2025-01-09T05:33:56.800Z,1736400836.800 [DAT](INFO): DAT read: Tx time:05:33:56.0719

2025-01-09T05:33:56.800Z,1736400836.800 [DAT](INFO): Ping request sent.
2025-01-09T05:33:56.800Z,1736400836.800 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:33:56.801Z,1736400836.801 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:33:56.802Z,1736400836.802 [DAT](INFO): direction in FSK: [0.980232,0.027380,-0.195946]
2025-01-09T05:33:56.802Z,1736400836.802 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:56.807Z,1736400836.807 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:56.835Z,1736400836.835 [DAT](INFO): publishing transmit ping time
2025-01-09T05:33:56.835Z,1736400836.835 [DAT](INFO): publishing direction and range info
2025-01-09T05:33:56.888Z,1736400836.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:56.922Z,1736400836.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.400002 m,
      deltaT: 3.529621 s,
      deltaX: -2.899998 m,
      approachRate: -0.821617 m/s,
      rangeRepo size: 4

2025-01-09T05:33:56.928Z,1736400836.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.400002 m,
      bearing: 264.028666 deg,
      lat: 36.904014 deg,
      lon: -122.118950 deg,
      deltaT: 3.529621 s,
      deltaX: -2.899998 m,
      approachRate: -0.821617 m/s,
      posRepo size: 4

2025-01-09T05:33:56.929Z,1736400836.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-01-09T05:33:56.930Z,1736400836.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-01-09T05:33:56.941Z,1736400836.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.400002 m,
      nav range: 58.678581 m,
      bearing: 264.338583 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.045510 deg/s,
      cmd heading: 260.260943 deg,
      new cmd heading: 260.208439 deg.

2025-01-09T05:33:56.942Z,1736400836.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541494 target range: 59.400002 and range: 59.40 m.
2025-01-09T05:33:56.988Z,1736400836.988 [DockingStepper](INFO): Changing to mode: 2
2025-01-09T05:33:56.988Z,1736400836.988 [DockingStepper](INFO): Armed mode.
2025-01-09T05:33:56.998Z,1736400836.998 [DAT](INFO): DAT read: TxSync time:05:33:56.0711

2025-01-09T05:33:57.047Z,1736400837.047 [DockingStepper](INFO): Commanding negative:54494
2025-01-09T05:33:57.276Z,1736400837.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:57.284Z,1736400837.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:57.286Z,1736400837.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-01-09T05:33:57.287Z,1736400837.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-01-09T05:33:57.290Z,1736400837.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.400002 m,
      nav range: 58.431396 m,
      bearing: 264.319885 deg,
      approach rate: -0.677947 m/s,
      LOS rate: -0.051499 deg/s,
      cmd heading: 260.208433 deg,
      new cmd heading: 260.152102 deg.

2025-01-09T05:33:57.291Z,1736400837.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540511 target range: 59.400002 and range: 59.40 m.
2025-01-09T05:33:57.502Z,1736400837.502 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:33:57.502Z,1736400837.502 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:33:57.503Z,1736400837.503 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:33:57.710Z,1736400837.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:57.722Z,1736400837.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-01-09T05:33:57.723Z,1736400837.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-01-09T05:33:57.726Z,1736400837.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.400002 m,
      nav range: 58.160336 m,
      bearing: 264.298716 deg,
      approach rate: -0.621612 m/s,
      LOS rate: -0.048770 deg/s,
      cmd heading: 260.152097 deg,
      new cmd heading: 260.088297 deg.

2025-01-09T05:33:57.727Z,1736400837.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539397 target range: 59.400002 and range: 59.40 m.
2025-01-09T05:33:57.752Z,1736400837.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.952168
2025-01-09T05:33:58.005Z,1736400838.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.204517
2025-01-09T05:33:58.085Z,1736400838.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:58.093Z,1736400838.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-01-09T05:33:58.094Z,1736400838.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-01-09T05:33:58.097Z,1736400838.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.400002 m,
      nav range: 57.925385 m,
      bearing: 264.281423 deg,
      approach rate: -0.632691 m/s,
      LOS rate: -0.046758 deg/s,
      cmd heading: 260.088303 deg,
      new cmd heading: 260.036212 deg.

2025-01-09T05:33:58.098Z,1736400838.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538488 target range: 59.400002 and range: 59.40 m.
2025-01-09T05:33:58.256Z,1736400838.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.455580
2025-01-09T05:33:58.509Z,1736400838.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.708828
2025-01-09T05:33:58.555Z,1736400838.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:58.564Z,1736400838.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-01-09T05:33:58.564Z,1736400838.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-01-09T05:33:58.568Z,1736400838.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.400002 m,
      nav range: 57.644539 m,
      bearing: 264.269239 deg,
      approach rate: -0.597451 m/s,
      LOS rate: -0.026046 deg/s,
      cmd heading: 260.036203 deg,
      new cmd heading: 259.999473 deg.

2025-01-09T05:33:58.569Z,1736400838.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537847 target range: 59.400002 and range: 59.40 m.
2025-01-09T05:33:58.760Z,1736400838.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959704
2025-01-09T05:33:58.904Z,1736400838.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:58.913Z,1736400838.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-01-09T05:33:58.913Z,1736400838.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-01-09T05:33:58.918Z,1736400838.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.400002 m,
      nav range: 57.436138 m,
      bearing: 264.259939 deg,
      approach rate: -0.596315 m/s,
      LOS rate: -0.026705 deg/s,
      cmd heading: 259.999484 deg,
      new cmd heading: 259.971485 deg.

2025-01-09T05:33:58.919Z,1736400838.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537358 target range: 59.400002 and range: 59.40 m.
2025-01-09T05:33:59.012Z,1736400839.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211459
2025-01-09T05:33:59.264Z,1736400839.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463682
2025-01-09T05:33:59.302Z,1736400839.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:59.309Z,1736400839.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:33:59.311Z,1736400839.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-01-09T05:33:59.312Z,1736400839.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-01-09T05:33:59.317Z,1736400839.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.400002 m,
      nav range: 57.198223 m,
      bearing: 264.248843 deg,
      approach rate: -0.597448 m/s,
      LOS rate: -0.027981 deg/s,
      cmd heading: 259.971480 deg,
      new cmd heading: 259.938052 deg.

2025-01-09T05:33:59.318Z,1736400839.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536775 target range: 59.400002 and range: 59.40 m.
2025-01-09T05:33:59.520Z,1736400839.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719139
2025-01-09T05:33:59.720Z,1736400839.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:33:59.729Z,1736400839.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-01-09T05:33:59.729Z,1736400839.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-01-09T05:33:59.733Z,1736400839.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.400002 m,
      nav range: 56.941124 m,
      bearing: 264.240467 deg,
      approach rate: -0.616195 m/s,
      LOS rate: -0.020165 deg/s,
      cmd heading: 259.938039 deg,
      new cmd heading: 259.912798 deg.

2025-01-09T05:33:59.734Z,1736400839.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536334 target range: 59.400002 and range: 59.40 m.
2025-01-09T05:33:59.768Z,1736400839.768 [DAT](INFO): DAT read: Rx Time:05:33:58.5526

2025-01-09T05:33:59.769Z,1736400839.769 [DAT](INFO): Rx dataTimestamp_ set to:1736400839.768766
2025-01-09T05:33:59.770Z,1736400839.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969662
2025-01-09T05:34:00.020Z,1736400840.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219399
2025-01-09T05:34:00.100Z,1736400840.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:00.108Z,1736400840.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m.
2025-01-09T05:34:00.109Z,1736400840.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-01-09T05:34:00.112Z,1736400840.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.400002 m,
      nav range: 56.707447 m,
      bearing: 264.232417 deg,
      approach rate: -0.615202 m/s,
      LOS rate: -0.021280 deg/s,
      cmd heading: 259.912795 deg,
      new cmd heading: 259.888546 deg.

2025-01-09T05:34:00.113Z,1736400840.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535911 target range: 59.400002 and range: 59.40 m.
2025-01-09T05:34:00.272Z,1736400840.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471242
2025-01-09T05:34:00.545Z,1736400840.545 [DAT](INFO): DAT read: 05:33:58.5526 LVL= 19328, 28977, 17554, 28851, AGC= 60, IDX= 412,-0.08, 3.134, 1.666, 2.944, 2.611, PHS= 0.611,-0.898, 0.330, RAW= 139.9,  -0.6, CAL= 144.6,  -9.7, ROT=   5.4,   9.7

2025-01-09T05:34:00.551Z,1736400840.551 [DAT](INFO): got valid direction response:
 05:33:58.5526 LVL= 19328, 28977, 17554, 28851, AGC= 60, IDX= 412,-0.08, 3.134, 1.666, 2.944, 2.611, PHS= 0.611,-0.898, 0.330, RAW= 139.9,  -0.6, CAL= 144.6,  -9.7, ROT=   5.4,   9.7

2025-01-09T05:34:00.552Z,1736400840.552 [DAT](INFO): DAT read: Bearing   5.4,   9.7 (Local)

2025-01-09T05:34:00.553Z,1736400840.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.4,   9.7 (Local)

2025-01-09T05:34:00.554Z,1736400840.554 [DAT](INFO): DAT read: Range 10 to 50 : 57.3 m  (Round-trip  76.5 ms) speed  0.5 m/s

2025-01-09T05:34:00.576Z,1736400840.576 [DAT](INFO): DAT read: user:107>

2025-01-09T05:34:00.577Z,1736400840.577 [DAT](INFO): DAT read: Tx time:05:33:59.6719

2025-01-09T05:34:00.577Z,1736400840.577 [DAT](INFO): Ping request sent.
2025-01-09T05:34:00.578Z,1736400840.578 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:00.578Z,1736400840.578 [DAT](INFO): DAT read: TxSync time:05:33:59.6711

2025-01-09T05:34:00.651Z,1736400840.651 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:34:00.652Z,1736400840.652 [DAT](INFO): direction in FSK: [0.981329,0.092763,-0.168489]
2025-01-09T05:34:00.652Z,1736400840.652 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:00.652Z,1736400840.652 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:00.676Z,1736400840.676 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:00.677Z,1736400840.677 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:00.721Z,1736400840.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:00.774Z,1736400840.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.299999 m,
      deltaT: 3.781265 s,
      deltaX: -2.100002 m,
      approachRate: -0.555370 m/s,
      rangeRepo size: 4

2025-01-09T05:34:00.785Z,1736400840.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.299999 m,
      bearing: 267.815206 deg,
      lat: 36.904014 deg,
      lon: -122.118955 deg,
      deltaT: 3.781265 s,
      deltaX: -2.100002 m,
      approachRate: -0.555370 m/s,
      posRepo size: 4

2025-01-09T05:34:00.786Z,1736400840.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-01-09T05:34:00.795Z,1736400840.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-01-09T05:34:00.797Z,1736400840.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 56.764999 m,
      bearing: 264.263680 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021280 deg/s,
      cmd heading: 259.888534 deg,
      new cmd heading: 259.846122 deg.

2025-01-09T05:34:00.803Z,1736400840.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535171 target range: 57.299999 and range: 57.30 m.
2025-01-09T05:34:01.074Z,1736400841.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:01.083Z,1736400841.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-01-09T05:34:01.083Z,1736400841.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-01-09T05:34:01.086Z,1736400841.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 56.546642 m,
      bearing: 264.256321 deg,
      approach rate: -0.705776 m/s,
      LOS rate: -0.023877 deg/s,
      cmd heading: 259.846132 deg,
      new cmd heading: 259.823970 deg.

2025-01-09T05:34:01.088Z,1736400841.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534784 target range: 57.299999 and range: 57.30 m.
2025-01-09T05:34:01.472Z,1736400841.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:01.483Z,1736400841.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:01.486Z,1736400841.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-01-09T05:34:01.487Z,1736400841.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-01-09T05:34:01.496Z,1736400841.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 56.300110 m,
      bearing: 264.247738 deg,
      approach rate: -0.611606 m/s,
      LOS rate: -0.021387 deg/s,
      cmd heading: 259.823975 deg,
      new cmd heading: 259.798113 deg.

2025-01-09T05:34:01.499Z,1736400841.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534332 target range: 57.299999 and range: 57.30 m.
2025-01-09T05:34:01.535Z,1736400841.535 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:34:01.535Z,1736400841.535 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:34:01.536Z,1736400841.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:34:01.785Z,1736400841.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206724
2025-01-09T05:34:01.898Z,1736400841.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:01.907Z,1736400841.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-01-09T05:34:01.908Z,1736400841.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-01-09T05:34:01.911Z,1736400841.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 56.027458 m,
      bearing: 264.236965 deg,
      approach rate: -0.645637 m/s,
      LOS rate: -0.025635 deg/s,
      cmd heading: 259.798102 deg,
      new cmd heading: 259.765626 deg.

2025-01-09T05:34:01.912Z,1736400841.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533765 target range: 57.299999 and range: 57.30 m.
2025-01-09T05:34:02.036Z,1736400842.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458367
2025-01-09T05:34:02.276Z,1736400842.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:02.286Z,1736400842.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-01-09T05:34:02.288Z,1736400842.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710205
2025-01-09T05:34:02.289Z,1736400842.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-01-09T05:34:02.292Z,1736400842.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 55.785160 m,
      bearing: 264.227087 deg,
      approach rate: -0.639745 m/s,
      LOS rate: -0.026195 deg/s,
      cmd heading: 259.765618 deg,
      new cmd heading: 259.735854 deg.

2025-01-09T05:34:02.293Z,1736400842.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533246 target range: 57.299999 and range: 57.30 m.
2025-01-09T05:34:02.543Z,1736400842.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964769
2025-01-09T05:34:02.731Z,1736400842.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:02.744Z,1736400842.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-01-09T05:34:02.745Z,1736400842.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-01-09T05:34:02.750Z,1736400842.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 55.475586 m,
      bearing: 264.211034 deg,
      approach rate: -0.677990 m/s,
      LOS rate: -0.035353 deg/s,
      cmd heading: 259.735866 deg,
      new cmd heading: 259.687439 deg.

2025-01-09T05:34:02.751Z,1736400842.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532401 target range: 57.299999 and range: 57.30 m.
2025-01-09T05:34:02.793Z,1736400842.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215278
2025-01-09T05:34:03.044Z,1736400843.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466274
2025-01-09T05:34:03.094Z,1736400843.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:03.104Z,1736400843.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-01-09T05:34:03.105Z,1736400843.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m.
2025-01-09T05:34:03.105Z,1736400843.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.30 m.
2025-01-09T05:34:03.105Z,1736400843.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-01-09T05:34:03.108Z,1736400843.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 55.228931 m,
      bearing: 264.197871 deg,
      approach rate: -0.682510 m/s,
      LOS rate: -0.036584 deg/s,
      cmd heading: 259.687426 deg,
      new cmd heading: 259.647762 deg.

2025-01-09T05:34:03.109Z,1736400843.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531708 target range: 57.299999 and range: 57.30 m.
2025-01-09T05:34:03.296Z,1736400843.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717961
2025-01-09T05:34:03.502Z,1736400843.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:03.513Z,1736400843.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:03.515Z,1736400843.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-01-09T05:34:03.520Z,1736400843.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 54.951210 m,
      bearing: 264.182986 deg,
      approach rate: -0.675445 m/s,
      LOS rate: -0.036387 deg/s,
      cmd heading: 259.647756 deg,
      new cmd heading: 259.602873 deg.

2025-01-09T05:34:03.524Z,1736400843.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530925 target range: 57.299999 and range: 57.30 m.
2025-01-09T05:34:03.552Z,1736400843.552 [DAT](INFO): DAT read: Rx Time:05:34:02.1500

2025-01-09T05:34:03.553Z,1736400843.553 [DAT](INFO): Rx dataTimestamp_ set to:1736400843.552319
2025-01-09T05:34:03.573Z,1736400843.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994739
2025-01-09T05:34:03.800Z,1736400843.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222421
2025-01-09T05:34:03.972Z,1736400843.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:03.997Z,1736400843.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.30 m.
2025-01-09T05:34:04.004Z,1736400844.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.299999 m,
      nav range: 54.610207 m,
      bearing: 264.149978 deg,
      approach rate: -0.708667 m/s,
      LOS rate: -0.069024 deg/s,
      cmd heading: 259.602868 deg,
      new cmd heading: 259.503227 deg.

2025-01-09T05:34:04.005Z,1736400844.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529186 target range: 57.299999 and range: 57.30 m.
2025-01-09T05:34:04.060Z,1736400844.060 [DAT](INFO): DAT read: 05:34:02.1500 LVL= 18672, 28657, 18210, 29651, AGC= 64, IDX= 417,-0.18, 0.993,-0.308, 0.763, 0.580, PHS= 0.501,-0.841, 0.180, RAW= 136.8,   2.7, CAL= 141.6,  -5.5, ROT=   8.4,   5.5

2025-01-09T05:34:04.062Z,1736400844.062 [DAT](INFO): got valid direction response:
 05:34:02.1500 LVL= 18672, 28657, 18210, 29651, AGC= 64, IDX= 417,-0.18, 0.993,-0.308, 0.763, 0.580, PHS= 0.501,-0.841, 0.180, RAW= 136.8,   2.7, CAL= 141.6,  -5.5, ROT=   8.4,   5.5

2025-01-09T05:34:04.063Z,1736400844.063 [DAT](INFO): DAT read: Bearing   8.4,   5.5 (Local)

2025-01-09T05:34:04.064Z,1736400844.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.4,   5.5 (Local)

2025-01-09T05:34:04.066Z,1736400844.066 [DAT](INFO): DAT read: Range 10 to 50 : 55.4 m  (Round-trip  73.9 ms) speed  0.6 m/s

2025-01-09T05:34:04.069Z,1736400844.069 [DAT](INFO): DAT read: user:108>

2025-01-09T05:34:04.070Z,1736400844.070 [DAT](INFO): DAT read: Tx time:05:34:03.2720

2025-01-09T05:34:04.070Z,1736400844.070 [DAT](INFO): Ping request sent.
2025-01-09T05:34:04.070Z,1736400844.070 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:04.070Z,1736400844.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:34:04.077Z,1736400844.077 [DAT](INFO): direction in FSK: [0.984718,0.145410,-0.095846]
2025-01-09T05:34:04.078Z,1736400844.078 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:04.078Z,1736400844.078 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:04.108Z,1736400844.108 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:04.108Z,1736400844.108 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:04.304Z,1736400844.304 [DAT](INFO): DAT read: TxSync time:05:34:03.2712

2025-01-09T05:34:04.306Z,1736400844.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:04.346Z,1736400844.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.400002 m,
      deltaT: 3.525595 s,
      deltaX: -1.899998 m,
      approachRate: -0.538915 m/s,
      rangeRepo size: 4

2025-01-09T05:34:04.352Z,1736400844.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.400002 m,
      bearing: 270.285098 deg,
      lat: 36.904017 deg,
      lon: -122.118955 deg,
      deltaT: 3.525595 s,
      deltaX: -1.899998 m,
      approachRate: -0.538915 m/s,
      posRepo size: 4

2025-01-09T05:34:04.353Z,1736400844.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:04.360Z,1736400844.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 54.348705 m,
      bearing: 264.436456 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069024 deg/s,
      cmd heading: 259.503229 deg,
      new cmd heading: 259.431065 deg.

2025-01-09T05:34:04.361Z,1736400844.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527926 target range: 55.400002 and range: 55.40 m.
2025-01-09T05:34:04.747Z,1736400844.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:04.761Z,1736400844.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:04.765Z,1736400844.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 54.016338 m,
      bearing: 264.402911 deg,
      approach rate: -0.800552 m/s,
      LOS rate: -0.081295 deg/s,
      cmd heading: 259.431075 deg,
      new cmd heading: 259.329821 deg.

2025-01-09T05:34:04.768Z,1736400844.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526159 target range: 55.400002 and range: 55.40 m.
2025-01-09T05:34:05.106Z,1736400845.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:05.115Z,1736400845.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:05.120Z,1736400845.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 53.744923 m,
      bearing: 264.377062 deg,
      approach rate: -0.765893 m/s,
      LOS rate: -0.073309 deg/s,
      cmd heading: 259.329825 deg,
      new cmd heading: 259.251887 deg.

2025-01-09T05:34:05.120Z,1736400845.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524799 target range: 55.400002 and range: 55.40 m.
2025-01-09T05:34:05.518Z,1736400845.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:05.527Z,1736400845.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:05.529Z,1736400845.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:05.532Z,1736400845.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 53.433575 m,
      bearing: 264.347451 deg,
      approach rate: -0.750656 m/s,
      LOS rate: -0.071809 deg/s,
      cmd heading: 259.251878 deg,
      new cmd heading: 259.162527 deg.

2025-01-09T05:34:05.534Z,1736400845.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523240 target range: 55.400002 and range: 55.40 m.
2025-01-09T05:34:05.566Z,1736400845.566 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:34:05.566Z,1736400845.566 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:34:05.567Z,1736400845.567 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:34:05.820Z,1736400845.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750447
2025-01-09T05:34:05.957Z,1736400845.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:05.967Z,1736400845.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:05.970Z,1736400845.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 53.092239 m,
      bearing: 264.305998 deg,
      approach rate: -0.781649 m/s,
      LOS rate: -0.095536 deg/s,
      cmd heading: 259.162540 deg,
      new cmd heading: 259.037383 deg.

2025-01-09T05:34:05.971Z,1736400845.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521055 target range: 55.400002 and range: 55.40 m.
2025-01-09T05:34:06.068Z,1736400846.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997861
2025-01-09T05:34:06.318Z,1736400846.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:06.321Z,1736400846.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251264
2025-01-09T05:34:06.342Z,1736400846.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:06.353Z,1736400846.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 52.812046 m,
      bearing: 264.271675 deg,
      approach rate: -0.744745 m/s,
      LOS rate: -0.091714 deg/s,
      cmd heading: 259.037383 deg,
      new cmd heading: 258.933867 deg.

2025-01-09T05:34:06.354Z,1736400846.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519248 target range: 55.400002 and range: 55.40 m.
2025-01-09T05:34:06.576Z,1736400846.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505481
2025-01-09T05:34:06.760Z,1736400846.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:06.774Z,1736400846.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:06.778Z,1736400846.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 52.482964 m,
      bearing: 264.230407 deg,
      approach rate: -0.763046 m/s,
      LOS rate: -0.096287 deg/s,
      cmd heading: 258.933865 deg,
      new cmd heading: 258.809286 deg.

2025-01-09T05:34:06.779Z,1736400846.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517074 target range: 55.400002 and range: 55.40 m.
2025-01-09T05:34:06.824Z,1736400846.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753905
2025-01-09T05:34:07.076Z,1736400847.076 [DAT](INFO): DAT read: Rx Time:05:34:05.7461

2025-01-09T05:34:07.076Z,1736400847.076 [DAT](INFO): Rx dataTimestamp_ set to:1736400847.075813
2025-01-09T05:34:07.077Z,1736400847.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006620
2025-01-09T05:34:07.125Z,1736400847.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:07.152Z,1736400847.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:07.162Z,1736400847.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 52.211140 m,
      bearing: 264.196393 deg,
      approach rate: -0.718755 m/s,
      LOS rate: -0.090409 deg/s,
      cmd heading: 258.809282 deg,
      new cmd heading: 258.706708 deg.

2025-01-09T05:34:07.170Z,1736400847.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515284 target range: 55.400002 and range: 55.40 m.
2025-01-09T05:34:07.328Z,1736400847.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257886
2025-01-09T05:34:07.595Z,1736400847.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:07.602Z,1736400847.602 [DAT](INFO): DAT read: 05:34:05.7461 LVL= 22240, 32753, 20786, 32243, AGC= 66, IDX= 409,-0.45,-2.094, 2.774,-2.283,-2.480, PHS= 0.474,-0.983, 0.194, RAW= 139.6,   4.8, CAL= 143.5,  -3.2, ROT=   6.5,   3.2

2025-01-09T05:34:07.634Z,1736400847.634 [DAT](INFO): got valid direction response:
 05:34:05.7461 LVL= 22240, 32753, 20786, 32243, AGC= 66, IDX= 409,-0.45,-2.094, 2.774,-2.283,-2.480, PHS= 0.474,-0.983, 0.194, RAW= 139.6,   4.8, CAL= 143.5,  -3.2, ROT=   6.5,   3.2

2025-01-09T05:34:07.646Z,1736400847.646 [DAT](INFO): DAT read: Bearing   6.5,   3.2 (Local)

2025-01-09T05:34:07.655Z,1736400847.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.5,   3.2 (Local)

2025-01-09T05:34:07.658Z,1736400847.658 [DAT](INFO): DAT read: Range 10 to 50 : 52.5 m  (Round-trip  70.0 ms) speed  0.7 m/s

2025-01-09T05:34:07.667Z,1736400847.667 [DAT](INFO): DAT read: user:109>

2025-01-09T05:34:07.668Z,1736400847.668 [DAT](INFO): DAT read: Tx time:05:34:06.8720

2025-01-09T05:34:07.668Z,1736400847.668 [DAT](INFO): Ping request sent.
2025-01-09T05:34:07.668Z,1736400847.668 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:07.668Z,1736400847.668 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:34:07.669Z,1736400847.669 [DAT](INFO): direction in FSK: [0.992023,0.113027,-0.055822]
2025-01-09T05:34:07.670Z,1736400847.670 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:07.670Z,1736400847.670 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:07.686Z,1736400847.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.500000 m,
      deltaT: 3.527740 s,
      deltaX: -2.900002 m,
      approachRate: -0.822056 m/s,
      rangeRepo size: 4

2025-01-09T05:34:07.693Z,1736400847.693 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:07.693Z,1736400847.693 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:07.708Z,1736400847.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.400002 m,
      bearing: 267.402366 deg,
      lat: 36.904042 deg,
      lon: -122.118955 deg,
      deltaT: 3.527740 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T05:34:07.709Z,1736400847.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:07.725Z,1736400847.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 51.664898 m,
      bearing: 267.221260 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.090409 deg/s,
      cmd heading: 258.706720 deg,
      new cmd heading: 258.561978 deg.

2025-01-09T05:34:07.730Z,1736400847.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512758 target range: 55.400002 and range: 52.50 m.
2025-01-09T05:34:07.832Z,1736400847.832 [DAT](INFO): DAT read: TxSync time:05:34:06.8712

2025-01-09T05:34:08.118Z,1736400848.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:08.145Z,1736400848.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:08.152Z,1736400848.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 51.285679 m,
      bearing: 267.197159 deg,
      approach rate: -0.824960 m/s,
      LOS rate: -0.052817 deg/s,
      cmd heading: 258.561975 deg,
      new cmd heading: 258.489137 deg.

2025-01-09T05:34:08.153Z,1736400848.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511487 target range: 55.400002 and range: 52.50 m.
2025-01-09T05:34:08.431Z,1736400848.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:08.440Z,1736400848.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:08.442Z,1736400848.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:08.445Z,1736400848.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 51.065598 m,
      bearing: 267.184269 deg,
      approach rate: -0.742327 m/s,
      LOS rate: -0.043664 deg/s,
      cmd heading: 258.489138 deg,
      new cmd heading: 258.450302 deg.

2025-01-09T05:34:08.445Z,1736400848.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510809 target range: 55.400002 and range: 52.50 m.
2025-01-09T05:34:08.590Z,1736400848.590 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:34:08.590Z,1736400848.590 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:34:08.591Z,1736400848.591 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:34:08.840Z,1736400848.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.171493
2025-01-09T05:34:08.878Z,1736400848.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:08.887Z,1736400848.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:08.890Z,1736400848.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 50.773891 m,
      bearing: 267.168242 deg,
      approach rate: -0.655134 m/s,
      LOS rate: -0.036201 deg/s,
      cmd heading: 258.450315 deg,
      new cmd heading: 258.401959 deg.

2025-01-09T05:34:08.895Z,1736400848.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509965 target range: 55.400002 and range: 52.50 m.
2025-01-09T05:34:09.092Z,1736400849.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.423473
2025-01-09T05:34:09.250Z,1736400849.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:09.264Z,1736400849.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:09.268Z,1736400849.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 50.530163 m,
      bearing: 267.155706 deg,
      approach rate: -0.646670 m/s,
      LOS rate: -0.033421 deg/s,
      cmd heading: 258.401957 deg,
      new cmd heading: 258.364168 deg.

2025-01-09T05:34:09.269Z,1736400849.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509305 target range: 55.400002 and range: 52.50 m.
2025-01-09T05:34:09.346Z,1736400849.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.677994
2025-01-09T05:34:09.600Z,1736400849.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931620
2025-01-09T05:34:09.765Z,1736400849.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:09.777Z,1736400849.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:09.780Z,1736400849.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 50.230114 m,
      bearing: 267.142987 deg,
      approach rate: -0.584733 m/s,
      LOS rate: -0.024936 deg/s,
      cmd heading: 258.364172 deg,
      new cmd heading: 258.325785 deg.

2025-01-09T05:34:09.781Z,1736400849.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508636 target range: 55.400002 and range: 52.50 m.
2025-01-09T05:34:09.852Z,1736400849.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183785
2025-01-09T05:34:10.059Z,1736400850.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:10.084Z,1736400850.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:10.086Z,1736400850.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 50.058193 m,
      bearing: 267.135630 deg,
      approach rate: -0.560656 m/s,
      LOS rate: -0.024074 deg/s,
      cmd heading: 258.325787 deg,
      new cmd heading: 258.303640 deg.

2025-01-09T05:34:10.087Z,1736400850.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508249 target range: 55.400002 and range: 52.50 m.
2025-01-09T05:34:10.106Z,1736400850.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437593
2025-01-09T05:34:10.356Z,1736400850.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687652
2025-01-09T05:34:10.455Z,1736400850.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:10.462Z,1736400850.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:10.464Z,1736400850.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:10.468Z,1736400850.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 49.826916 m,
      bearing: 267.124871 deg,
      approach rate: -0.607565 m/s,
      LOS rate: -0.028395 deg/s,
      cmd heading: 258.303630 deg,
      new cmd heading: 258.271203 deg.

2025-01-09T05:34:10.469Z,1736400850.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507683 target range: 55.400002 and range: 52.50 m.
2025-01-09T05:34:10.608Z,1736400850.608 [DAT](INFO): DAT read: Rx Time:05:34:09.3424

2025-01-09T05:34:10.608Z,1736400850.608 [DAT](INFO): Rx dataTimestamp_ set to:1736400850.607937
2025-01-09T05:34:10.609Z,1736400850.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.940567
2025-01-09T05:34:10.860Z,1736400850.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191487
2025-01-09T05:34:10.881Z,1736400850.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:10.891Z,1736400850.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.40 m.
2025-01-09T05:34:10.894Z,1736400850.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.400002 m,
      nav range: 49.597347 m,
      bearing: 267.123315 deg,
      approach rate: -0.537500 m/s,
      LOS rate: -0.003660 deg/s,
      cmd heading: 258.271200 deg,
      new cmd heading: 258.266510 deg.

2025-01-09T05:34:10.916Z,1736400850.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507601 target range: 55.400002 and range: 52.50 m.
2025-01-09T05:34:11.129Z,1736400851.129 [DAT](INFO): DAT read: 05:34:09.3424 LVL= 19680, 25377, 20146, 27283, AGC= 63, IDX= 403,-0.27, 2.178, 0.697, 1.960, 1.812, PHS= 0.454,-1.068, 0.145, RAW= 138.9,   6.8, CAL= 142.8,  -0.6, ROT=   7.2,   0.6

2025-01-09T05:34:11.133Z,1736400851.133 [DAT](INFO): got valid direction response:
 05:34:09.3424 LVL= 19680, 25377, 20146, 27283, AGC= 63, IDX= 403,-0.27, 2.178, 0.697, 1.960, 1.812, PHS= 0.454,-1.068, 0.145, RAW= 138.9,   6.8, CAL= 142.8,  -0.6, ROT=   7.2,   0.6

2025-01-09T05:34:11.134Z,1736400851.134 [DAT](INFO): DAT read: Bearing   7.2,   0.6 (Local)

2025-01-09T05:34:11.136Z,1736400851.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2,   0.6 (Local)

2025-01-09T05:34:11.137Z,1736400851.137 [DAT](INFO): DAT read: Range 10 to 50 : 49.7 m  (Round-trip  66.3 ms) speed  0.4 m/s

2025-01-09T05:34:11.138Z,1736400851.138 [DAT](INFO): DAT read: user:110>

2025-01-09T05:34:11.138Z,1736400851.138 [DAT](INFO): DAT read: Tx time:05:34:10.4220

2025-01-09T05:34:11.139Z,1736400851.139 [DAT](INFO): Ping request sent.
2025-01-09T05:34:11.139Z,1736400851.139 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:11.139Z,1736400851.139 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:34:11.140Z,1736400851.140 [DAT](INFO): direction in FSK: [0.992060,0.125326,-0.010472]
2025-01-09T05:34:11.140Z,1736400851.140 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:11.140Z,1736400851.140 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:11.152Z,1736400851.152 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:11.152Z,1736400851.152 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:11.284Z,1736400851.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:11.312Z,1736400851.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.700001 m,
      deltaT: 3.533140 s,
      deltaX: -2.799999 m,
      approachRate: -0.792496 m/s,
      rangeRepo size: 4

2025-01-09T05:34:11.314Z,1736400851.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.700001 m,
      bearing: 267.581050 deg,
      lat: 36.904046 deg,
      lon: -122.118966 deg,
      deltaT: 3.533140 s,
      deltaX: -5.700001 m,
      approachRate: -1.613296 m/s,
      posRepo size: 4

2025-01-09T05:34:11.320Z,1736400851.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:34:11.327Z,1736400851.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 50.395538 m,
      bearing: 267.616751 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003660 deg/s,
      cmd heading: 258.266501 deg,
      new cmd heading: 258.261891 deg.

2025-01-09T05:34:11.328Z,1736400851.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507520 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:34:11.364Z,1736400851.364 [DAT](INFO): DAT read: TxSync time:05:34:10.4212

2025-01-09T05:34:11.759Z,1736400851.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:11.774Z,1736400851.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:34:11.777Z,1736400851.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 50.143017 m,
      bearing: 267.617962 deg,
      approach rate: -0.546245 m/s,
      LOS rate: 0.002633 deg/s,
      cmd heading: 258.261883 deg,
      new cmd heading: 258.265535 deg.

2025-01-09T05:34:11.778Z,1736400851.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507584 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:34:12.060Z,1736400852.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:12.071Z,1736400852.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:34:12.074Z,1736400852.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 49.983486 m,
      bearing: 267.618669 deg,
      approach rate: -0.537070 m/s,
      LOS rate: 0.002388 deg/s,
      cmd heading: 258.265544 deg,
      new cmd heading: 258.267673 deg.

2025-01-09T05:34:12.075Z,1736400852.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507621 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:34:12.468Z,1736400852.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:12.475Z,1736400852.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:12.477Z,1736400852.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:34:12.496Z,1736400852.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 49.767933 m,
      bearing: 267.618899 deg,
      approach rate: -0.530222 m/s,
      LOS rate: 0.000568 deg/s,
      cmd heading: 258.267675 deg,
      new cmd heading: 258.268368 deg.

2025-01-09T05:34:12.497Z,1736400852.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507633 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:34:12.628Z,1736400852.628 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:34:12.628Z,1736400852.628 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:34:12.629Z,1736400852.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:34:12.876Z,1736400852.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736991
2025-01-09T05:34:12.906Z,1736400852.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:12.914Z,1736400852.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:34:12.918Z,1736400852.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 49.536919 m,
      bearing: 267.613323 deg,
      approach rate: -0.528625 m/s,
      LOS rate: -0.012819 deg/s,
      cmd heading: 258.268358 deg,
      new cmd heading: 258.251553 deg.

2025-01-09T05:34:12.920Z,1736400852.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507340 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:34:13.127Z,1736400853.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988646
2025-01-09T05:34:13.279Z,1736400853.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:13.289Z,1736400853.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:34:13.292Z,1736400853.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 49.339951 m,
      bearing: 267.607894 deg,
      approach rate: -0.525833 m/s,
      LOS rate: -0.014552 deg/s,
      cmd heading: 258.251556 deg,
      new cmd heading: 258.235203 deg.

2025-01-09T05:34:13.293Z,1736400853.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507054 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:34:13.380Z,1736400853.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241060
2025-01-09T05:34:13.632Z,1736400853.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492787
2025-01-09T05:34:13.747Z,1736400853.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:13.780Z,1736400853.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:34:13.784Z,1736400853.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 49.095478 m,
      bearing: 267.600318 deg,
      approach rate: -0.497827 m/s,
      LOS rate: -0.015503 deg/s,
      cmd heading: 258.235191 deg,
      new cmd heading: 258.212351 deg.

2025-01-09T05:34:13.785Z,1736400853.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506656 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:34:13.885Z,1736400853.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746501
2025-01-09T05:34:14.134Z,1736400854.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:14.136Z,1736400854.136 [DAT](INFO): DAT read: Rx Time:05:34:12.8905

2025-01-09T05:34:14.136Z,1736400854.136 [DAT](INFO): Rx dataTimestamp_ set to:1736400854.135959
2025-01-09T05:34:14.137Z,1736400854.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997925
2025-01-09T05:34:14.145Z,1736400854.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:34:14.149Z,1736400854.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 48.871521 m,
      bearing: 267.586464 deg,
      approach rate: -0.612512 m/s,
      LOS rate: -0.038064 deg/s,
      cmd heading: 258.212351 deg,
      new cmd heading: 258.170598 deg.

2025-01-09T05:34:14.151Z,1736400854.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505927 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:34:14.392Z,1736400854.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252692
2025-01-09T05:34:14.490Z,1736400854.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:14.497Z,1736400854.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:14.501Z,1736400854.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:34:14.504Z,1736400854.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 48.667992 m,
      bearing: 267.573381 deg,
      approach rate: -0.572782 m/s,
      LOS rate: -0.036972 deg/s,
      cmd heading: 258.170605 deg,
      new cmd heading: 258.131193 deg.

2025-01-09T05:34:14.505Z,1736400854.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505239 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:34:14.661Z,1736400854.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503487
2025-01-09T05:34:14.898Z,1736400854.898 [DAT](INFO): DAT read: 05:34:12.8905 LVL= 22480, 32081, 20434, 32755, AGC= 62, IDX= 413, 0.50,-0.201,-1.624,-0.402,-0.541, PHS= 0.429,-1.036, 0.136, RAW= 139.1,   7.1, CAL= 142.9,  -0.3, ROT=   7.1,   0.3

2025-01-09T05:34:14.900Z,1736400854.900 [DAT](INFO): got valid direction response:
 05:34:12.8905 LVL= 22480, 32081, 20434, 32755, AGC= 62, IDX= 413, 0.50,-0.201,-1.624,-0.402,-0.541, PHS= 0.429,-1.036, 0.136, RAW= 139.1,   7.1, CAL= 142.9,  -0.3, ROT=   7.1,   0.3

2025-01-09T05:34:14.901Z,1736400854.901 [DAT](INFO): DAT read: Bearing   7.1,   0.3 (Local)

2025-01-09T05:34:14.901Z,1736400854.901 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.1,   0.3 (Local)

2025-01-09T05:34:14.903Z,1736400854.903 [DAT](INFO): DAT read: Range 10 to 50 : 48.1 m  (Round-trip  64.2 ms) speed  0.4 m/s

2025-01-09T05:34:14.904Z,1736400854.904 [DAT](INFO): DAT read: user:111>

2025-01-09T05:34:14.904Z,1736400854.904 [DAT](INFO): DAT read: Tx time:05:34:13.9721

2025-01-09T05:34:14.905Z,1736400854.905 [DAT](INFO): Ping request sent.
2025-01-09T05:34:14.905Z,1736400854.905 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:14.905Z,1736400854.905 [DAT](INFO): DAT read: TxSync time:05:34:13.9713

2025-01-09T05:34:14.906Z,1736400854.906 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:34:14.911Z,1736400854.911 [DAT](INFO): direction in FSK: [0.992318,0.123600,-0.005236]
2025-01-09T05:34:14.912Z,1736400854.912 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:14.912Z,1736400854.912 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:14.919Z,1736400854.919 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:14.919Z,1736400854.919 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:14.981Z,1736400854.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:15.017Z,1736400855.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.099998 m,
      deltaT: 3.778765 s,
      deltaX: -1.600002 m,
      approachRate: -0.423419 m/s,
      rangeRepo size: 4

2025-01-09T05:34:15.024Z,1736400855.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.099998 m,
      bearing: 268.050895 deg,
      lat: 36.904046 deg,
      lon: -122.118966 deg,
      deltaT: 3.778765 s,
      deltaX: -1.600002 m,
      approachRate: -0.423419 m/s,
      posRepo size: 4

2025-01-09T05:34:15.024Z,1736400855.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-01-09T05:34:15.031Z,1736400855.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 48.365211 m,
      bearing: 267.547174 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036972 deg/s,
      cmd heading: 258.131181 deg,
      new cmd heading: 258.074607 deg.

2025-01-09T05:34:15.033Z,1736400855.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504251 target range: 48.099998 and range: 48.10 m.
2025-01-09T05:34:15.351Z,1736400855.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:15.368Z,1736400855.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-01-09T05:34:15.375Z,1736400855.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 48.139568 m,
      bearing: 267.528428 deg,
      approach rate: -0.631827 m/s,
      LOS rate: -0.052736 deg/s,
      cmd heading: 258.074600 deg,
      new cmd heading: 258.018099 deg.

2025-01-09T05:34:15.376Z,1736400855.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503265 target range: 48.099998 and range: 48.10 m.
2025-01-09T05:34:15.817Z,1736400855.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:15.828Z,1736400855.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-01-09T05:34:15.830Z,1736400855.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 47.834366 m,
      bearing: 267.497934 deg,
      approach rate: -0.663785 m/s,
      LOS rate: -0.066745 deg/s,
      cmd heading: 258.018100 deg,
      new cmd heading: 257.926034 deg.

2025-01-09T05:34:15.832Z,1736400855.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501658 target range: 48.099998 and range: 48.10 m.
2025-01-09T05:34:16.145Z,1736400856.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:16.156Z,1736400856.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-01-09T05:34:16.159Z,1736400856.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 47.621784 m,
      bearing: 267.477415 deg,
      approach rate: -0.650300 m/s,
      LOS rate: -0.063049 deg/s,
      cmd heading: 257.926029 deg,
      new cmd heading: 257.864198 deg.

2025-01-09T05:34:16.160Z,1736400856.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500579 target range: 48.099998 and range: 48.10 m.
2025-01-09T05:34:16.553Z,1736400856.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:16.560Z,1736400856.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:16.562Z,1736400856.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-01-09T05:34:16.565Z,1736400856.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 47.357319 m,
      bearing: 267.451904 deg,
      approach rate: -0.649487 m/s,
      LOS rate: -0.063002 deg/s,
      cmd heading: 257.864203 deg,
      new cmd heading: 257.787241 deg.

2025-01-09T05:34:16.570Z,1736400856.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499236 target range: 48.099998 and range: 48.10 m.
2025-01-09T05:34:16.661Z,1736400856.661 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:34:16.661Z,1736400856.661 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:34:16.661Z,1736400856.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:34:16.912Z,1736400856.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006977
2025-01-09T05:34:16.997Z,1736400856.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:17.006Z,1736400857.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-01-09T05:34:17.009Z,1736400857.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 47.055443 m,
      bearing: 267.423875 deg,
      approach rate: -0.679035 m/s,
      LOS rate: -0.063451 deg/s,
      cmd heading: 257.787240 deg,
      new cmd heading: 257.702615 deg.

2025-01-09T05:34:17.010Z,1736400857.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497759 target range: 48.099998 and range: 48.10 m.
2025-01-09T05:34:17.164Z,1736400857.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258944
2025-01-09T05:34:17.352Z,1736400857.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:17.361Z,1736400857.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-01-09T05:34:17.380Z,1736400857.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 46.813457 m,
      bearing: 267.402337 deg,
      approach rate: -0.681265 m/s,
      LOS rate: -0.060951 deg/s,
      cmd heading: 257.702628 deg,
      new cmd heading: 257.637678 deg.

2025-01-09T05:34:17.381Z,1736400857.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496626 target range: 48.099998 and range: 48.10 m.
2025-01-09T05:34:17.417Z,1736400857.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512065
2025-01-09T05:34:17.668Z,1736400857.668 [DAT](INFO): DAT read: Rx Time:05:34:16.4376

2025-01-09T05:34:17.668Z,1736400857.668 [DAT](INFO): Rx dataTimestamp_ set to:1736400857.667805
2025-01-09T05:34:17.669Z,1736400857.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763879
2025-01-09T05:34:17.858Z,1736400857.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:17.868Z,1736400857.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-01-09T05:34:17.871Z,1736400857.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 46.463989 m,
      bearing: 267.369852 deg,
      approach rate: -0.690440 m/s,
      LOS rate: -0.064663 deg/s,
      cmd heading: 257.637686 deg,
      new cmd heading: 257.539499 deg.

2025-01-09T05:34:17.872Z,1736400857.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494912 target range: 48.099998 and range: 48.10 m.
2025-01-09T05:34:17.920Z,1736400857.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015042
2025-01-09T05:34:18.155Z,1736400858.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:18.164Z,1736400858.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.10 m.
2025-01-09T05:34:18.175Z,1736400858.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270390
2025-01-09T05:34:18.196Z,1736400858.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.099998 m,
      nav range: 46.258614 m,
      bearing: 267.351492 deg,
      approach rate: -0.693872 m/s,
      LOS rate: -0.062305 deg/s,
      cmd heading: 257.539495 deg,
      new cmd heading: 257.484172 deg.

2025-01-09T05:34:18.206Z,1736400858.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493947 target range: 48.099998 and range: 48.10 m.
2025-01-09T05:34:18.431Z,1736400858.431 [DAT](INFO): DAT read: 05:34:16.4376 LVL= 17680, 30817, 18754, 32755, AGC= 65, IDX= 417,-0.18,-1.432,-2.856,-1.687,-1.749, PHS= 0.406,-1.060, 0.059, RAW= 136.9,   9.0, CAL= 141.2,   2.3, ROT=   8.8,  -2.3

2025-01-09T05:34:18.434Z,1736400858.434 [DAT](INFO): got valid direction response:
 05:34:16.4376 LVL= 17680, 30817, 18754, 32755, AGC= 65, IDX= 417,-0.18,-1.432,-2.856,-1.687,-1.749, PHS= 0.406,-1.060, 0.059, RAW= 136.9,   9.0, CAL= 141.2,   2.3, ROT=   8.8,  -2.3

2025-01-09T05:34:18.436Z,1736400858.436 [DAT](INFO): DAT read: Bearing   8.8,  -2.3 (Local)

2025-01-09T05:34:18.437Z,1736400858.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,  -2.3 (Local)

2025-01-09T05:34:18.439Z,1736400858.439 [DAT](INFO): DAT read: Range 10 to 50 : 46.0 m  (Round-trip  61.4 ms) speed  0.7 m/s

2025-01-09T05:34:18.441Z,1736400858.441 [DAT](INFO): DAT read: user:112>

2025-01-09T05:34:18.442Z,1736400858.442 [DAT](INFO): DAT read: Tx time:05:34:17.5221

2025-01-09T05:34:18.455Z,1736400858.455 [DAT](INFO): Ping request sent.
2025-01-09T05:34:18.456Z,1736400858.456 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:18.456Z,1736400858.456 [DAT](INFO): DAT read: TxSync time:05:34:17.5213

2025-01-09T05:34:18.457Z,1736400858.457 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:34:18.477Z,1736400858.477 [DAT](INFO): direction in FSK: [0.987432,0.152863,0.040132]
2025-01-09T05:34:18.478Z,1736400858.478 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:18.478Z,1736400858.478 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:18.494Z,1736400858.494 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:18.494Z,1736400858.494 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:18.588Z,1736400858.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:18.646Z,1736400858.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.000000 m,
      deltaT: 3.531890 s,
      deltaX: -2.099998 m,
      approachRate: -0.594582 m/s,
      rangeRepo size: 4

2025-01-09T05:34:18.667Z,1736400858.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.000000 m,
      bearing: 268.154363 deg,
      lat: 36.904046 deg,
      lon: -122.118967 deg,
      deltaT: 3.531890 s,
      deltaX: -2.099998 m,
      approachRate: -0.594582 m/s,
      posRepo size: 4

2025-01-09T05:34:18.667Z,1736400858.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m.
2025-01-09T05:34:18.670Z,1736400858.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.000000 m,
      nav range: 46.012310 m,
      bearing: 267.328284 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.062305 deg/s,
      cmd heading: 257.484171 deg,
      new cmd heading: 257.394080 deg.

2025-01-09T05:34:18.676Z,1736400858.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492374 target range: 46.000000 and range: 46.00 m.
2025-01-09T05:34:19.013Z,1736400859.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:19.028Z,1736400859.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:19.030Z,1736400859.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m.
2025-01-09T05:34:19.037Z,1736400859.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.000000 m,
      nav range: 45.721905 m,
      bearing: 267.304630 deg,
      approach rate: -0.754844 m/s,
      LOS rate: -0.061875 deg/s,
      cmd heading: 257.394067 deg,
      new cmd heading: 257.322653 deg.

2025-01-09T05:34:19.038Z,1736400859.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491127 target range: 46.000000 and range: 46.00 m.
2025-01-09T05:34:19.179Z,1736400859.179 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:34:19.179Z,1736400859.179 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:34:19.180Z,1736400859.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:34:19.376Z,1736400859.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:19.386Z,1736400859.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m.
2025-01-09T05:34:19.390Z,1736400859.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.000000 m,
      nav range: 45.474262 m,
      bearing: 267.284220 deg,
      approach rate: -0.696045 m/s,
      LOS rate: -0.057679 deg/s,
      cmd heading: 257.322650 deg,
      new cmd heading: 257.261087 deg.

2025-01-09T05:34:19.391Z,1736400859.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490053 target range: 46.000000 and range: 46.00 m.
2025-01-09T05:34:19.434Z,1736400859.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978761
2025-01-09T05:34:19.684Z,1736400859.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228241
2025-01-09T05:34:19.841Z,1736400859.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:19.854Z,1736400859.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m.
2025-01-09T05:34:19.857Z,1736400859.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.000000 m,
      nav range: 45.157150 m,
      bearing: 267.261103 deg,
      approach rate: -0.678168 m/s,
      LOS rate: -0.049784 deg/s,
      cmd heading: 257.261097 deg,
      new cmd heading: 257.191260 deg.

2025-01-09T05:34:19.858Z,1736400859.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488834 target range: 46.000000 and range: 46.00 m.
2025-01-09T05:34:19.936Z,1736400859.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480575
2025-01-09T05:34:20.188Z,1736400860.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732698
2025-01-09T05:34:20.200Z,1736400860.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:20.209Z,1736400860.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m.
2025-01-09T05:34:20.212Z,1736400860.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.000000 m,
      nav range: 44.925415 m,
      bearing: 267.250171 deg,
      approach rate: -0.652180 m/s,
      LOS rate: -0.030923 deg/s,
      cmd heading: 257.191265 deg,
      new cmd heading: 257.158302 deg.

2025-01-09T05:34:20.213Z,1736400860.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488259 target range: 46.000000 and range: 46.00 m.
2025-01-09T05:34:20.440Z,1736400860.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984331
2025-01-09T05:34:20.579Z,1736400860.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:20.610Z,1736400860.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m.
2025-01-09T05:34:20.613Z,1736400860.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.000000 m,
      nav range: 44.678612 m,
      bearing: 267.238412 deg,
      approach rate: -0.615886 m/s,
      LOS rate: -0.029506 deg/s,
      cmd heading: 257.158289 deg,
      new cmd heading: 257.122817 deg.

2025-01-09T05:34:20.614Z,1736400860.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487640 target range: 46.000000 and range: 46.00 m.
2025-01-09T05:34:20.694Z,1736400860.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238436
2025-01-09T05:34:20.944Z,1736400860.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488323
2025-01-09T05:34:21.006Z,1736400861.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:21.030Z,1736400861.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m.
2025-01-09T05:34:21.037Z,1736400861.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.000000 m,
      nav range: 44.414143 m,
      bearing: 267.230854 deg,
      approach rate: -0.629395 m/s,
      LOS rate: -0.018095 deg/s,
      cmd heading: 257.122826 deg,
      new cmd heading: 257.100017 deg.

2025-01-09T05:34:21.038Z,1736400861.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487242 target range: 46.000000 and range: 46.00 m.
2025-01-09T05:34:21.199Z,1736400861.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743650
2025-01-09T05:34:21.392Z,1736400861.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:21.401Z,1736400861.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:21.403Z,1736400861.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m.
2025-01-09T05:34:21.406Z,1736400861.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.000000 m,
      nav range: 44.174335 m,
      bearing: 267.223793 deg,
      approach rate: -0.643629 m/s,
      LOS rate: -0.019053 deg/s,
      cmd heading: 257.100014 deg,
      new cmd heading: 257.078716 deg.

2025-01-09T05:34:21.407Z,1736400861.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486870 target range: 46.000000 and range: 46.00 m.
2025-01-09T05:34:21.449Z,1736400861.449 [DAT](INFO): DAT read: Rx Time:05:34:19.9842

2025-01-09T05:34:21.449Z,1736400861.449 [DAT](INFO): Rx dataTimestamp_ set to:1736400861.448743
2025-01-09T05:34:21.451Z,1736400861.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995675
2025-01-09T05:34:21.701Z,1736400861.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245609
2025-01-09T05:34:21.866Z,1736400861.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:21.891Z,1736400861.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.00 m.
2025-01-09T05:34:21.894Z,1736400861.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.000000 m,
      nav range: 43.880604 m,
      bearing: 267.214865 deg,
      approach rate: -0.608042 m/s,
      LOS rate: -0.018607 deg/s,
      cmd heading: 257.078703 deg,
      new cmd heading: 257.051738 deg.

2025-01-09T05:34:21.899Z,1736400861.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486399 target range: 46.000000 and range: 46.00 m.
2025-01-09T05:34:21.960Z,1736400861.960 [DAT](INFO): DAT read: 05:34:19.9842 LVL= 22896, 32289, 19826, 32755, AGC= 63, IDX= 413, 0.20, 0.129,-1.343,-0.124,-0.190, PHS= 0.406,-1.106, 0.062, RAW= 137.5,   9.3, CAL= 141.5,   2.6, ROT=   8.5,  -2.6

2025-01-09T05:34:21.962Z,1736400861.962 [DAT](INFO): got valid direction response:
 05:34:19.9842 LVL= 22896, 32289, 19826, 32755, AGC= 63, IDX= 413, 0.20, 0.129,-1.343,-0.124,-0.190, PHS= 0.406,-1.106, 0.062, RAW= 137.5,   9.3, CAL= 141.5,   2.6, ROT=   8.5,  -2.6

2025-01-09T05:34:21.964Z,1736400861.964 [DAT](INFO): DAT read: Bearing   8.5,  -2.6 (Local)

2025-01-09T05:34:21.964Z,1736400861.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.5,  -2.6 (Local)

2025-01-09T05:34:21.967Z,1736400861.967 [DAT](INFO): DAT read: Range 10 to 50 : 43.5 m  (Round-trip  58.0 ms) speed  0.5 m/s

2025-01-09T05:34:21.968Z,1736400861.968 [DAT](INFO): DAT read: user:113>

2025-01-09T05:34:21.969Z,1736400861.969 [DAT](INFO): DAT read: Tx time:05:34:21.0721

2025-01-09T05:34:21.969Z,1736400861.969 [DAT](INFO): Ping request sent.
2025-01-09T05:34:21.969Z,1736400861.969 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:21.971Z,1736400861.971 [DAT](INFO): DAT read: TxSync time:05:34:21.0713

2025-01-09T05:34:21.971Z,1736400861.971 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:34:21.973Z,1736400861.973 [DAT](INFO): direction in FSK: [0.987998,0.147657,0.045363]
2025-01-09T05:34:21.973Z,1736400861.973 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:21.974Z,1736400861.974 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:21.980Z,1736400861.980 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:21.980Z,1736400861.980 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:22.250Z,1736400862.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:22.287Z,1736400862.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.500000 m,
      deltaT: 3.528205 s,
      deltaX: -2.500000 m,
      approachRate: -0.708576 m/s,
      rangeRepo size: 4

2025-01-09T05:34:22.289Z,1736400862.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.500000 m,
      bearing: 267.051525 deg,
      lat: 36.904046 deg,
      lon: -122.118965 deg,
      deltaT: 3.528205 s,
      deltaX: -2.500000 m,
      approachRate: -0.708576 m/s,
      posRepo size: 4

2025-01-09T05:34:22.290Z,1736400862.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.50 m.
2025-01-09T05:34:22.297Z,1736400862.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.500000 m,
      nav range: 43.492146 m,
      bearing: 267.201990 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018607 deg/s,
      cmd heading: 257.051738 deg,
      new cmd heading: 257.029706 deg.

2025-01-09T05:34:22.297Z,1736400862.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486015 target range: 43.500000 and range: 43.50 m.
2025-01-09T05:34:22.597Z,1736400862.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:22.606Z,1736400862.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.50 m.
2025-01-09T05:34:22.609Z,1736400862.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.500000 m,
      nav range: 43.282635 m,
      bearing: 267.200154 deg,
      approach rate: -0.643639 m/s,
      LOS rate: -0.005667 deg/s,
      cmd heading: 257.029717 deg,
      new cmd heading: 257.024184 deg.

2025-01-09T05:34:22.610Z,1736400862.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485918 target range: 43.500000 and range: 43.50 m.
2025-01-09T05:34:23.053Z,1736400863.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:23.076Z,1736400863.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.50 m.
2025-01-09T05:34:23.084Z,1736400863.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.500000 m,
      nav range: 43.004173 m,
      bearing: 267.204193 deg,
      approach rate: -0.593215 m/s,
      LOS rate: 0.008661 deg/s,
      cmd heading: 257.024171 deg,
      new cmd heading: 257.036367 deg.

2025-01-09T05:34:23.084Z,1736400863.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486131 target range: 43.500000 and range: 43.50 m.
2025-01-09T05:34:23.407Z,1736400863.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:23.434Z,1736400863.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:23.436Z,1736400863.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.50 m.
2025-01-09T05:34:23.439Z,1736400863.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.500000 m,
      nav range: 42.788456 m,
      bearing: 267.207413 deg,
      approach rate: -0.597393 m/s,
      LOS rate: 0.008962 deg/s,
      cmd heading: 257.036356 deg,
      new cmd heading: 257.046064 deg.

2025-01-09T05:34:23.440Z,1736400863.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486300 target range: 43.500000 and range: 43.50 m.
2025-01-09T05:34:23.481Z,1736400863.481 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:34:23.481Z,1736400863.481 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:34:23.481Z,1736400863.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:34:23.732Z,1736400863.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762033
2025-01-09T05:34:23.819Z,1736400863.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:23.868Z,1736400863.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.50 m.
2025-01-09T05:34:23.892Z,1736400863.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.500000 m,
      nav range: 42.537315 m,
      bearing: 267.210573 deg,
      approach rate: -0.590612 m/s,
      LOS rate: 0.007476 deg/s,
      cmd heading: 257.046055 deg,
      new cmd heading: 257.055592 deg.

2025-01-09T05:34:23.893Z,1736400863.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486466 target range: 43.500000 and range: 43.50 m.
2025-01-09T05:34:23.984Z,1736400863.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014752
2025-01-09T05:34:24.236Z,1736400864.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266262
2025-01-09T05:34:24.265Z,1736400864.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:24.274Z,1736400864.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.50 m.
2025-01-09T05:34:24.277Z,1736400864.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.500000 m,
      nav range: 42.259724 m,
      bearing: 267.204965 deg,
      approach rate: -0.672692 m/s,
      LOS rate: -0.013680 deg/s,
      cmd heading: 257.055590 deg,
      new cmd heading: 257.038655 deg.

2025-01-09T05:34:24.279Z,1736400864.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486171 target range: 43.500000 and range: 43.50 m.
2025-01-09T05:34:24.488Z,1736400864.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518413
2025-01-09T05:34:24.633Z,1736400864.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:24.657Z,1736400864.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.50 m.
2025-01-09T05:34:24.661Z,1736400864.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.500000 m,
      nav range: 42.030899 m,
      bearing: 267.200286 deg,
      approach rate: -0.597078 m/s,
      LOS rate: -0.012275 deg/s,
      cmd heading: 257.038651 deg,
      new cmd heading: 257.024539 deg.

2025-01-09T05:34:24.662Z,1736400864.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485924 target range: 43.500000 and range: 43.50 m.
2025-01-09T05:34:24.741Z,1736400864.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771284
2025-01-09T05:34:24.992Z,1736400864.992 [DAT](INFO): DAT read: Rx Time:05:34:23.5314

2025-01-09T05:34:24.992Z,1736400864.992 [DAT](INFO): Rx dataTimestamp_ set to:1736400864.991852
2025-01-09T05:34:24.993Z,1736400864.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023172
2025-01-09T05:34:25.063Z,1736400865.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:25.089Z,1736400865.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.50 m.
2025-01-09T05:34:25.096Z,1736400865.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.500000 m,
      nav range: 41.757927 m,
      bearing: 267.191094 deg,
      approach rate: -0.632256 m/s,
      LOS rate: -0.021430 deg/s,
      cmd heading: 257.024526 deg,
      new cmd heading: 256.996770 deg.

2025-01-09T05:34:25.097Z,1736400865.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485440 target range: 43.500000 and range: 43.50 m.
2025-01-09T05:34:25.244Z,1736400865.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274205
2025-01-09T05:34:25.507Z,1736400865.507 [DAT](INFO): DAT read: 05:34:23.5314 LVL= 21792, 27969, 20594, 31459, AGC= 62, IDX= 417,-0.17,-2.142, 2.717,-2.420,-2.458, PHS= 0.405,-1.061, 0.036, RAW= 136.0,   9.4, CAL= 140.4,   3.0, ROT=   9.6,  -3.0

2025-01-09T05:34:25.508Z,1736400865.508 [DAT](INFO): got valid direction response:
 05:34:23.5314 LVL= 21792, 27969, 20594, 31459, AGC= 62, IDX= 417,-0.17,-2.142, 2.717,-2.420,-2.458, PHS= 0.405,-1.061, 0.036, RAW= 136.0,   9.4, CAL= 140.4,   3.0, ROT=   9.6,  -3.0

2025-01-09T05:34:25.509Z,1736400865.509 [DAT](INFO): DAT read: Bearing   9.6,  -3.0 (Local)

2025-01-09T05:34:25.509Z,1736400865.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.6,  -3.0 (Local)

2025-01-09T05:34:25.522Z,1736400865.522 [DAT](INFO): DAT read: Range 10 to 50 : 41.3 m  (Round-trip  55.1 ms) speed  0.5 m/s

2025-01-09T05:34:25.531Z,1736400865.531 [DAT](INFO): DAT read: user:114>

2025-01-09T05:34:25.532Z,1736400865.532 [DAT](INFO): DAT read: Tx time:05:34:24.6221

2025-01-09T05:34:25.533Z,1736400865.533 [DAT](INFO): Ping request sent.
2025-01-09T05:34:25.533Z,1736400865.533 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:25.534Z,1736400865.534 [DAT](INFO): DAT read: TxSync time:05:34:24.6213

2025-01-09T05:34:25.534Z,1736400865.534 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:34:25.551Z,1736400865.551 [DAT](INFO): direction in FSK: [0.984645,0.166540,0.052336]
2025-01-09T05:34:25.552Z,1736400865.552 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:25.552Z,1736400865.552 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:25.560Z,1736400865.560 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:25.560Z,1736400865.560 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:25.617Z,1736400865.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:25.677Z,1736400865.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.299999 m,
      deltaT: 3.548072 s,
      deltaX: -2.200001 m,
      approachRate: -0.620055 m/s,
      rangeRepo size: 4

2025-01-09T05:34:25.684Z,1736400865.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.299999 m,
      bearing: 268.149962 deg,
      lat: 36.904049 deg,
      lon: -122.118964 deg,
      deltaT: 3.548072 s,
      deltaX: -2.200001 m,
      approachRate: -0.620055 m/s,
      posRepo size: 4

2025-01-09T05:34:25.685Z,1736400865.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:25.696Z,1736400865.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 41.309113 m,
      bearing: 267.778764 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021430 deg/s,
      cmd heading: 256.996769 deg,
      new cmd heading: 256.958999 deg.

2025-01-09T05:34:25.697Z,1736400865.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484781 target range: 41.299999 and range: 41.30 m.
2025-01-09T05:34:26.170Z,1736400866.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:26.177Z,1736400866.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:26.179Z,1736400866.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:26.182Z,1736400866.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 40.942318 m,
      bearing: 267.762060 deg,
      approach rate: -0.730784 m/s,
      LOS rate: -0.033578 deg/s,
      cmd heading: 256.959011 deg,
      new cmd heading: 256.908450 deg.

2025-01-09T05:34:26.185Z,1736400866.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483898 target range: 41.299999 and range: 41.30 m.
2025-01-09T05:34:26.243Z,1736400866.243 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:34:26.252Z,1736400866.252 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:34:26.252Z,1736400866.252 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:34:26.252Z,1736400866.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:34:26.504Z,1736400866.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.970868
2025-01-09T05:34:26.564Z,1736400866.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:26.588Z,1736400866.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:26.601Z,1736400866.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 40.680279 m,
      bearing: 267.751198 deg,
      approach rate: -0.662147 m/s,
      LOS rate: -0.027625 deg/s,
      cmd heading: 256.908440 deg,
      new cmd heading: 256.875644 deg.

2025-01-09T05:34:26.602Z,1736400866.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483326 target range: 41.299999 and range: 41.30 m.
2025-01-09T05:34:26.758Z,1736400866.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225122
2025-01-09T05:34:26.996Z,1736400866.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:27.009Z,1736400867.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475332
2025-01-09T05:34:27.031Z,1736400867.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:27.039Z,1736400867.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 40.388721 m,
      bearing: 267.733964 deg,
      approach rate: -0.638121 m/s,
      LOS rate: -0.037991 deg/s,
      cmd heading: 256.875656 deg,
      new cmd heading: 256.823581 deg.

2025-01-09T05:34:27.040Z,1736400867.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482417 target range: 41.299999 and range: 41.30 m.
2025-01-09T05:34:27.247Z,1736400867.247 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:34:27.261Z,1736400867.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727737
2025-01-09T05:34:27.374Z,1736400867.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:27.400Z,1736400867.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:27.407Z,1736400867.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 40.132931 m,
      bearing: 267.718932 deg,
      approach rate: -0.693065 m/s,
      LOS rate: -0.040989 deg/s,
      cmd heading: 256.823582 deg,
      new cmd heading: 256.778198 deg.

2025-01-09T05:34:27.408Z,1736400867.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.481625 target range: 41.299999 and range: 41.30 m.
2025-01-09T05:34:27.512Z,1736400867.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978505
2025-01-09T05:34:27.764Z,1736400867.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230597
2025-01-09T05:34:27.799Z,1736400867.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:27.813Z,1736400867.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:27.817Z,1736400867.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 39.846504 m,
      bearing: 267.702177 deg,
      approach rate: -0.694517 m/s,
      LOS rate: -0.040918 deg/s,
      cmd heading: 256.778202 deg,
      new cmd heading: 256.727577 deg.

2025-01-09T05:34:27.818Z,1736400867.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480742 target range: 41.299999 and range: 41.30 m.
2025-01-09T05:34:28.017Z,1736400868.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483713
2025-01-09T05:34:28.219Z,1736400868.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:28.225Z,1736400868.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:28.228Z,1736400868.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:28.231Z,1736400868.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 39.560253 m,
      bearing: 267.679565 deg,
      approach rate: -0.689815 m/s,
      LOS rate: -0.054885 deg/s,
      cmd heading: 256.727577 deg,
      new cmd heading: 256.659250 deg.

2025-01-09T05:34:28.232Z,1736400868.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479549 target range: 41.299999 and range: 41.30 m.
2025-01-09T05:34:28.268Z,1736400868.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734453
2025-01-09T05:34:28.520Z,1736400868.520 [DAT](INFO): DAT read: Rx Time:05:34:27.0786

2025-01-09T05:34:28.520Z,1736400868.520 [DAT](INFO): Rx dataTimestamp_ set to:1736400868.519777
2025-01-09T05:34:28.521Z,1736400868.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987330
2025-01-09T05:34:28.605Z,1736400868.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:28.621Z,1736400868.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:28.624Z,1736400868.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 39.297173 m,
      bearing: 267.658971 deg,
      approach rate: -0.669355 m/s,
      LOS rate: -0.052748 deg/s,
      cmd heading: 256.659248 deg,
      new cmd heading: 256.597053 deg.

2025-01-09T05:34:28.625Z,1736400868.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478464 target range: 41.299999 and range: 41.30 m.
2025-01-09T05:34:28.773Z,1736400868.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239504
2025-01-09T05:34:29.035Z,1736400869.035 [DAT](INFO): DAT read: 05:34:27.0786 LVL= 27088, 32193, 22866, 32755, AGC= 65, IDX= 419,-0.10, 1.806, 0.268, 1.565, 1.461, PHS= 0.433,-1.146, 0.101, RAW= 138.5,   8.5, CAL= 142.3,   1.5, ROT=   7.7,  -1.5

2025-01-09T05:34:29.037Z,1736400869.037 [DAT](INFO): got valid direction response:
 05:34:27.0786 LVL= 27088, 32193, 22866, 32755, AGC= 65, IDX= 419,-0.10, 1.806, 0.268, 1.565, 1.461, PHS= 0.433,-1.146, 0.101, RAW= 138.5,   8.5, CAL= 142.3,   1.5, ROT=   7.7,  -1.5

2025-01-09T05:34:29.039Z,1736400869.039 [DAT](INFO): DAT read: Bearing   7.7,  -1.5 (Local)

2025-01-09T05:34:29.040Z,1736400869.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.7,  -1.5 (Local)

2025-01-09T05:34:29.049Z,1736400869.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:29.087Z,1736400869.087 [DAT](INFO): DAT read: Range 10 to 50 : 39.1 m  (Round-trip  52.2 ms) speed  0.6 m/s

2025-01-09T05:34:29.088Z,1736400869.088 [DAT](INFO): DAT read: user:115>

2025-01-09T05:34:29.088Z,1736400869.088 [DAT](INFO): DAT read: Tx time:05:34:28.1722

2025-01-09T05:34:29.089Z,1736400869.089 [DAT](INFO): Ping request sent.
2025-01-09T05:34:29.089Z,1736400869.089 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:29.089Z,1736400869.089 [DAT](INFO): DAT read: TxSync time:05:34:28.1714

2025-01-09T05:34:29.090Z,1736400869.090 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:34:29.107Z,1736400869.107 [DAT](INFO): direction in FSK: [0.990644,0.133940,0.026177]
2025-01-09T05:34:29.107Z,1736400869.107 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:29.108Z,1736400869.108 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:29.117Z,1736400869.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.099998 m,
      deltaT: 3.523872 s,
      deltaX: -2.200001 m,
      approachRate: -0.624313 m/s,
      rangeRepo size: 4

2025-01-09T05:34:29.118Z,1736400869.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:29.119Z,1736400869.119 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:29.119Z,1736400869.119 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:29.134Z,1736400869.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 39.004993 m,
      bearing: 267.635276 deg,
      approach rate: -0.589728 m/s,
      LOS rate: -0.048185 deg/s,
      cmd heading: 256.597066 deg,
      new cmd heading: 256.525446 deg.

2025-01-09T05:34:29.143Z,1736400869.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477214 target range: 41.299999 and range: 39.10 m.
2025-01-09T05:34:29.420Z,1736400869.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:29.426Z,1736400869.426 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-01-09T05:34:29.426Z,1736400869.426 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-09T05:34:29.427Z,1736400869.427 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-01-09T05:34:29.428Z,1736400869.428 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.099998 m (mode  2.000000 count ).
2025-01-09T05:34:29.428Z,1736400869.428 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-01-09T05:34:29.429Z,1736400869.429 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-01-09T05:34:29.460Z,1736400869.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:29.467Z,1736400869.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 38.759979 m,
      bearing: 267.616758 deg,
      approach rate: -0.713325 m/s,
      LOS rate: -0.054253 deg/s,
      cmd heading: 256.525458 deg,
      new cmd heading: 256.469553 deg.

2025-01-09T05:34:29.468Z,1736400869.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476238 target range: 41.299999 and range: 39.10 m.
2025-01-09T05:34:29.825Z,1736400869.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:29.834Z,1736400869.834 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-01-09T05:34:29.834Z,1736400869.834 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-01-09T05:34:29.836Z,1736400869.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:29.839Z,1736400869.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 38.492565 m,
      bearing: 267.596818 deg,
      approach rate: -0.709939 m/s,
      LOS rate: -0.053304 deg/s,
      cmd heading: 256.469560 deg,
      new cmd heading: 256.409325 deg.

2025-01-09T05:34:29.840Z,1736400869.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475187 target range: 41.299999 and range: 39.10 m.
2025-01-09T05:34:30.260Z,1736400870.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:30.272Z,1736400870.272 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-01-09T05:34:30.272Z,1736400870.272 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-01-09T05:34:30.273Z,1736400870.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:30.279Z,1736400870.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:30.282Z,1736400870.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 38.228035 m,
      bearing: 267.581537 deg,
      approach rate: -0.603727 m/s,
      LOS rate: -0.035117 deg/s,
      cmd heading: 256.409318 deg,
      new cmd heading: 256.363157 deg.

2025-01-09T05:34:30.284Z,1736400870.284 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:34:30.284Z,1736400870.284 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:34:30.284Z,1736400870.284 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:34:30.289Z,1736400870.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474381 target range: 41.299999 and range: 39.10 m.
2025-01-09T05:34:30.536Z,1736400870.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447008
2025-01-09T05:34:30.632Z,1736400870.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:30.639Z,1736400870.639 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-01-09T05:34:30.639Z,1736400870.639 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-09T05:34:30.640Z,1736400870.640 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-01-09T05:34:30.640Z,1736400870.640 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-09T05:34:30.642Z,1736400870.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:30.645Z,1736400870.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 38.001995 m,
      bearing: 267.568050 deg,
      approach rate: -0.615518 m/s,
      LOS rate: -0.036945 deg/s,
      cmd heading: 256.363146 deg,
      new cmd heading: 256.322443 deg.

2025-01-09T05:34:30.646Z,1736400870.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473670 target range: 41.299999 and range: 39.10 m.
2025-01-09T05:34:30.788Z,1736400870.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699297
2025-01-09T05:34:31.040Z,1736400871.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950861
2025-01-09T05:34:31.073Z,1736400871.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:31.107Z,1736400871.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:31.110Z,1736400871.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 37.749313 m,
      bearing: 267.558609 deg,
      approach rate: -0.567714 m/s,
      LOS rate: -0.021352 deg/s,
      cmd heading: 256.322438 deg,
      new cmd heading: 256.293927 deg.

2025-01-09T05:34:31.116Z,1736400871.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473173 target range: 41.299999 and range: 39.10 m.
2025-01-09T05:34:31.292Z,1736400871.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202744
2025-01-09T05:34:31.440Z,1736400871.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:31.450Z,1736400871.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:31.453Z,1736400871.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 37.538300 m,
      bearing: 267.550100 deg,
      approach rate: -0.581635 m/s,
      LOS rate: -0.023587 deg/s,
      cmd heading: 256.293915 deg,
      new cmd heading: 256.268243 deg.

2025-01-09T05:34:31.454Z,1736400871.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472724 target range: 41.299999 and range: 39.10 m.
2025-01-09T05:34:31.544Z,1736400871.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455575
2025-01-09T05:34:31.796Z,1736400871.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706786
2025-01-09T05:34:31.857Z,1736400871.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:31.868Z,1736400871.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:31.871Z,1736400871.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 37.299286 m,
      bearing: 267.540126 deg,
      approach rate: -0.573420 m/s,
      LOS rate: -0.024082 deg/s,
      cmd heading: 256.268233 deg,
      new cmd heading: 256.238120 deg.

2025-01-09T05:34:31.872Z,1736400871.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472199 target range: 41.299999 and range: 39.10 m.
2025-01-09T05:34:32.048Z,1736400872.048 [DAT](INFO): DAT read: Rx Time:05:34:30.6251

2025-01-09T05:34:32.049Z,1736400872.049 [DAT](INFO): Rx dataTimestamp_ set to:1736400872.048259
2025-01-09T05:34:32.050Z,1736400872.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960636
2025-01-09T05:34:32.282Z,1736400872.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:32.289Z,1736400872.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:32.291Z,1736400872.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.30 m.
2025-01-09T05:34:32.294Z,1736400872.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.299999 m,
      nav range: 37.074070 m,
      bearing: 267.537694 deg,
      approach rate: -0.530116 m/s,
      LOS rate: -0.005760 deg/s,
      cmd heading: 256.238126 deg,
      new cmd heading: 256.230785 deg.

2025-01-09T05:34:32.295Z,1736400872.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472071 target range: 41.299999 and range: 39.10 m.
2025-01-09T05:34:32.300Z,1736400872.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211586
2025-01-09T05:34:32.560Z,1736400872.560 [DAT](INFO): DAT read: 05:34:30.6251 LVL= 21232, 28273, 18178, 30195, AGC= 62, IDX= 400, 0.06,-1.592,-2.962,-1.816,-1.882, PHS= 0.378,-1.032, 0.063, RAW= 137.7,   9.3, CAL= 141.7,   2.5, ROT=   8.3,  -2.5

2025-01-09T05:34:32.561Z,1736400872.561 [DAT](INFO): got valid direction response:
 05:34:30.6251 LVL= 21232, 28273, 18178, 30195, AGC= 62, IDX= 400, 0.06,-1.592,-2.962,-1.816,-1.882, PHS= 0.378,-1.032, 0.063, RAW= 137.7,   9.3, CAL= 141.7,   2.5, ROT=   8.3,  -2.5

2025-01-09T05:34:32.562Z,1736400872.562 [DAT](INFO): DAT read: Bearing   8.3,  -2.5 (Local)

2025-01-09T05:34:32.562Z,1736400872.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3,  -2.5 (Local)

2025-01-09T05:34:32.570Z,1736400872.570 [DAT](INFO): DAT read: Range 10 to 50 : 36.6 m  (Round-trip  48.8 ms) speed  0.4 m/s

2025-01-09T05:34:32.571Z,1736400872.571 [DAT](INFO): DAT read: user:116>

2025-01-09T05:34:32.571Z,1736400872.571 [DAT](INFO): DAT read: Tx time:05:34:31.7222

2025-01-09T05:34:32.572Z,1736400872.572 [DAT](INFO): Ping request sent.
2025-01-09T05:34:32.572Z,1736400872.572 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:32.572Z,1736400872.572 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:34:32.573Z,1736400872.573 [DAT](INFO): direction in FSK: [0.988584,0.144219,0.043619]
2025-01-09T05:34:32.573Z,1736400872.573 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:32.574Z,1736400872.574 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:32.602Z,1736400872.602 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:32.602Z,1736400872.602 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:32.610Z,1736400872.610 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.037929
2025-01-09T05:34:32.698Z,1736400872.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:32.733Z,1736400872.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.599998 m,
      deltaT: 3.528567 s,
      deltaX: -2.500000 m,
      approachRate: -0.708503 m/s,
      rangeRepo size: 4

2025-01-09T05:34:32.741Z,1736400872.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.599998 m,
      bearing: 265.905280 deg,
      lat: 36.904045 deg,
      lon: -122.118965 deg,
      deltaT: 7.052439 s,
      deltaX: -4.700001 m,
      approachRate: -0.666436 m/s,
      posRepo size: 4

2025-01-09T05:34:32.747Z,1736400872.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:34:32.756Z,1736400872.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 36.959049 m,
      bearing: 266.687314 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005760 deg/s,
      cmd heading: 256.230776 deg,
      new cmd heading: 256.223168 deg.

2025-01-09T05:34:32.757Z,1736400872.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471938 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:34:32.804Z,1736400872.804 [DAT](INFO): DAT read: TxSync time:05:34:31.7214

2025-01-09T05:34:32.805Z,1736400872.805 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.232752
2025-01-09T05:34:33.056Z,1736400873.056 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.483887
2025-01-09T05:34:33.145Z,1736400873.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:33.155Z,1736400873.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:34:33.158Z,1736400873.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 36.730091 m,
      bearing: 266.687417 deg,
      approach rate: -0.541184 m/s,
      LOS rate: 0.000244 deg/s,
      cmd heading: 256.223181 deg,
      new cmd heading: 256.223491 deg.

2025-01-09T05:34:33.159Z,1736400873.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471943 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:34:33.308Z,1736400873.308 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.735763
2025-01-09T05:34:33.471Z,1736400873.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:33.489Z,1736400873.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:34:33.500Z,1736400873.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 36.563194 m,
      bearing: 266.687906 deg,
      approach rate: -0.499050 m/s,
      LOS rate: 0.001468 deg/s,
      cmd heading: 256.223482 deg,
      new cmd heading: 256.224955 deg.

2025-01-09T05:34:33.501Z,1736400873.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471969 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:34:33.560Z,1736400873.560 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.987795
2025-01-09T05:34:33.812Z,1736400873.812 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.239763
2025-01-09T05:34:33.859Z,1736400873.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:33.869Z,1736400873.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:34:33.874Z,1736400873.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 36.364761 m,
      bearing: 266.688841 deg,
      approach rate: -0.521838 m/s,
      LOS rate: 0.002472 deg/s,
      cmd heading: 256.224957 deg,
      new cmd heading: 256.227778 deg.

2025-01-09T05:34:33.903Z,1736400873.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472018 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:34:34.064Z,1736400874.064 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.491818
2025-01-09T05:34:34.300Z,1736400874.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:34.307Z,1736400874.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:34.309Z,1736400874.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:34:34.312Z,1736400874.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 36.143383 m,
      bearing: 266.699310 deg,
      approach rate: -0.503964 m/s,
      LOS rate: 0.023978 deg/s,
      cmd heading: 256.227771 deg,
      new cmd heading: 256.259370 deg.

2025-01-09T05:34:34.313Z,1736400874.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472570 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:34:34.317Z,1736400874.317 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.744907
2025-01-09T05:34:34.568Z,1736400874.568 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.996013
2025-01-09T05:34:34.672Z,1736400874.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:34.681Z,1736400874.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:34:34.685Z,1736400874.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 35.954567 m,
      bearing: 266.707952 deg,
      approach rate: -0.507505 m/s,
      LOS rate: 0.023352 deg/s,
      cmd heading: 256.259381 deg,
      new cmd heading: 256.285446 deg.

2025-01-09T05:34:34.686Z,1736400874.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473025 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:34:34.820Z,1736400874.820 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.247838
2025-01-09T05:34:35.073Z,1736400875.073 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.500777
2025-01-09T05:34:35.109Z,1736400875.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:35.117Z,1736400875.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:34:35.120Z,1736400875.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 35.715912 m,
      bearing: 266.715143 deg,
      approach rate: -0.546921 m/s,
      LOS rate: 0.016589 deg/s,
      cmd heading: 256.285445 deg,
      new cmd heading: 256.307162 deg.

2025-01-09T05:34:35.121Z,1736400875.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473404 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:34:35.327Z,1736400875.327 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.754663
2025-01-09T05:34:35.475Z,1736400875.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:35.501Z,1736400875.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:34:35.508Z,1736400875.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 35.515831 m,
      bearing: 266.720821 deg,
      approach rate: -0.521281 m/s,
      LOS rate: 0.014876 deg/s,
      cmd heading: 256.307165 deg,
      new cmd heading: 256.324295 deg.

2025-01-09T05:34:35.509Z,1736400875.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473703 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:34:35.577Z,1736400875.577 [DAT](INFO): DAT read: Rx Time:05:34:34.1729

2025-01-09T05:34:35.577Z,1736400875.577 [DAT](INFO): Rx dataTimestamp_ set to:1736400875.576868
2025-01-09T05:34:35.578Z,1736400875.578 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.006181
2025-01-09T05:34:35.828Z,1736400875.828 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.255764
2025-01-09T05:34:35.893Z,1736400875.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:35.906Z,1736400875.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:34:35.921Z,1736400875.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 35.286751 m,
      bearing: 266.726913 deg,
      approach rate: -0.568803 m/s,
      LOS rate: 0.015225 deg/s,
      cmd heading: 256.324295 deg,
      new cmd heading: 256.342691 deg.

2025-01-09T05:34:35.947Z,1736400875.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474024 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:34:36.090Z,1736400876.090 [DAT](INFO): DAT read: 05:34:34.1729 LVL= 22512, 28849, 19106, 32467, AGC= 59, IDX= 425,-0.36,-2.256, 2.658,-2.495,-2.555, PHS= 0.387,-1.023, 0.057, RAW= 137.1,   9.1, CAL= 141.3,   2.4, ROT=   8.7,  -2.4

2025-01-09T05:34:36.092Z,1736400876.092 [DAT](INFO): got valid direction response:
 05:34:34.1729 LVL= 22512, 28849, 19106, 32467, AGC= 59, IDX= 425,-0.36,-2.256, 2.658,-2.495,-2.555, PHS= 0.387,-1.023, 0.057, RAW= 137.1,   9.1, CAL= 141.3,   2.4, ROT=   8.7,  -2.4

2025-01-09T05:34:36.092Z,1736400876.092 [DAT](INFO): DAT read: Bearing   8.7,  -2.4 (Local)

2025-01-09T05:34:36.093Z,1736400876.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.7,  -2.4 (Local)

2025-01-09T05:34:36.094Z,1736400876.094 [DAT](INFO): DAT read: Range 10 to 50 : 34.8 m  (Round-trip  46.5 ms) speed  0.5 m/s

2025-01-09T05:34:36.104Z,1736400876.104 [DAT](INFO): DAT read: user:117>

2025-01-09T05:34:36.105Z,1736400876.105 [DAT](INFO): DAT read: Tx time:05:34:35.2722

2025-01-09T05:34:36.105Z,1736400876.105 [DAT](INFO): Ping request sent.
2025-01-09T05:34:36.105Z,1736400876.105 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:36.106Z,1736400876.106 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-09T05:34:36.108Z,1736400876.108 [DAT](INFO): direction in FSK: [0.987627,0.151128,0.041876]
2025-01-09T05:34:36.108Z,1736400876.108 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:36.109Z,1736400876.109 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:36.128Z,1736400876.128 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:36.128Z,1736400876.128 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:36.136Z,1736400876.136 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.030864
2025-01-09T05:34:36.333Z,1736400876.333 [DAT](INFO): DAT read: TxSync time:05:34:35.2714

2025-01-09T05:34:36.334Z,1736400876.334 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.228263
2025-01-09T05:34:36.358Z,1736400876.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:36.394Z,1736400876.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.799999 m,
      deltaT: 3.527985 s,
      deltaX: -1.799999 m,
      approachRate: -0.510206 m/s,
      rangeRepo size: 4

2025-01-09T05:34:36.402Z,1736400876.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.799999 m,
      bearing: 266.642159 deg,
      lat: 36.904044 deg,
      lon: -122.118964 deg,
      deltaT: 3.527985 s,
      deltaX: -1.799999 m,
      approachRate: -0.510206 m/s,
      posRepo size: 4

2025-01-09T05:34:36.407Z,1736400876.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:36.409Z,1736400876.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 34.936836 m,
      bearing: 266.655495 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015225 deg/s,
      cmd heading: 256.342682 deg,
      new cmd heading: 256.365063 deg.

2025-01-09T05:34:36.414Z,1736400876.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474414 target range: 34.799999 and range: 34.80 m.
2025-01-09T05:34:36.585Z,1736400876.585 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.479271
2025-01-09T05:34:36.693Z,1736400876.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:36.701Z,1736400876.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:36.704Z,1736400876.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:36.707Z,1736400876.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 34.738880 m,
      bearing: 266.656483 deg,
      approach rate: -0.638471 m/s,
      LOS rate: 0.003203 deg/s,
      cmd heading: 256.365058 deg,
      new cmd heading: 256.368037 deg.

2025-01-09T05:34:36.708Z,1736400876.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474466 target range: 34.799999 and range: 34.80 m.
2025-01-09T05:34:36.836Z,1736400876.836 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.730762
2025-01-09T05:34:37.088Z,1736400877.088 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.982498
2025-01-09T05:34:37.131Z,1736400877.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:37.141Z,1736400877.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:37.162Z,1736400877.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 34.454861 m,
      bearing: 266.639869 deg,
      approach rate: -0.649938 m/s,
      LOS rate: -0.038331 deg/s,
      cmd heading: 256.368036 deg,
      new cmd heading: 256.317784 deg.

2025-01-09T05:34:37.168Z,1736400877.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473589 target range: 34.799999 and range: 34.80 m.
2025-01-09T05:34:37.340Z,1736400877.340 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.234323
2025-01-09T05:34:37.499Z,1736400877.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:37.524Z,1736400877.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:37.533Z,1736400877.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 34.216160 m,
      bearing: 266.625832 deg,
      approach rate: -0.622345 m/s,
      LOS rate: -0.036852 deg/s,
      cmd heading: 256.317793 deg,
      new cmd heading: 256.275389 deg.

2025-01-09T05:34:37.534Z,1736400877.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472849 target range: 34.799999 and range: 34.80 m.
2025-01-09T05:34:37.593Z,1736400877.593 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.487266
2025-01-09T05:34:37.844Z,1736400877.844 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.738352
2025-01-09T05:34:37.910Z,1736400877.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:37.920Z,1736400877.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:37.923Z,1736400877.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.950035 m,
      bearing: 266.609843 deg,
      approach rate: -0.673074 m/s,
      LOS rate: -0.040758 deg/s,
      cmd heading: 256.275391 deg,
      new cmd heading: 256.227046 deg.

2025-01-09T05:34:37.924Z,1736400877.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472005 target range: 34.799999 and range: 34.80 m.
2025-01-09T05:34:38.099Z,1736400878.099 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.993180
2025-01-09T05:34:38.349Z,1736400878.349 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.242855
2025-01-09T05:34:38.391Z,1736400878.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T05:34:38.391Z,1736400878.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:38.401Z,1736400878.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:38.404Z,1736400878.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.638477 m,
      bearing: 266.590801 deg,
      approach rate: -0.647089 m/s,
      LOS rate: -0.039914 deg/s,
      cmd heading: 256.227034 deg,
      new cmd heading: 256.169381 deg.

2025-01-09T05:34:38.405Z,1736400878.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470999 target range: 34.799999 and range: 34.80 m.
2025-01-09T05:34:38.600Z,1736400878.600 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.494923
2025-01-09T05:34:38.776Z,1736400878.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T05:34:38.776Z,1736400878.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:38.791Z,1736400878.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:38.793Z,1736400878.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:38.796Z,1736400878.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.388657 m,
      bearing: 266.576041 deg,
      approach rate: -0.637226 m/s,
      LOS rate: -0.037930 deg/s,
      cmd heading: 256.169387 deg,
      new cmd heading: 256.124776 deg.

2025-01-09T05:34:38.797Z,1736400878.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470221 target range: 34.799999 and range: 34.80 m.
2025-01-09T05:34:38.852Z,1736400878.852 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.746638
2025-01-09T05:34:39.105Z,1736400879.105 [DAT](INFO): DAT read: Rx Time:05:34:37.7205

2025-01-09T05:34:39.105Z,1736400879.105 [DAT](INFO): Rx dataTimestamp_ set to:1736400879.105046
2025-01-09T05:34:39.106Z,1736400879.106 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.000625
2025-01-09T05:34:39.234Z,1736400879.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:39.243Z,1736400879.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:39.246Z,1736400879.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 33.049244 m,
      bearing: 266.556838 deg,
      approach rate: -0.755205 m/s,
      LOS rate: -0.043167 deg/s,
      cmd heading: 256.124772 deg,
      new cmd heading: 256.066570 deg.

2025-01-09T05:34:39.247Z,1736400879.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469205 target range: 34.799999 and range: 34.80 m.
2025-01-09T05:34:39.357Z,1736400879.357 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.251263
2025-01-09T05:34:39.613Z,1736400879.613 [DAT](INFO): DAT read: 05:34:37.7206 LVL= 27120, 32753, 23394, 32755, AGC= 62, IDX= 416, 0.03, 2.619, 1.306, 2.447, 2.370, PHS= 0.337,-1.017, 0.074, RAW= 139.4,   9.8, CAL= 143.0,   2.9, ROT=   7.0,  -2.9

2025-01-09T05:34:39.614Z,1736400879.614 [DAT](INFO): got valid direction response:
 05:34:37.7206 LVL= 27120, 32753, 23394, 32755, AGC= 62, IDX= 416, 0.03, 2.619, 1.306, 2.447, 2.370, PHS= 0.337,-1.017, 0.074, RAW= 139.4,   9.8, CAL= 143.0,   2.9, ROT=   7.0,  -2.9

2025-01-09T05:34:39.617Z,1736400879.617 [DAT](INFO): DAT read: Bearing   7.0,  -2.9 (Local)

2025-01-09T05:34:39.618Z,1736400879.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.0,  -2.9 (Local)

2025-01-09T05:34:39.619Z,1736400879.619 [DAT](INFO): DAT read: Range 10 to 50 : 33.0 m  (Round-trip  44.1 ms) speed  0.7 m/s

2025-01-09T05:34:39.620Z,1736400879.620 [DAT](INFO): DAT read: user:118>

2025-01-09T05:34:39.621Z,1736400879.621 [DAT](INFO): DAT read: Tx time:05:34:38.8223

2025-01-09T05:34:39.621Z,1736400879.621 [DAT](INFO): Ping request sent.
2025-01-09T05:34:39.621Z,1736400879.621 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:39.621Z,1736400879.621 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-09T05:34:39.622Z,1736400879.622 [DAT](INFO): direction in FSK: [0.991275,0.121713,0.050593]
2025-01-09T05:34:39.623Z,1736400879.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:39.631Z,1736400879.631 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:39.631Z,1736400879.631 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:39.637Z,1736400879.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.000000 m,
      deltaT: 3.527459 s,
      deltaX: -1.799999 m,
      approachRate: -0.510282 m/s,
      rangeRepo size: 4

2025-01-09T05:34:39.637Z,1736400879.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:39.639Z,1736400879.639 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:39.640Z,1736400879.640 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:39.644Z,1736400879.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 32.760586 m,
      bearing: 266.541359 deg,
      approach rate: -0.733376 m/s,
      LOS rate: -0.039673 deg/s,
      cmd heading: 256.066579 deg,
      new cmd heading: 256.019733 deg.

2025-01-09T05:34:39.645Z,1736400879.645 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.024477
2025-01-09T05:34:39.687Z,1736400879.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468387 target range: 34.799999 and range: 33.00 m.
2025-01-09T05:34:39.860Z,1736400879.860 [DAT](INFO): DAT read: TxSync time:05:34:38.8215

2025-01-09T05:34:39.861Z,1736400879.861 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.239692
2025-01-09T05:34:40.004Z,1736400880.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:40.018Z,1736400880.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:40.021Z,1736400880.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 32.478729 m,
      bearing: 266.527001 deg,
      approach rate: -0.737773 m/s,
      LOS rate: -0.037910 deg/s,
      cmd heading: 256.019724 deg,
      new cmd heading: 255.976274 deg.

2025-01-09T05:34:40.039Z,1736400880.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467629 target range: 34.799999 and range: 33.00 m.
2025-01-09T05:34:40.116Z,1736400880.116 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.494168
2025-01-09T05:34:40.364Z,1736400880.364 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.742812
2025-01-09T05:34:40.434Z,1736400880.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:40.475Z,1736400880.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:40.478Z,1736400880.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 32.155869 m,
      bearing: 266.506214 deg,
      approach rate: -0.713314 m/s,
      LOS rate: -0.046386 deg/s,
      cmd heading: 255.976284 deg,
      new cmd heading: 255.913298 deg.

2025-01-09T05:34:40.484Z,1736400880.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466530 target range: 34.799999 and range: 33.00 m.
2025-01-09T05:34:40.617Z,1736400880.617 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.995938
2025-01-09T05:34:40.827Z,1736400880.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:40.840Z,1736400880.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:40.842Z,1736400880.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:40.845Z,1736400880.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 31.861219 m,
      bearing: 266.489356 deg,
      approach rate: -0.794070 m/s,
      LOS rate: -0.045853 deg/s,
      cmd heading: 255.913309 deg,
      new cmd heading: 255.862266 deg.

2025-01-09T05:34:40.846Z,1736400880.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465639 target range: 34.799999 and range: 33.00 m.
2025-01-09T05:34:40.868Z,1736400880.868 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.246760
2025-01-09T05:34:41.123Z,1736400881.123 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.501491
2025-01-09T05:34:41.251Z,1736400881.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:41.281Z,1736400881.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:41.288Z,1736400881.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 31.554796 m,
      bearing: 266.471745 deg,
      approach rate: -0.698410 m/s,
      LOS rate: -0.040529 deg/s,
      cmd heading: 255.862274 deg,
      new cmd heading: 255.808929 deg.

2025-01-09T05:34:41.289Z,1736400881.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464708 target range: 34.799999 and range: 33.00 m.
2025-01-09T05:34:41.372Z,1736400881.372 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.751446
2025-01-09T05:34:41.628Z,1736400881.628 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.006208
2025-01-09T05:34:41.643Z,1736400881.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:41.653Z,1736400881.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:41.656Z,1736400881.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 31.272173 m,
      bearing: 266.456482 deg,
      approach rate: -0.758167 m/s,
      LOS rate: -0.041316 deg/s,
      cmd heading: 255.808917 deg,
      new cmd heading: 255.762712 deg.

2025-01-09T05:34:41.657Z,1736400881.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463902 target range: 34.799999 and range: 33.00 m.
2025-01-09T05:34:41.877Z,1736400881.877 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.256237
2025-01-09T05:34:42.030Z,1736400882.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:42.040Z,1736400882.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:42.043Z,1736400882.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 30.993254 m,
      bearing: 266.441384 deg,
      approach rate: -0.721159 m/s,
      LOS rate: -0.039386 deg/s,
      cmd heading: 255.762717 deg,
      new cmd heading: 255.717018 deg.

2025-01-09T05:34:42.044Z,1736400882.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463104 target range: 34.799999 and range: 33.00 m.
2025-01-09T05:34:42.134Z,1736400882.134 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.512471
2025-01-09T05:34:42.380Z,1736400882.380 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.758762
2025-01-09T05:34:42.461Z,1736400882.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:42.475Z,1736400882.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:42.478Z,1736400882.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 30.700386 m,
      bearing: 266.434641 deg,
      approach rate: -0.679990 m/s,
      LOS rate: -0.015807 deg/s,
      cmd heading: 255.717010 deg,
      new cmd heading: 255.696585 deg.

2025-01-09T05:34:42.479Z,1736400882.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462747 target range: 34.799999 and range: 33.00 m.
2025-01-09T05:34:42.632Z,1736400882.632 [DAT](INFO): DAT read: Rx Time:05:34:41.2669

2025-01-09T05:34:42.633Z,1736400882.633 [DAT](INFO): Rx dataTimestamp_ set to:1736400882.632898
2025-01-09T05:34:42.634Z,1736400882.634 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.013094
2025-01-09T05:34:42.840Z,1736400882.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:42.863Z,1736400882.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:42.866Z,1736400882.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m.
2025-01-09T05:34:42.870Z,1736400882.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.799999 m,
      nav range: 30.442242 m,
      bearing: 266.428897 deg,
      approach rate: -0.654466 m/s,
      LOS rate: -0.014685 deg/s,
      cmd heading: 255.696574 deg,
      new cmd heading: 255.679196 deg.

2025-01-09T05:34:42.884Z,1736400882.884 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.263389
2025-01-09T05:34:42.885Z,1736400882.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462444 target range: 34.799999 and range: 33.00 m.
2025-01-09T05:34:43.157Z,1736400883.157 [DAT](INFO): DAT read: 05:34:41.2669 LVL= 25264, 32481, 22322, 32755, AGC= 58, IDX= 411,-0.12, 3.111, 1.753, 2.976, 2.867, PHS= 0.332,-1.067, 0.106, RAW= 141.4,   9.7, CAL= 144.4,   2.5, ROT=   5.6,  -2.5

2025-01-09T05:34:43.170Z,1736400883.170 [DAT](INFO): got valid direction response:
 05:34:41.2669 LVL= 25264, 32481, 22322, 32755, AGC= 58, IDX= 411,-0.12, 3.111, 1.753, 2.976, 2.867, PHS= 0.332,-1.067, 0.106, RAW= 141.4,   9.7, CAL= 144.4,   2.5, ROT=   5.6,  -2.5

2025-01-09T05:34:43.172Z,1736400883.172 [DAT](INFO): DAT read: Bearing   5.6,  -2.5 (Local)

2025-01-09T05:34:43.172Z,1736400883.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.6,  -2.5 (Local)

2025-01-09T05:34:43.173Z,1736400883.173 [DAT](INFO): DAT read: Range 10 to 50 : 30.3 m  (Round-trip  40.5 ms) speed  0.8 m/s

2025-01-09T05:34:43.174Z,1736400883.174 [DAT](INFO): DAT read: user:119>

2025-01-09T05:34:43.187Z,1736400883.187 [DAT](INFO): DAT read: Tx time:05:34:42.3723

2025-01-09T05:34:43.187Z,1736400883.187 [DAT](INFO): Ping request sent.
2025-01-09T05:34:43.188Z,1736400883.188 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:43.188Z,1736400883.188 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-01-09T05:34:43.189Z,1736400883.189 [DAT](INFO): direction in FSK: [0.994280,0.097490,0.043619]
2025-01-09T05:34:43.189Z,1736400883.189 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:43.189Z,1736400883.189 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:43.225Z,1736400883.225 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:43.226Z,1736400883.226 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:43.242Z,1736400883.242 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.054148
2025-01-09T05:34:43.353Z,1736400883.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:43.388Z,1736400883.388 [DAT](INFO): DAT read: TxSync time:05:34:42.3715

2025-01-09T05:34:43.389Z,1736400883.389 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.201060
2025-01-09T05:34:43.396Z,1736400883.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 3.529564 s,
      deltaX: -2.700001 m,
      approachRate: -0.764967 m/s,
      rangeRepo size: 4

2025-01-09T05:34:43.398Z,1736400883.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.299999 m,
      bearing: 261.901207 deg,
      lat: 36.904035 deg,
      lon: -122.118963 deg,
      deltaT: 7.057023 s,
      deltaX: -4.500000 m,
      approachRate: -0.637663 m/s,
      posRepo size: 4

2025-01-09T05:34:43.403Z,1736400883.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.30 m.
2025-01-09T05:34:43.406Z,1736400883.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.299999 m,
      nav range: 30.132677 m,
      bearing: 264.492894 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014685 deg/s,
      cmd heading: 255.679198 deg,
      new cmd heading: 255.656054 deg.

2025-01-09T05:34:43.411Z,1736400883.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462040 target range: 30.299999 and range: 30.30 m.
2025-01-09T05:34:43.640Z,1736400883.640 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.452364
2025-01-09T05:34:43.685Z,1736400883.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:43.694Z,1736400883.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.30 m.
2025-01-09T05:34:43.697Z,1736400883.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.299999 m,
      nav range: 29.928900 m,
      bearing: 264.487860 deg,
      approach rate: -0.671093 m/s,
      LOS rate: -0.016690 deg/s,
      cmd heading: 255.656057 deg,
      new cmd heading: 255.640853 deg.

2025-01-09T05:34:43.700Z,1736400883.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461775 target range: 30.299999 and range: 30.30 m.
2025-01-09T05:34:43.892Z,1736400883.892 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.704095
2025-01-09T05:34:44.081Z,1736400884.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:44.090Z,1736400884.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.30 m.
2025-01-09T05:34:44.093Z,1736400884.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.299999 m,
      nav range: 29.685986 m,
      bearing: 264.481768 deg,
      approach rate: -0.613516 m/s,
      LOS rate: -0.015512 deg/s,
      cmd heading: 255.640867 deg,
      new cmd heading: 255.622441 deg.

2025-01-09T05:34:44.095Z,1736400884.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461453 target range: 30.299999 and range: 30.30 m.
2025-01-09T05:34:44.147Z,1736400884.147 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.958595
2025-01-09T05:34:44.396Z,1736400884.396 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.208754
2025-01-09T05:34:44.524Z,1736400884.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:44.533Z,1736400884.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.30 m.
2025-01-09T05:34:44.536Z,1736400884.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.299999 m,
      nav range: 29.436743 m,
      bearing: 264.480060 deg,
      approach rate: -0.562568 m/s,
      LOS rate: -0.003887 deg/s,
      cmd heading: 255.622452 deg,
      new cmd heading: 255.617287 deg.

2025-01-09T05:34:44.537Z,1736400884.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461363 target range: 30.299999 and range: 30.30 m.
2025-01-09T05:34:44.648Z,1736400884.648 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.460118
2025-01-09T05:34:44.900Z,1736400884.900 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.712432
2025-01-09T05:34:44.901Z,1736400884.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:44.908Z,1736400884.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:44.910Z,1736400884.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.30 m.
2025-01-09T05:34:44.913Z,1736400884.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.299999 m,
      nav range: 29.224628 m,
      bearing: 264.477581 deg,
      approach rate: -0.563118 m/s,
      LOS rate: -0.006629 deg/s,
      cmd heading: 255.617289 deg,
      new cmd heading: 255.609798 deg.

2025-01-09T05:34:44.914Z,1736400884.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461233 target range: 30.299999 and range: 30.30 m.
2025-01-09T05:34:45.156Z,1736400885.156 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.967407
2025-01-09T05:34:45.336Z,1736400885.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:45.345Z,1736400885.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.30 m.
2025-01-09T05:34:45.348Z,1736400885.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.299999 m,
      nav range: 29.003248 m,
      bearing: 264.484821 deg,
      approach rate: -0.509020 m/s,
      LOS rate: 0.016773 deg/s,
      cmd heading: 255.609803 deg,
      new cmd heading: 255.631687 deg.

2025-01-09T05:34:45.350Z,1736400885.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461615 target range: 30.299999 and range: 30.30 m.
2025-01-09T05:34:45.404Z,1736400885.404 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.216226
2025-01-09T05:34:45.656Z,1736400885.656 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.467949
2025-01-09T05:34:45.709Z,1736400885.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:45.718Z,1736400885.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.30 m.
2025-01-09T05:34:45.721Z,1736400885.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.299999 m,
      nav range: 28.814070 m,
      bearing: 264.491095 deg,
      approach rate: -0.507277 m/s,
      LOS rate: 0.016936 deg/s,
      cmd heading: 255.631687 deg,
      new cmd heading: 255.650634 deg.

2025-01-09T05:34:45.722Z,1736400885.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461946 target range: 30.299999 and range: 30.30 m.
2025-01-09T05:34:45.908Z,1736400885.908 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.720269
2025-01-09T05:34:46.107Z,1736400886.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:46.116Z,1736400886.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.30 m.
2025-01-09T05:34:46.119Z,1736400886.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.299999 m,
      nav range: 28.611635 m,
      bearing: 264.495808 deg,
      approach rate: -0.508091 m/s,
      LOS rate: 0.011912 deg/s,
      cmd heading: 255.650648 deg,
      new cmd heading: 255.664886 deg.

2025-01-09T05:34:46.120Z,1736400886.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462194 target range: 30.299999 and range: 30.30 m.
2025-01-09T05:34:46.163Z,1736400886.163 [DAT](INFO): DAT read: Rx Time:05:34:44.8136

2025-01-09T05:34:46.164Z,1736400886.164 [DAT](INFO): Rx dataTimestamp_ set to:1736400886.163392
2025-01-09T05:34:46.166Z,1736400886.166 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.978096
2025-01-09T05:34:46.412Z,1736400886.412 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.223991
2025-01-09T05:34:46.537Z,1736400886.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:46.563Z,1736400886.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.30 m.
2025-01-09T05:34:46.600Z,1736400886.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.299999 m,
      nav range: 28.403913 m,
      bearing: 264.516730 deg,
      approach rate: -0.466679 m/s,
      LOS rate: 0.047349 deg/s,
      cmd heading: 255.664882 deg,
      new cmd heading: 255.728108 deg.

2025-01-09T05:34:46.609Z,1736400886.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463297 target range: 30.299999 and range: 30.30 m.
2025-01-09T05:34:46.683Z,1736400886.683 [DAT](INFO): DAT read: 05:34:44.8136 LVL= 19632, 25425, 18914, 26963, AGC= 58, IDX= 408, 0.20, 1.175,-0.237, 1.196, 0.928, PHS= 0.335,-1.118, 0.265, RAW= 147.6,   7.3, CAL= 149.1,  -1.3, ROT=   0.9,   1.3

2025-01-09T05:34:46.684Z,1736400886.684 [DAT](INFO): got valid direction response:
 05:34:44.8136 LVL= 19632, 25425, 18914, 26963, AGC= 58, IDX= 408, 0.20, 1.175,-0.237, 1.196, 0.928, PHS= 0.335,-1.118, 0.265, RAW= 147.6,   7.3, CAL= 149.1,  -1.3, ROT=   0.9,   1.3

2025-01-09T05:34:46.685Z,1736400886.685 [DAT](INFO): DAT read: Bearing   0.9,   1.3 (Local)

2025-01-09T05:34:46.685Z,1736400886.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,   1.3 (Local)

2025-01-09T05:34:46.687Z,1736400886.687 [DAT](INFO): DAT read: Range 10 to 50 : 27.9 m  (Round-trip  37.2 ms) speed  0.4 m/s

2025-01-09T05:34:46.688Z,1736400886.688 [DAT](INFO): DAT read: user:120>

2025-01-09T05:34:46.689Z,1736400886.689 [DAT](INFO): DAT read: Tx time:05:34:45.9223

2025-01-09T05:34:46.689Z,1736400886.689 [DAT](INFO): Ping request sent.
2025-01-09T05:34:46.689Z,1736400886.689 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:46.689Z,1736400886.689 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-01-09T05:34:46.690Z,1736400886.690 [DAT](INFO): direction in FSK: [0.999619,0.015703,-0.022687]
2025-01-09T05:34:46.691Z,1736400886.691 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:46.691Z,1736400886.691 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:46.694Z,1736400886.694 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:46.694Z,1736400886.694 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:46.728Z,1736400886.728 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.038881
2025-01-09T05:34:46.917Z,1736400886.917 [DAT](INFO): DAT read: TxSync time:05:34:45.9215

2025-01-09T05:34:46.919Z,1736400886.919 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.230237
2025-01-09T05:34:46.921Z,1736400886.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:46.955Z,1736400886.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 3.526971 s,
      deltaX: -2.400000 m,
      approachRate: -0.680470 m/s,
      rangeRepo size: 4

2025-01-09T05:34:46.957Z,1736400886.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.900000 m,
      bearing: 258.187409 deg,
      lat: 36.904033 deg,
      lon: -122.118963 deg,
      deltaT: 3.526971 s,
      deltaX: -2.400000 m,
      approachRate: -0.680470 m/s,
      posRepo size: 4

2025-01-09T05:34:46.958Z,1736400886.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-01-09T05:34:46.966Z,1736400886.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 28.179686 m,
      bearing: 264.050881 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047349 deg/s,
      cmd heading: 255.728102 deg,
      new cmd heading: 255.782710 deg.

2025-01-09T05:34:46.971Z,1736400886.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464251 target range: 27.900000 and range: 27.90 m.
2025-01-09T05:34:47.172Z,1736400887.172 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.482334
2025-01-09T05:34:47.353Z,1736400887.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:47.360Z,1736400887.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:47.383Z,1736400887.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-01-09T05:34:47.385Z,1736400887.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 27.971558 m,
      bearing: 264.059411 deg,
      approach rate: -0.499588 m/s,
      LOS rate: 0.020628 deg/s,
      cmd heading: 255.782716 deg,
      new cmd heading: 255.808497 deg.

2025-01-09T05:34:47.390Z,1736400887.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464701 target range: 27.900000 and range: 27.90 m.
2025-01-09T05:34:47.420Z,1736400887.420 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.731069
2025-01-09T05:34:47.672Z,1736400887.672 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.982680
2025-01-09T05:34:47.716Z,1736400887.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:47.725Z,1736400887.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-01-09T05:34:47.745Z,1736400887.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 27.796829 m,
      bearing: 264.066315 deg,
      approach rate: -0.481944 m/s,
      LOS rate: 0.019162 deg/s,
      cmd heading: 255.808507 deg,
      new cmd heading: 255.829348 deg.

2025-01-09T05:34:47.746Z,1736400887.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465065 target range: 27.900000 and range: 27.90 m.
2025-01-09T05:34:47.924Z,1736400887.924 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.234590
2025-01-09T05:34:48.140Z,1736400888.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:48.150Z,1736400888.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-01-09T05:34:48.153Z,1736400888.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 27.592623 m,
      bearing: 264.074494 deg,
      approach rate: -0.480812 m/s,
      LOS rate: 0.019401 deg/s,
      cmd heading: 255.829353 deg,
      new cmd heading: 255.854072 deg.

2025-01-09T05:34:48.154Z,1736400888.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465496 target range: 27.900000 and range: 27.90 m.
2025-01-09T05:34:48.176Z,1736400888.176 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.486745
2025-01-09T05:34:48.428Z,1736400888.428 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.738888
2025-01-09T05:34:48.550Z,1736400888.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:48.558Z,1736400888.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-01-09T05:34:48.561Z,1736400888.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 27.382523 m,
      bearing: 264.072093 deg,
      approach rate: -0.514337 m/s,
      LOS rate: -0.005925 deg/s,
      cmd heading: 255.854078 deg,
      new cmd heading: 255.846817 deg.

2025-01-09T05:34:48.562Z,1736400888.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465369 target range: 27.900000 and range: 27.90 m.
2025-01-09T05:34:48.680Z,1736400888.680 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.990711
2025-01-09T05:34:48.933Z,1736400888.933 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.243472
2025-01-09T05:34:48.944Z,1736400888.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:48.953Z,1736400888.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-01-09T05:34:48.956Z,1736400888.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 27.179976 m,
      bearing: 264.069855 deg,
      approach rate: -0.512596 m/s,
      LOS rate: -0.005704 deg/s,
      cmd heading: 255.846811 deg,
      new cmd heading: 255.840049 deg.

2025-01-09T05:34:48.957Z,1736400888.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465251 target range: 27.900000 and range: 27.90 m.
2025-01-09T05:34:49.187Z,1736400889.187 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.497104
2025-01-09T05:34:49.385Z,1736400889.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:49.400Z,1736400889.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:49.402Z,1736400889.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-01-09T05:34:49.409Z,1736400889.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 26.934803 m,
      bearing: 264.053039 deg,
      approach rate: -0.545967 m/s,
      LOS rate: -0.037788 deg/s,
      cmd heading: 255.840062 deg,
      new cmd heading: 255.789155 deg.

2025-01-09T05:34:49.410Z,1736400889.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464363 target range: 27.900000 and range: 27.90 m.
2025-01-09T05:34:49.436Z,1736400889.436 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.746887
2025-01-09T05:34:49.688Z,1736400889.688 [DAT](INFO): DAT read: Rx Time:05:34:48.3616

2025-01-09T05:34:49.688Z,1736400889.688 [DAT](INFO): Rx dataTimestamp_ set to:1736400889.687774
2025-01-09T05:34:49.689Z,1736400889.689 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.999604
2025-01-09T05:34:49.740Z,1736400889.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:49.770Z,1736400889.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-01-09T05:34:49.777Z,1736400889.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 26.737526 m,
      bearing: 264.040124 deg,
      approach rate: -0.537418 m/s,
      LOS rate: -0.035444 deg/s,
      cmd heading: 255.789164 deg,
      new cmd heading: 255.750131 deg.

2025-01-09T05:34:49.778Z,1736400889.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463682 target range: 27.900000 and range: 27.90 m.
2025-01-09T05:34:49.940Z,1736400889.940 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.251123
2025-01-09T05:34:50.183Z,1736400890.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:50.202Z,1736400890.202 [DAT](INFO): DAT read: 05:34:48.3616 LVL= 19312, 29377, 19378, 32707, AGC= 57, IDX= 419, 0.18,-1.390,-2.784,-1.327,-1.621, PHS= 0.319,-1.116, 0.291, RAW= 149.0,   7.2, CAL= 150.2,  -1.6, ROT= 359.8,   1.6

2025-01-09T05:34:50.205Z,1736400890.205 [DAT](INFO): got valid direction response:
 05:34:48.3616 LVL= 19312, 29377, 19378, 32707, AGC= 57, IDX= 419, 0.18,-1.390,-2.784,-1.327,-1.621, PHS= 0.319,-1.116, 0.291, RAW= 149.0,   7.2, CAL= 150.2,  -1.6, ROT= 359.8,   1.6

2025-01-09T05:34:50.206Z,1736400890.206 [DAT](INFO): DAT read: Bearing 359.8,   1.6 (Local)

2025-01-09T05:34:50.207Z,1736400890.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,   1.6 (Local)

2025-01-09T05:34:50.208Z,1736400890.208 [DAT](INFO): DAT read: Range 10 to 50 : 26.3 m  (Round-trip  35.1 ms) speed  0.4 m/s

2025-01-09T05:34:50.209Z,1736400890.209 [DAT](INFO): DAT read: user:121>

2025-01-09T05:34:50.209Z,1736400890.209 [DAT](INFO): DAT read: Tx time:05:34:49.4724

2025-01-09T05:34:50.210Z,1736400890.210 [DAT](INFO): Ping request sent.
2025-01-09T05:34:50.210Z,1736400890.210 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:50.210Z,1736400890.210 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-01-09T05:34:50.211Z,1736400890.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-01-09T05:34:50.217Z,1736400890.217 [DAT](INFO): direction in FSK: [0.999604,-0.003489,-0.027922]
2025-01-09T05:34:50.218Z,1736400890.218 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:50.239Z,1736400890.239 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:50.245Z,1736400890.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 26.491535 m,
      bearing: 264.024086 deg,
      approach rate: -0.583771 m/s,
      LOS rate: -0.038412 deg/s,
      cmd heading: 255.750122 deg,
      new cmd heading: 255.701563 deg.

2025-01-09T05:34:50.257Z,1736400890.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462834 target range: 27.900000 and range: 27.90 m.
2025-01-09T05:34:50.276Z,1736400890.276 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:50.277Z,1736400890.277 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:50.290Z,1736400890.290 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.080255
2025-01-09T05:34:50.444Z,1736400890.444 [DAT](INFO): DAT read: TxSync time:05:34:49.4716

2025-01-09T05:34:50.445Z,1736400890.445 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.234851
2025-01-09T05:34:50.626Z,1736400890.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:50.642Z,1736400890.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 3.527638 s,
      deltaX: -1.600000 m,
      approachRate: -0.453561 m/s,
      rangeRepo size: 4

2025-01-09T05:34:50.644Z,1736400890.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.299999 m,
      bearing: 257.083377 deg,
      lat: 36.904023 deg,
      lon: -122.118963 deg,
      deltaT: 3.527638 s,
      deltaX: -1.600000 m,
      approachRate: -0.453561 m/s,
      posRepo size: 4

2025-01-09T05:34:50.645Z,1736400890.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-01-09T05:34:50.648Z,1736400890.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.299999 m,
      nav range: 26.369425 m,
      bearing: 261.517227 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038412 deg/s,
      cmd heading: 255.701573 deg,
      new cmd heading: 255.649684 deg.

2025-01-09T05:34:50.650Z,1736400890.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461929 target range: 26.299999 and range: 26.30 m.
2025-01-09T05:34:50.696Z,1736400890.696 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.485956
2025-01-09T05:34:50.948Z,1736400890.948 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.737832
2025-01-09T05:34:50.995Z,1736400890.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:51.004Z,1736400891.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-01-09T05:34:51.024Z,1736400891.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.299999 m,
      nav range: 26.149378 m,
      bearing: 261.465891 deg,
      approach rate: -0.605506 m/s,
      LOS rate: -0.142450 deg/s,
      cmd heading: 255.649691 deg,
      new cmd heading: 255.494389 deg.

2025-01-09T05:34:51.024Z,1736400891.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459219 target range: 26.299999 and range: 26.30 m.
2025-01-09T05:34:51.200Z,1736400891.200 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.990512
2025-01-09T05:34:51.452Z,1736400891.452 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.241989
2025-01-09T05:34:51.453Z,1736400891.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:51.460Z,1736400891.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:51.462Z,1736400891.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-01-09T05:34:51.467Z,1736400891.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.299999 m,
      nav range: 25.855503 m,
      bearing: 261.396523 deg,
      approach rate: -0.641838 m/s,
      LOS rate: -0.153226 deg/s,
      cmd heading: 255.494400 deg,
      new cmd heading: 255.283931 deg.

2025-01-09T05:34:51.468Z,1736400891.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455545 target range: 26.299999 and range: 26.30 m.
2025-01-09T05:34:51.704Z,1736400891.704 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.493797
2025-01-09T05:34:51.804Z,1736400891.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:51.829Z,1736400891.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-01-09T05:34:51.836Z,1736400891.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.299999 m,
      nav range: 25.630547 m,
      bearing: 261.343343 deg,
      approach rate: -0.614184 m/s,
      LOS rate: -0.146468 deg/s,
      cmd heading: 255.283921 deg,
      new cmd heading: 255.122981 deg.

2025-01-09T05:34:51.837Z,1736400891.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452736 target range: 26.299999 and range: 26.30 m.
2025-01-09T05:34:51.956Z,1736400891.956 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.745795
2025-01-09T05:34:52.205Z,1736400892.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:52.208Z,1736400892.208 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.997979
2025-01-09T05:34:52.216Z,1736400892.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-01-09T05:34:52.219Z,1736400892.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.299999 m,
      nav range: 25.373688 m,
      bearing: 261.280726 deg,
      approach rate: -0.665563 m/s,
      LOS rate: -0.163893 deg/s,
      cmd heading: 255.122974 deg,
      new cmd heading: 254.933223 deg.

2025-01-09T05:34:52.220Z,1736400892.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449424 target range: 26.299999 and range: 26.30 m.
2025-01-09T05:34:52.460Z,1736400892.460 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.249799
2025-01-09T05:34:52.651Z,1736400892.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:52.660Z,1736400892.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-01-09T05:34:52.663Z,1736400892.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.299999 m,
      nav range: 25.069036 m,
      bearing: 261.192399 deg,
      approach rate: -0.684236 m/s,
      LOS rate: -0.200790 deg/s,
      cmd heading: 254.933232 deg,
      new cmd heading: 254.665033 deg.

2025-01-09T05:34:52.664Z,1736400892.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.444743 target range: 26.299999 and range: 26.30 m.
2025-01-09T05:34:52.712Z,1736400892.712 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.502624
2025-01-09T05:34:52.964Z,1736400892.964 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.753871
2025-01-09T05:34:53.017Z,1736400893.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:53.025Z,1736400893.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-01-09T05:34:53.028Z,1736400893.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.299999 m,
      nav range: 24.818657 m,
      bearing: 261.118228 deg,
      approach rate: -0.684979 m/s,
      LOS rate: -0.204963 deg/s,
      cmd heading: 254.665024 deg,
      new cmd heading: 254.440265 deg.

2025-01-09T05:34:53.029Z,1736400893.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.440820 target range: 26.299999 and range: 26.30 m.
2025-01-09T05:34:53.217Z,1736400893.217 [DAT](INFO): DAT read: Rx Time:05:34:51.9091

2025-01-09T05:34:53.217Z,1736400893.217 [DAT](INFO): Rx dataTimestamp_ set to:1736400893.216828
2025-01-09T05:34:53.218Z,1736400893.218 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.007881
2025-01-09T05:34:53.470Z,1736400893.470 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.259957
2025-01-09T05:34:53.477Z,1736400893.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:53.485Z,1736400893.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:53.488Z,1736400893.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-01-09T05:34:53.491Z,1736400893.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.299999 m,
      nav range: 24.497847 m,
      bearing: 261.033360 deg,
      approach rate: -0.695319 m/s,
      LOS rate: -0.186349 deg/s,
      cmd heading: 254.440256 deg,
      new cmd heading: 254.182321 deg.

2025-01-09T05:34:53.492Z,1736400893.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.436318 target range: 26.299999 and range: 26.30 m.
2025-01-09T05:34:53.725Z,1736400893.725 [DAT](INFO): DAT read: 05:34:51.9091 LVL= 20720, 32753, 18498, 32755, AGC= 59, IDX= 410,-0.06, 2.888, 1.501, 3.032, 2.692, PHS= 0.284,-1.144, 0.337, RAW= 151.8,   7.2, CAL= 152.6,  -1.8, ROT= 357.4,   1.8

2025-01-09T05:34:53.726Z,1736400893.726 [DAT](INFO): got valid direction response:
 05:34:51.9091 LVL= 20720, 32753, 18498, 32755, AGC= 59, IDX= 410,-0.06, 2.888, 1.501, 3.032, 2.692, PHS= 0.284,-1.144, 0.337, RAW= 151.8,   7.2, CAL= 152.6,  -1.8, ROT= 357.4,   1.8

2025-01-09T05:34:53.727Z,1736400893.727 [DAT](INFO): DAT read: Bearing 357.4,   1.8 (Local)

2025-01-09T05:34:53.728Z,1736400893.728 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,   1.8 (Local)

2025-01-09T05:34:53.729Z,1736400893.729 [DAT](INFO): DAT read: Range 10 to 50 : 24.4 m  (Round-trip  32.6 ms) speed  0.8 m/s

2025-01-09T05:34:53.730Z,1736400893.730 [DAT](INFO): DAT read: user:122>

2025-01-09T05:34:53.730Z,1736400893.730 [DAT](INFO): DAT read: Tx time:05:34:53.0224

2025-01-09T05:34:53.731Z,1736400893.731 [DAT](INFO): Ping request sent.
2025-01-09T05:34:53.731Z,1736400893.731 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:53.731Z,1736400893.731 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-01-09T05:34:53.733Z,1736400893.733 [DAT](INFO): direction in FSK: [0.998478,-0.045341,-0.031411]
2025-01-09T05:34:53.733Z,1736400893.733 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:53.734Z,1736400893.734 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:53.737Z,1736400893.737 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:53.737Z,1736400893.737 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:53.742Z,1736400893.742 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.011396
2025-01-09T05:34:53.871Z,1736400893.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:53.913Z,1736400893.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.400000 m,
      deltaT: 3.527757 s,
      deltaX: -1.900000 m,
      approachRate: -0.538586 m/s,
      rangeRepo size: 4

2025-01-09T05:34:53.920Z,1736400893.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.400000 m,
      bearing: 254.510844 deg,
      lat: 36.904008 deg,
      lon: -122.118958 deg,
      deltaT: 3.527757 s,
      deltaX: -1.900000 m,
      approachRate: -0.538586 m/s,
      posRepo size: 4

2025-01-09T05:34:53.920Z,1736400893.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-01-09T05:34:53.927Z,1736400893.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 24.105145 m,
      bearing: 256.943380 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.186349 deg/s,
      cmd heading: 254.182321 deg,
      new cmd heading: 253.944378 deg.

2025-01-09T05:34:53.928Z,1736400893.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432166 target range: 24.400000 and range: 24.40 m.
2025-01-09T05:34:53.972Z,1736400893.972 [DAT](INFO): DAT read: TxSync time:05:34:53.0216

2025-01-09T05:34:53.973Z,1736400893.973 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.241980
2025-01-09T05:34:54.225Z,1736400894.225 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.494313
2025-01-09T05:34:54.244Z,1736400894.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:54.260Z,1736400894.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-01-09T05:34:54.263Z,1736400894.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 23.848021 m,
      bearing: 256.829198 deg,
      approach rate: -0.739327 m/s,
      LOS rate: -0.331855 deg/s,
      cmd heading: 253.944384 deg,
      new cmd heading: 253.598150 deg.

2025-01-09T05:34:54.264Z,1736400894.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.426123 target range: 24.400000 and range: 24.40 m.
2025-01-09T05:34:54.476Z,1736400894.476 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.745305
2025-01-09T05:34:54.669Z,1736400894.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:54.677Z,1736400894.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-01-09T05:34:54.680Z,1736400894.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 23.558605 m,
      bearing: 256.705623 deg,
      approach rate: -0.693491 m/s,
      LOS rate: -0.299746 deg/s,
      cmd heading: 253.598148 deg,
      new cmd heading: 253.222874 deg.

2025-01-09T05:34:54.682Z,1736400894.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.419573 target range: 24.400000 and range: 24.40 m.
2025-01-09T05:34:54.728Z,1736400894.728 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.996960
2025-01-09T05:34:54.980Z,1736400894.980 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.248784
2025-01-09T05:34:55.054Z,1736400895.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:55.063Z,1736400895.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-01-09T05:34:55.068Z,1736400895.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 23.296198 m,
      bearing: 256.590884 deg,
      approach rate: -0.681344 m/s,
      LOS rate: -0.301276 deg/s,
      cmd heading: 253.222870 deg,
      new cmd heading: 252.874782 deg.

2025-01-09T05:34:55.069Z,1736400895.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.413497 target range: 24.400000 and range: 24.40 m.
2025-01-09T05:34:55.233Z,1736400895.233 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.501545
2025-01-09T05:34:55.485Z,1736400895.485 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.754157
2025-01-09T05:34:55.493Z,1736400895.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:55.514Z,1736400895.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:55.520Z,1736400895.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-01-09T05:34:55.527Z,1736400895.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 22.999170 m,
      bearing: 256.472913 deg,
      approach rate: -0.649469 m/s,
      LOS rate: -0.261282 deg/s,
      cmd heading: 252.874777 deg,
      new cmd heading: 252.516298 deg.

2025-01-09T05:34:55.528Z,1736400895.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407241 target range: 24.400000 and range: 24.40 m.
2025-01-09T05:34:55.736Z,1736400895.736 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.005079
2025-01-09T05:34:55.977Z,1736400895.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:55.988Z,1736400895.988 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.257166
2025-01-09T05:34:55.989Z,1736400895.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-01-09T05:34:55.992Z,1736400895.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 22.670956 m,
      bearing: 256.342559 deg,
      approach rate: -0.703158 m/s,
      LOS rate: -0.283311 deg/s,
      cmd heading: 252.516301 deg,
      new cmd heading: 252.119582 deg.

2025-01-09T05:34:55.993Z,1736400895.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400317 target range: 24.400000 and range: 24.40 m.
2025-01-09T05:34:56.240Z,1736400896.240 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.509514
2025-01-09T05:34:56.449Z,1736400896.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:56.462Z,1736400896.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-01-09T05:34:56.465Z,1736400896.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 22.368862 m,
      bearing: 256.243543 deg,
      approach rate: -0.635196 m/s,
      LOS rate: -0.211006 deg/s,
      cmd heading: 252.119576 deg,
      new cmd heading: 251.818522 deg.

2025-01-09T05:34:56.466Z,1736400896.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.395062 target range: 24.400000 and range: 24.40 m.
2025-01-09T05:34:56.493Z,1736400896.493 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.762138
2025-01-09T05:34:56.744Z,1736400896.744 [DAT](INFO): DAT read: Rx Time:05:34:55.4558

2025-01-09T05:34:56.745Z,1736400896.745 [DAT](INFO): Rx dataTimestamp_ set to:1736400896.744624
2025-01-09T05:34:56.746Z,1736400896.746 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.014934
2025-01-09T05:34:56.887Z,1736400896.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:56.896Z,1736400896.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-01-09T05:34:56.900Z,1736400896.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.400000 m,
      nav range: 22.087612 m,
      bearing: 256.151924 deg,
      approach rate: -0.648451 m/s,
      LOS rate: -0.213927 deg/s,
      cmd heading: 251.818529 deg,
      new cmd heading: 251.540174 deg.

2025-01-09T05:34:56.901Z,1736400896.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.390204 target range: 24.400000 and range: 24.40 m.
2025-01-09T05:34:56.996Z,1736400896.996 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.264754
2025-01-09T05:34:57.257Z,1736400897.257 [DAT](INFO): DAT read: 05:34:55.4558 LVL= 24144, 32753, 21554, 32755, AGC= 56, IDX= 408,-0.11, 0.610,-0.682, 0.813, 0.482, PHS= 0.215,-1.118, 0.327, RAW= 154.0,   8.3, CAL= 154.2,  -0.9, ROT= 355.8,   0.9

2025-01-09T05:34:57.263Z,1736400897.263 [DAT](INFO): got valid direction response:
 05:34:55.4558 LVL= 24144, 32753, 21554, 32755, AGC= 56, IDX= 408,-0.11, 0.610,-0.682, 0.813, 0.482, PHS= 0.215,-1.118, 0.327, RAW= 154.0,   8.3, CAL= 154.2,  -0.9, ROT= 355.8,   0.9

2025-01-09T05:34:57.266Z,1736400897.266 [DAT](INFO): DAT read: Bearing 355.8,   0.9 (Local)

2025-01-09T05:34:57.266Z,1736400897.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,   0.9 (Local)

2025-01-09T05:34:57.268Z,1736400897.268 [DAT](INFO): DAT read: Range 10 to 50 : 21.9 m  (Round-trip  29.2 ms) speed  0.6 m/s

2025-01-09T05:34:57.269Z,1736400897.269 [DAT](INFO): DAT read: user:123>

2025-01-09T05:34:57.269Z,1736400897.269 [DAT](INFO): DAT read: Tx time:05:34:56.5724

2025-01-09T05:34:57.270Z,1736400897.270 [DAT](INFO): Ping request sent.
2025-01-09T05:34:57.270Z,1736400897.270 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:34:57.270Z,1736400897.270 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-01-09T05:34:57.272Z,1736400897.272 [DAT](INFO): direction in FSK: [0.997191,-0.073229,-0.015707]
2025-01-09T05:34:57.272Z,1736400897.272 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:57.272Z,1736400897.272 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:57.277Z,1736400897.277 [DAT](INFO): publishing transmit ping time
2025-01-09T05:34:57.277Z,1736400897.277 [DAT](INFO): publishing direction and range info
2025-01-09T05:34:57.318Z,1736400897.318 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.047362
2025-01-09T05:34:57.369Z,1736400897.369 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:34:57.502Z,1736400897.502 [DAT](INFO): DAT read: TxSync time:05:34:56.5716

2025-01-09T05:34:57.503Z,1736400897.503 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.233467
2025-01-09T05:34:57.523Z,1736400897.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:57.546Z,1736400897.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 3.529654 s,
      deltaX: -2.500000 m,
      approachRate: -0.708285 m/s,
      rangeRepo size: 4

2025-01-09T05:34:57.560Z,1736400897.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.900000 m,
      bearing: 251.048504 deg,
      lat: 36.904005 deg,
      lon: -122.118957 deg,
      deltaT: 3.529654 s,
      deltaX: -2.500000 m,
      approachRate: -0.708285 m/s,
      posRepo size: 4

2025-01-09T05:34:57.561Z,1736400897.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-01-09T05:34:57.568Z,1736400897.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.900000 m,
      nav range: 21.738029 m,
      bearing: 255.161943 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.213927 deg/s,
      cmd heading: 251.540185 deg,
      new cmd heading: 251.123645 deg.

2025-01-09T05:34:57.569Z,1736400897.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382935 target range: 21.900000 and range: 21.90 m.
2025-01-09T05:34:57.753Z,1736400897.753 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.482381
2025-01-09T05:34:57.862Z,1736400897.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:57.883Z,1736400897.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:34:57.885Z,1736400897.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-01-09T05:34:57.893Z,1736400897.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.900000 m,
      nav range: 21.520567 m,
      bearing: 255.104910 deg,
      approach rate: -0.638936 m/s,
      LOS rate: -0.169264 deg/s,
      cmd heading: 251.123653 deg,
      new cmd heading: 250.950826 deg.

2025-01-09T05:34:57.894Z,1736400897.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379918 target range: 21.900000 and range: 21.90 m.
2025-01-09T05:34:58.004Z,1736400898.004 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.734288
2025-01-09T05:34:58.252Z,1736400898.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:58.256Z,1736400898.256 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.985884
2025-01-09T05:34:58.278Z,1736400898.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-01-09T05:34:58.282Z,1736400898.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.900000 m,
      nav range: 21.275780 m,
      bearing: 255.043543 deg,
      approach rate: -0.649353 m/s,
      LOS rate: -0.164662 deg/s,
      cmd heading: 250.950822 deg,
      new cmd heading: 250.764604 deg.

2025-01-09T05:34:58.287Z,1736400898.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.376668 target range: 21.900000 and range: 21.90 m.
2025-01-09T05:34:58.372Z,1736400898.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:34:58.511Z,1736400898.511 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.241137
2025-01-09T05:34:58.691Z,1736400898.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:58.708Z,1736400898.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-01-09T05:34:58.716Z,1736400898.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.900000 m,
      nav range: 21.030350 m,
      bearing: 254.982895 deg,
      approach rate: -0.551036 m/s,
      LOS rate: -0.137757 deg/s,
      cmd heading: 250.764603 deg,
      new cmd heading: 250.580535 deg.

2025-01-09T05:34:58.717Z,1736400898.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373456 target range: 21.900000 and range: 21.90 m.
2025-01-09T05:34:58.763Z,1736400898.763 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.493053
2025-01-09T05:34:59.012Z,1736400899.012 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.741807
2025-01-09T05:34:59.077Z,1736400899.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:59.089Z,1736400899.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-01-09T05:34:59.109Z,1736400899.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.900000 m,
      nav range: 20.796524 m,
      bearing: 254.925962 deg,
      approach rate: -0.612487 m/s,
      LOS rate: -0.150806 deg/s,
      cmd heading: 250.580543 deg,
      new cmd heading: 250.407827 deg.

2025-01-09T05:34:59.109Z,1736400899.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370441 target range: 21.900000 and range: 21.90 m.
2025-01-09T05:34:59.264Z,1736400899.264 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.993727
2025-01-09T05:34:59.510Z,1736400899.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:59.516Z,1736400899.516 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.245828
2025-01-09T05:34:59.520Z,1736400899.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-01-09T05:34:59.523Z,1736400899.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.900000 m,
      nav range: 20.551365 m,
      bearing: 254.890593 deg,
      approach rate: -0.568906 m/s,
      LOS rate: -0.083056 deg/s,
      cmd heading: 250.407822 deg,
      new cmd heading: 250.300448 deg.

2025-01-09T05:34:59.525Z,1736400899.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368567 target range: 21.900000 and range: 21.90 m.
2025-01-09T05:34:59.768Z,1736400899.768 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.498525
2025-01-09T05:34:59.869Z,1736400899.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:34:59.878Z,1736400899.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-01-09T05:34:59.881Z,1736400899.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.900000 m,
      nav range: 20.348192 m,
      bearing: 254.864995 deg,
      approach rate: -0.568296 m/s,
      LOS rate: -0.072315 deg/s,
      cmd heading: 250.300451 deg,
      new cmd heading: 250.222891 deg.

2025-01-09T05:34:59.885Z,1736400899.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367213 target range: 21.900000 and range: 21.90 m.
2025-01-09T05:35:00.020Z,1736400900.020 [DAT](INFO): DAT read: Rx Time:05:34:58.7278 

2025-01-09T05:35:00.021Z,1736400900.021 [DAT](INFO): Rx dataTimestamp_ set to:1736400900.020337
2025-01-09T05:35:00.022Z,1736400900.022 [DAT](INFO): DAT read: Bearing 359.6,   0.3 (Local)

2025-01-09T05:35:00.022Z,1736400900.022 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,   0.3 (Local)

2025-01-09T05:35:00.024Z,1736400900.024 [DAT](INFO): DAT read: Range 10 to 50 :    19.7 m (trip time 13.1 ms) speed 0.4

2025-01-09T05:35:00.029Z,1736400900.029 [DAT](INFO): DAT read: 05:34:58.7278 LVL= 15344, 21553, 16370, 21619, AGC= 57, IDX= 153,-0.25,-1.560,-2.895,-1.475,-1.736, PHS= 0.265,-1.111, 0.258, RAW= 149.8,   8.6, CAL= 150.4,  -0.3, ROT= 359.6,   0.3

2025-01-09T05:35:00.030Z,1736400900.030 [DAT](INFO): got valid direction response:
 05:34:58.7278 LVL= 15344, 21553, 16370, 21619, AGC= 57, IDX= 153,-0.25,-1.560,-2.895,-1.475,-1.736, PHS= 0.265,-1.111, 0.258, RAW= 149.8,   8.6, CAL= 150.4,  -0.3, ROT= 359.6,   0.3

2025-01-09T05:35:00.031Z,1736400900.031 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-01-09T05:35:00.033Z,1736400900.033 [DAT](INFO): direction in FSK: [0.999962,-0.006981,-0.005236]
2025-01-09T05:35:00.033Z,1736400900.033 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:00.037Z,1736400900.037 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.767211
2025-01-09T05:35:00.277Z,1736400900.277 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.006006
2025-01-09T05:35:00.302Z,1736400900.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:00.368Z,1736400900.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 2.771582 s,
      deltaX: -2.199999 m,
      approachRate: -0.793770 m/s,
      rangeRepo size: 4

2025-01-09T05:35:00.401Z,1736400900.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.700001 m,
      bearing: 252.897957 deg,
      lat: 36.904000 deg,
      lon: -122.118954 deg,
      deltaT: 2.771582 s,
      deltaX: -2.199999 m,
      approachRate: -0.793770 m/s,
      posRepo size: 4

2025-01-09T05:35:00.428Z,1736400900.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-01-09T05:35:00.445Z,1736400900.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.700001 m,
      nav range: 19.987692 m,
      bearing: 253.152943 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072315 deg/s,
      cmd heading: 250.222887 deg,
      new cmd heading: 250.118171 deg.

2025-01-09T05:35:00.446Z,1736400900.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365386 target range: 19.700001 and range: 19.70 m.
2025-01-09T05:35:00.527Z,1736400900.527 [DAT](INFO): DAT read: Rx Time:05:34:59.2275 

2025-01-09T05:35:00.528Z,1736400900.528 [DAT](INFO): Rx dataTimestamp_ set to:1736400900.527687
2025-01-09T05:35:00.531Z,1736400900.531 [DAT](INFO): DAT read: Bearing 359.6,   0.6 (Local)

2025-01-09T05:35:00.531Z,1736400900.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,   0.6 (Local)

2025-01-09T05:35:00.534Z,1736400900.534 [DAT](INFO): DAT read: Range 10 to 50 :    19.2 m (trip time 12.8 ms) speed 0.4

2025-01-09T05:35:00.540Z,1736400900.540 [DAT](INFO): DAT read: 05:34:59.2275 LVL= 19936, 32753, 20594, 32755, AGC= 56, IDX= 502,-0.07,-1.722,-3.084,-1.643,-1.915, PHS= 0.281,-1.121, 0.269, RAW= 149.6,   8.2, CAL= 150.4,  -0.6, ROT= 359.6,   0.6

2025-01-09T05:35:00.541Z,1736400900.541 [DAT](INFO): got valid direction response:
 05:34:59.2275 LVL= 19936, 32753, 20594, 32755, AGC= 56, IDX= 502,-0.07,-1.722,-3.084,-1.643,-1.915, PHS= 0.281,-1.121, 0.269, RAW= 149.6,   8.2, CAL= 150.4,  -0.6, ROT= 359.6,   0.6

2025-01-09T05:35:00.542Z,1736400900.542 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-01-09T05:35:00.549Z,1736400900.549 [DAT](INFO): direction in FSK: [0.999921,-0.006981,-0.010472]
2025-01-09T05:35:00.549Z,1736400900.549 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:00.557Z,1736400900.557 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.287039
2025-01-09T05:35:00.780Z,1736400900.780 [DAT](INFO): DAT read: Rx Time:05:34:59.7275 

2025-01-09T05:35:00.782Z,1736400900.782 [DAT](INFO): Rx dataTimestamp_ set to:1736400900.780452
2025-01-09T05:35:00.796Z,1736400900.796 [DAT](INFO): DAT read: Bearing 359.7,   1.3 (Local)

2025-01-09T05:35:00.797Z,1736400900.797 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,   1.3 (Local)

2025-01-09T05:35:00.805Z,1736400900.805 [DAT](INFO): DAT read: Range 10 to 50 :    19.2 m (trip time 12.8 ms) speed 0.4

2025-01-09T05:35:00.842Z,1736400900.842 [DAT](INFO): DAT read: 05:34:59.7275 LVL= 20384, 29233, 19954, 30179, AGC= 55, IDX= 501, 0.15, 0.646,-0.749, 0.715, 0.425, PHS= 0.309,-1.127, 0.287, RAW= 149.2,   7.5, CAL= 150.3,  -1.3, ROT= 359.7,   1.3

2025-01-09T05:35:00.844Z,1736400900.844 [DAT](INFO): got valid direction response:
 05:34:59.7275 LVL= 20384, 29233, 19954, 30179, AGC= 55, IDX= 501, 0.15, 0.646,-0.749, 0.715, 0.425, PHS= 0.309,-1.127, 0.287, RAW= 149.2,   7.5, CAL= 150.3,  -1.3, ROT= 359.7,   1.3

2025-01-09T05:35:00.844Z,1736400900.844 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-01-09T05:35:00.845Z,1736400900.845 [DAT](INFO): direction in FSK: [0.999729,-0.005235,-0.022687]
2025-01-09T05:35:00.846Z,1736400900.846 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:00.857Z,1736400900.857 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.587448
2025-01-09T05:35:00.920Z,1736400900.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:00.959Z,1736400900.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.760115 s,
      deltaX: -0.500000 m,
      approachRate: -0.657795 m/s,
      rangeRepo size: 4

2025-01-09T05:35:00.961Z,1736400900.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.200001 m,
      bearing: 252.833358 deg,
      lat: 36.904000 deg,
      lon: -122.118954 deg,
      deltaT: 0.760115 s,
      deltaX: -0.500000 m,
      approachRate: -0.657795 m/s,
      posRepo size: 4

2025-01-09T05:35:00.962Z,1736400900.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-01-09T05:35:00.977Z,1736400900.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.200001 m,
      nav range: 19.619646 m,
      bearing: 253.059177 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072315 deg/s,
      cmd heading: 250.118167 deg,
      new cmd heading: 249.991167 deg.

2025-01-09T05:35:00.978Z,1736400900.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363169 target range: 19.200001 and range: 19.20 m.
2025-01-09T05:35:01.028Z,1736400901.028 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.757805
2025-01-09T05:35:01.282Z,1736400901.282 [DAT](INFO): DAT read: Rx Time:05:35:00.2273 

2025-01-09T05:35:01.284Z,1736400901.284 [DAT](INFO): Rx dataTimestamp_ set to:1736400901.283118
2025-01-09T05:35:01.287Z,1736400901.287 [DAT](INFO): DAT read: Bearing   0.9,   0.0 (Local)

2025-01-09T05:35:01.289Z,1736400901.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,   0.0 (Local)

2025-01-09T05:35:01.291Z,1736400901.291 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=4.020939
2025-01-09T05:35:01.353Z,1736400901.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:01.433Z,1736400901.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:01.439Z,1736400901.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-01-09T05:35:01.442Z,1736400901.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.200001 m,
      nav range: 19.387365 m,
      bearing: 253.014378 deg,
      approach rate: -0.475507 m/s,
      LOS rate: -0.092808 deg/s,
      cmd heading: 249.991180 deg,
      new cmd heading: 249.855173 deg.

2025-01-09T05:35:01.447Z,1736400901.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360795 target range: 19.200001 and range: 19.20 m.
2025-01-09T05:35:01.533Z,1736400901.533 [DAT](INFO): DAT read: Range 10 to 50 :    18.9 m (trip time 12.6 ms) speed 0.4

2025-01-09T05:35:01.538Z,1736400901.538 [DAT](INFO): DAT read: 05:35:00.2273 LVL= 21088, 24641, 18930, 29939, AGC= 54, IDX= 499,-0.40,-2.186, 2.731,-2.149,-2.388, PHS= 0.290,-1.117, 0.236, RAW= 148.1,   8.6, CAL= 149.1,  -0.0, ROT=   0.9,   0.0

2025-01-09T05:35:01.539Z,1736400901.539 [DAT](INFO): got valid direction response:
 05:35:00.2273 LVL= 21088, 24641, 18930, 29939, AGC= 54, IDX= 499,-0.40,-2.186, 2.731,-2.149,-2.388, PHS= 0.290,-1.117, 0.236, RAW= 148.1,   8.6, CAL= 149.1,  -0.0, ROT=   0.9,   0.0

2025-01-09T05:35:01.540Z,1736400901.540 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-01-09T05:35:01.541Z,1736400901.541 [DAT](INFO): direction in FSK: [0.999877,0.015707,-0.000000]
2025-01-09T05:35:01.541Z,1736400901.541 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:01.548Z,1736400901.548 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=4.278028
2025-01-09T05:35:01.788Z,1736400901.788 [DAT](INFO): DAT read: Rx Time:05:35:00.7272 

2025-01-09T05:35:01.790Z,1736400901.790 [DAT](INFO): Rx dataTimestamp_ set to:1736400901.788783
2025-01-09T05:35:01.794Z,1736400901.794 [DAT](INFO): DAT read: Bearing   1.4,  -0.3 (Local)

2025-01-09T05:35:01.843Z,1736400901.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4,  -0.3 (Local)

2025-01-09T05:35:01.845Z,1736400901.845 [DAT](INFO): DAT read: Range 10 to 50 :    18.8 m (trip time 12.5 ms) speed 0.4

2025-01-09T05:35:01.862Z,1736400901.862 [DAT](INFO): DAT read: 05:35:00.7272 LVL= 21968, 23809, 22194, 29363, AGC= 54, IDX= 498,-0.01,-0.806,-2.198,-0.790,-1.019, PHS= 0.300,-1.133, 0.225, RAW= 147.3,   8.7, CAL= 148.6,   0.3, ROT=   1.4,  -0.3

2025-01-09T05:35:01.871Z,1736400901.871 [DAT](INFO): got valid direction response:
 05:35:00.7272 LVL= 21968, 23809, 22194, 29363, AGC= 54, IDX= 498,-0.01,-0.806,-2.198,-0.790,-1.019, PHS= 0.300,-1.133, 0.225, RAW= 147.3,   8.7, CAL= 148.6,   0.3, ROT=   1.4,  -0.3

2025-01-09T05:35:01.872Z,1736400901.872 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-01-09T05:35:01.873Z,1736400901.873 [DAT](INFO): direction in FSK: [0.999688,0.024432,0.005236]
2025-01-09T05:35:01.873Z,1736400901.873 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:01.879Z,1736400901.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:01.902Z,1736400901.902 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=4.632235
2025-01-09T05:35:01.924Z,1736400901.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 1.008331 s,
      deltaX: -0.400002 m,
      approachRate: -0.396697 m/s,
      rangeRepo size: 4

2025-01-09T05:35:01.926Z,1736400901.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.799999 m,
      bearing: 254.401815 deg,
      lat: 36.904000 deg,
      lon: -122.118952 deg,
      deltaT: 1.008331 s,
      deltaX: -0.400002 m,
      approachRate: -0.396697 m/s,
      posRepo size: 4

2025-01-09T05:35:01.931Z,1736400901.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m.
2025-01-09T05:35:01.939Z,1736400901.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.799999 m,
      nav range: 18.953602 m,
      bearing: 252.816836 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.092808 deg/s,
      cmd heading: 249.855177 deg,
      new cmd heading: 249.719014 deg.

2025-01-09T05:35:01.940Z,1736400901.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358419 target range: 18.799999 and range: 18.80 m.
2025-01-09T05:35:02.036Z,1736400902.036 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=4.766089
2025-01-09T05:35:02.236Z,1736400902.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:02.244Z,1736400902.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m.
2025-01-09T05:35:02.247Z,1736400902.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.799999 m,
      nav range: 18.768904 m,
      bearing: 252.789088 deg,
      approach rate: -0.576110 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 249.719011 deg,
      new cmd heading: 249.634948 deg.

2025-01-09T05:35:02.249Z,1736400902.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356952 target range: 18.799999 and range: 18.80 m.
2025-01-09T05:35:02.292Z,1736400902.292 [DAT](INFO): DAT read: Rx Time:05:35:01.2270 

2025-01-09T05:35:02.294Z,1736400902.294 [DAT](INFO): Rx dataTimestamp_ set to:1736400902.292613
2025-01-09T05:35:02.298Z,1736400902.298 [DAT](INFO): DAT read: Bearing   1.9,   0.2 (Local)

2025-01-09T05:35:02.300Z,1736400902.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,   0.2 (Local)

2025-01-09T05:35:02.314Z,1736400902.314 [DAT](INFO): DAT read: Range 10 to 50 :    18.6 m (trip time 12.4 ms) speed 0.4

2025-01-09T05:35:02.325Z,1736400902.325 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-01-09T05:35:02.335Z,1736400902.335 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=5.065341
2025-01-09T05:35:02.552Z,1736400902.552 [DAT](INFO): DAT read: 05:35:01.2270 LVL= 21968, 26033, 19250, 32243, AGC= 54, IDX= 495, 0.42,-1.292,-2.704,-1.296,-1.527, PHS= 0.324,-1.129, 0.228, RAW= 146.6,   8.3, CAL= 148.1,  -0.2, ROT=   1.9,   0.2

2025-01-09T05:35:02.554Z,1736400902.554 [DAT](INFO): got valid direction response:
 05:35:01.2270 LVL= 21968, 26033, 19250, 32243, AGC= 54, IDX= 495, 0.42,-1.292,-2.704,-1.296,-1.527, PHS= 0.324,-1.129, 0.228, RAW= 146.6,   8.3, CAL= 148.1,  -0.2, ROT=   1.9,   0.2

2025-01-09T05:35:02.554Z,1736400902.554 [DAT](INFO): #Rx 15: Read direction message, but no range.
2025-01-09T05:35:02.555Z,1736400902.555 [DAT](INFO): direction in FSK: [0.999444,0.033155,-0.003491]
2025-01-09T05:35:02.568Z,1736400902.568 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=5.297745
2025-01-09T05:35:02.691Z,1736400902.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:02.721Z,1736400902.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.503830 s,
      deltaX: -0.199999 m,
      approachRate: -0.396957 m/s,
      rangeRepo size: 4

2025-01-09T05:35:02.727Z,1736400902.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.600000 m,
      bearing: 254.020583 deg,
      lat: 36.904000 deg,
      lon: -122.118952 deg,
      deltaT: 0.503830 s,
      deltaX: -0.199999 m,
      approachRate: -0.396957 m/s,
      posRepo size: 4

2025-01-09T05:35:02.728Z,1736400902.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.60 m.
2025-01-09T05:35:02.735Z,1736400902.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.600000 m,
      nav range: 18.521986 m,
      bearing: 252.891512 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 249.634945 deg,
      new cmd heading: 249.510155 deg.

2025-01-09T05:35:02.736Z,1736400902.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354774 target range: 18.600000 and range: 18.60 m.
2025-01-09T05:35:02.798Z,1736400902.798 [DAT](INFO): DAT read: Rx Time:05:35:01.7268 

2025-01-09T05:35:02.800Z,1736400902.800 [DAT](INFO): Rx dataTimestamp_ set to:1736400902.798612
2025-01-09T05:35:02.804Z,1736400902.804 [DAT](INFO): DAT read: Bearing   2.8,  -1.6 (Local)

2025-01-09T05:35:02.805Z,1736400902.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.8,  -1.6 (Local)

2025-01-09T05:35:02.826Z,1736400902.826 [DAT](INFO): DAT read: Range 10 to 50 :    18.3 m (trip time 12.2 ms) speed 0.4

2025-01-09T05:35:02.846Z,1736400902.846 [DAT](INFO): DAT read: 05:35:01.7268 LVL= 20160, 26785, 21090, 30547, AGC= 55, IDX= 510,-0.05,-3.058, 1.818,-3.100, 3.004, PHS= 0.309,-1.139, 0.176, RAW= 145.2,   9.5, CAL= 147.2,   1.6, ROT=   2.8,  -1.6

2025-01-09T05:35:02.864Z,1736400902.864 [DAT](INFO): got valid direction response:
 05:35:01.7268 LVL= 20160, 26785, 21090, 30547, AGC= 55, IDX= 510,-0.05,-3.058, 1.818,-3.100, 3.004, PHS= 0.309,-1.139, 0.176, RAW= 145.2,   9.5, CAL= 147.2,   1.6, ROT=   2.8,  -1.6

2025-01-09T05:35:02.865Z,1736400902.865 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-01-09T05:35:02.867Z,1736400902.867 [DAT](INFO): direction in FSK: [0.998417,0.048831,0.027922]
2025-01-09T05:35:02.867Z,1736400902.867 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:02.904Z,1736400902.904 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=5.634507
2025-01-09T05:35:03.044Z,1736400903.044 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=5.773757
2025-01-09T05:35:03.050Z,1736400903.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:03.105Z,1736400903.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 0.505999 s,
      deltaX: -0.300001 m,
      approachRate: -0.592889 m/s,
      rangeRepo size: 4

2025-01-09T05:35:03.111Z,1736400903.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.299999 m,
      bearing: 254.624702 deg,
      lat: 36.904003 deg,
      lon: -122.118952 deg,
      deltaT: 0.505999 s,
      deltaX: -0.300001 m,
      approachRate: -0.592889 m/s,
      posRepo size: 4

2025-01-09T05:35:03.112Z,1736400903.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.30 m.
2025-01-09T05:35:03.119Z,1736400903.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.299999 m,
      nav range: 18.240892 m,
      bearing: 253.837377 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 249.510144 deg,
      new cmd heading: 249.409518 deg.

2025-01-09T05:35:03.120Z,1736400903.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353017 target range: 18.299999 and range: 18.30 m.
2025-01-09T05:35:03.304Z,1736400903.304 [DAT](INFO): DAT read: Rx Time:05:35:02.2266 

2025-01-09T05:35:03.306Z,1736400903.306 [DAT](INFO): Rx dataTimestamp_ set to:1736400903.305173
2025-01-09T05:35:03.310Z,1736400903.310 [DAT](INFO): DAT read: Bearing   3.4,  -0.6 (Local)

2025-01-09T05:35:03.312Z,1736400903.312 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.4,  -0.6 (Local)

2025-01-09T05:35:03.320Z,1736400903.320 [DAT](INFO): DAT read: Range 10 to 50 :    18.0 m (trip time 12.0 ms) speed 0.4

2025-01-09T05:35:03.328Z,1736400903.328 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-01-09T05:35:03.333Z,1736400903.333 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=6.062672
2025-01-09T05:35:03.559Z,1736400903.559 [DAT](INFO): DAT read: 05:35:02.2266 LVL= 23376, 26145, 20114, 32755, AGC= 54, IDX= 507, 0.41,-3.013, 1.834,-3.080, 3.014, PHS= 0.345,-1.133, 0.187, RAW= 144.4,   8.6, CAL= 146.6,   0.6, ROT=   3.4,  -0.6

2025-01-09T05:35:03.560Z,1736400903.560 [DAT](INFO): got valid direction response:
 05:35:02.2266 LVL= 23376, 26145, 20114, 32755, AGC= 54, IDX= 507, 0.41,-3.013, 1.834,-3.080, 3.014, PHS= 0.345,-1.133, 0.187, RAW= 144.4,   8.6, CAL= 146.6,   0.6, ROT=   3.4,  -0.6

2025-01-09T05:35:03.560Z,1736400903.560 [DAT](INFO): #Rx 18: Read direction message, but no range.
2025-01-09T05:35:03.561Z,1736400903.561 [DAT](INFO): direction in FSK: [0.998185,0.059303,0.010472]
2025-01-09T05:35:03.565Z,1736400903.565 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=6.295392
2025-01-09T05:35:03.586Z,1736400903.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:03.648Z,1736400903.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.506561 s,
      deltaX: -0.299999 m,
      approachRate: -0.592227 m/s,
      rangeRepo size: 4

2025-01-09T05:35:03.666Z,1736400903.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.000000 m,
      bearing: 255.140579 deg,
      lat: 36.904005 deg,
      lon: -122.118953 deg,
      deltaT: 0.506561 s,
      deltaX: -0.299999 m,
      approachRate: -0.592227 m/s,
      posRepo size: 4

2025-01-09T05:35:03.671Z,1736400903.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.00 m.
2025-01-09T05:35:03.674Z,1736400903.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.000000 m,
      nav range: 18.027100 m,
      bearing: 254.388583 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 249.409521 deg,
      new cmd heading: 249.270328 deg.

2025-01-09T05:35:03.679Z,1736400903.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350588 target range: 18.000000 and range: 18.00 m.
2025-01-09T05:35:03.808Z,1736400903.808 [DAT](INFO): DAT read: Rx Time:05:35:02.7265 

2025-01-09T05:35:03.811Z,1736400903.811 [DAT](INFO): Rx dataTimestamp_ set to:1736400903.809263
2025-01-09T05:35:03.815Z,1736400903.815 [DAT](INFO): DAT read: Bearing   4.4,  -1.5 (Local)

2025-01-09T05:35:03.816Z,1736400903.816 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.4,  -1.5 (Local)

2025-01-09T05:35:03.836Z,1736400903.836 [DAT](INFO): DAT read: Range 10 to 50 :    17.9 m (trip time 11.9 ms) speed 0.4

2025-01-09T05:35:03.860Z,1736400903.860 [DAT](INFO): DAT read: 05:35:02.7265 LVL= 22768, 32721, 19314, 32755, AGC= 54, IDX= 507, 0.00,-3.137, 1.731, 3.045, 2.891, PHS= 0.342,-1.114, 0.151, RAW= 143.0,   9.1, CAL= 145.6,   1.5, ROT=   4.4,  -1.5

2025-01-09T05:35:03.861Z,1736400903.861 [DAT](INFO): got valid direction response:
 05:35:02.7265 LVL= 22768, 32721, 19314, 32755, AGC= 54, IDX= 507, 0.00,-3.137, 1.731, 3.045, 2.891, PHS= 0.342,-1.114, 0.151, RAW= 143.0,   9.1, CAL= 145.6,   1.5, ROT=   4.4,  -1.5

2025-01-09T05:35:03.862Z,1736400903.862 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-01-09T05:35:03.867Z,1736400903.867 [DAT](INFO): direction in FSK: [0.996711,0.076693,0.026177]
2025-01-09T05:35:03.868Z,1736400903.868 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:03.897Z,1736400903.897 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=6.607884
2025-01-09T05:35:03.967Z,1736400903.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:03.994Z,1736400903.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.504090 s,
      deltaX: -0.100000 m,
      approachRate: -0.198378 m/s,
      rangeRepo size: 4

2025-01-09T05:35:04.001Z,1736400904.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.900000 m,
      bearing: 255.941500 deg,
      lat: 36.904005 deg,
      lon: -122.118954 deg,
      deltaT: 0.504090 s,
      deltaX: -0.100000 m,
      approachRate: -0.198378 m/s,
      posRepo size: 4

2025-01-09T05:35:04.002Z,1736400904.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m.
2025-01-09T05:35:04.005Z,1736400904.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.900000 m,
      nav range: 17.844379 m,
      bearing: 254.587673 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 249.270322 deg,
      new cmd heading: 249.176272 deg.

2025-01-09T05:35:04.006Z,1736400904.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348947 target range: 17.900000 and range: 17.90 m.
2025-01-09T05:35:04.057Z,1736400904.057 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=6.786573
2025-01-09T05:35:04.314Z,1736400904.314 [DAT](INFO): DAT read: Rx Time:05:35:03.2263 

2025-01-09T05:35:04.316Z,1736400904.316 [DAT](INFO): Rx dataTimestamp_ set to:1736400904.314894
2025-01-09T05:35:04.321Z,1736400904.321 [DAT](INFO): DAT read: Bearing   5.1,  -1.5 (Local)

2025-01-09T05:35:04.322Z,1736400904.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.1,  -1.5 (Local)

2025-01-09T05:35:04.364Z,1736400904.364 [DAT](INFO): DAT read: Range 10 to 50 :    17.6 m (trip time 11.7 ms) speed 0.4

2025-01-09T05:35:04.382Z,1736400904.382 [DAT](INFO): DAT read: 05:35:03.2263 LVL= 21536, 32753, 19634, 32755, AGC= 54, IDX= 504, 0.49, 2.672, 1.234, 2.544, 2.401, PHS= 0.359,-1.120, 0.140, RAW= 142.1,   9.0, CAL= 144.9,   1.5, ROT=   5.1,  -1.5

2025-01-09T05:35:04.384Z,1736400904.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:04.412Z,1736400904.412 [DAT](INFO): got valid direction response:
 05:35:03.2263 LVL= 21536, 32753, 19634, 32755, AGC= 54, IDX= 504, 0.49, 2.672, 1.234, 2.544, 2.401, PHS= 0.359,-1.120, 0.140, RAW= 142.1,   9.0, CAL= 144.9,   1.5, ROT=   5.1,  -1.5

2025-01-09T05:35:04.412Z,1736400904.412 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-01-09T05:35:04.413Z,1736400904.413 [DAT](INFO): direction in FSK: [0.995700,0.088864,0.026177]
2025-01-09T05:35:04.413Z,1736400904.413 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:04.483Z,1736400904.483 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=7.204286
2025-01-09T05:35:04.497Z,1736400904.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.505631 s,
      deltaX: -0.299999 m,
      approachRate: -0.593317 m/s,
      rangeRepo size: 4

2025-01-09T05:35:04.512Z,1736400904.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.600000 m,
      bearing: 256.532477 deg,
      lat: 36.904007 deg,
      lon: -122.118954 deg,
      deltaT: 0.505631 s,
      deltaX: -0.299999 m,
      approachRate: -0.593317 m/s,
      posRepo size: 4

2025-01-09T05:35:04.513Z,1736400904.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-01-09T05:35:04.528Z,1736400904.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.600000 m,
      nav range: 17.605036 m,
      bearing: 255.121091 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 249.176284 deg,
      new cmd heading: 249.044299 deg.

2025-01-09T05:35:04.529Z,1736400904.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346643 target range: 17.600000 and range: 17.60 m.
2025-01-09T05:35:04.560Z,1736400904.560 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=7.289789
2025-01-09T05:35:04.817Z,1736400904.817 [DAT](INFO): DAT read: Rx Time:05:35:03.7262 

2025-01-09T05:35:04.819Z,1736400904.819 [DAT](INFO): Rx dataTimestamp_ set to:1736400904.817623
2025-01-09T05:35:04.824Z,1736400904.824 [DAT](INFO): DAT read: Bearing   6.6,  -3.0 (Local)

2025-01-09T05:35:04.825Z,1736400904.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.6,  -3.0 (Local)

2025-01-09T05:35:04.832Z,1736400904.832 [DAT](INFO): DAT read: Range 10 to 50 :    17.4 m (trip time 11.6 ms) speed 0.4

2025-01-09T05:35:04.837Z,1736400904.837 [DAT](INFO): DAT read: 05:35:03.7262 LVL= 22512, 32753, 18674, 32755, AGC= 54, IDX= 504, 0.02, 2.856, 1.471, 2.686, 2.600, PHS= 0.344,-1.082, 0.084, RAW= 140.1,  10.0, CAL= 143.4,   3.0, ROT=   6.6,  -3.0

2025-01-09T05:35:04.838Z,1736400904.838 [DAT](INFO): got valid direction response:
 05:35:03.7262 LVL= 22512, 32753, 18674, 32755, AGC= 54, IDX= 504, 0.02, 2.856, 1.471, 2.686, 2.600, PHS= 0.344,-1.082, 0.084, RAW= 140.1,  10.0, CAL= 143.4,   3.0, ROT=   6.6,  -3.0

2025-01-09T05:35:04.839Z,1736400904.839 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-01-09T05:35:04.840Z,1736400904.840 [DAT](INFO): direction in FSK: [0.992011,0.114780,0.052336]
2025-01-09T05:35:04.840Z,1736400904.840 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:04.855Z,1736400904.855 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=7.585634
2025-01-09T05:35:04.977Z,1736400904.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:05.019Z,1736400905.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.502729 s,
      deltaX: -0.200001 m,
      approachRate: -0.397830 m/s,
      rangeRepo size: 4

2025-01-09T05:35:05.021Z,1736400905.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.400000 m,
      bearing: 257.760979 deg,
      lat: 36.904009 deg,
      lon: -122.118955 deg,
      deltaT: 0.502729 s,
      deltaX: -0.200001 m,
      approachRate: -0.397830 m/s,
      posRepo size: 4

2025-01-09T05:35:05.022Z,1736400905.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-01-09T05:35:05.029Z,1736400905.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 17.313826 m,
      bearing: 255.855176 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 249.044297 deg,
      new cmd heading: 248.908553 deg.

2025-01-09T05:35:05.030Z,1736400905.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344274 target range: 17.400000 and range: 17.40 m.
2025-01-09T05:35:05.064Z,1736400905.064 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=7.794179
2025-01-09T05:35:05.321Z,1736400905.321 [DAT](INFO): DAT read: Rx Time:05:35:04.2260 

2025-01-09T05:35:05.324Z,1736400905.324 [DAT](INFO): Rx dataTimestamp_ set to:1736400905.321626
2025-01-09T05:35:05.328Z,1736400905.328 [DAT](INFO): DAT read: Bearing   6.7,  -2.8 (Local)

2025-01-09T05:35:05.330Z,1736400905.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.7,  -2.8 (Local)

2025-01-09T05:35:05.340Z,1736400905.340 [DAT](INFO): DAT read: Range 10 to 50 :    17.1 m (trip time 11.4 ms) speed 0.4

2025-01-09T05:35:05.353Z,1736400905.353 [DAT](INFO): DAT read: 05:35:04.2260 LVL= 21152, 32753, 17538, 32755, AGC= 54, IDX= 502,-0.45, 0.235,-1.150, 0.060,-0.027, PHS= 0.350,-1.076, 0.084, RAW= 139.9,   9.8, CAL= 143.3,   2.8, ROT=   6.7,  -2.8

2025-01-09T05:35:05.354Z,1736400905.354 [DAT](INFO): got valid direction response:
 05:35:04.2260 LVL= 21152, 32753, 17538, 32755, AGC= 54, IDX= 502,-0.45, 0.235,-1.150, 0.060,-0.027, PHS= 0.350,-1.076, 0.084, RAW= 139.9,   9.8, CAL= 143.3,   2.8, ROT=   6.7,  -2.8

2025-01-09T05:35:05.375Z,1736400905.375 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-01-09T05:35:05.376Z,1736400905.376 [DAT](INFO): direction in FSK: [0.991985,0.116531,0.048850]
2025-01-09T05:35:05.376Z,1736400905.376 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:05.384Z,1736400905.384 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=8.114534
2025-01-09T05:35:05.449Z,1736400905.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:05.522Z,1736400905.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.504003 s,
      deltaX: -0.299999 m,
      approachRate: -0.595233 m/s,
      rangeRepo size: 4

2025-01-09T05:35:05.542Z,1736400905.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.100000 m,
      bearing: 257.877751 deg,
      lat: 36.904011 deg,
      lon: -122.118955 deg,
      deltaT: 0.504003 s,
      deltaX: -0.299999 m,
      approachRate: -0.595233 m/s,
      posRepo size: 4

2025-01-09T05:35:05.548Z,1736400905.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-01-09T05:35:05.556Z,1736400905.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.100000 m,
      nav range: 17.044064 m,
      bearing: 256.490609 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 248.908540 deg,
      new cmd heading: 248.775704 deg.

2025-01-09T05:35:05.557Z,1736400905.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341955 target range: 17.100000 and range: 17.10 m.
2025-01-09T05:35:05.568Z,1736400905.568 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=8.297869
2025-01-09T05:35:05.827Z,1736400905.827 [DAT](INFO): DAT read: Rx Time:05:35:04.7259 

2025-01-09T05:35:05.829Z,1736400905.829 [DAT](INFO): Rx dataTimestamp_ set to:1736400905.827585
2025-01-09T05:35:05.832Z,1736400905.832 [DAT](INFO): DAT read: Bearing   6.2,  -3.2 (Local)

2025-01-09T05:35:05.833Z,1736400905.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.2,  -3.2 (Local)

2025-01-09T05:35:05.840Z,1736400905.840 [DAT](INFO): DAT read: Range 10 to 50 :    17.0 m (trip time 11.3 ms) speed 0.4

2025-01-09T05:35:05.848Z,1736400905.848 [DAT](INFO): DAT read: 05:35:04.7259 LVL= 18880, 29489, 16994, 32755, AGC= 53, IDX= 501,-0.10, 0.908,-0.515, 0.745, 0.653, PHS= 0.342,-1.121, 0.088, RAW= 140.7,  10.2, CAL= 143.8,   3.2, ROT=   6.2,  -3.2

2025-01-09T05:35:05.863Z,1736400905.863 [DAT](INFO): got valid direction response:
 05:35:04.7259 LVL= 18880, 29489, 16994, 32755, AGC= 53, IDX= 501,-0.10, 0.908,-0.515, 0.745, 0.653, PHS= 0.342,-1.121, 0.088, RAW= 140.7,  10.2, CAL= 143.8,   3.2, ROT=   6.2,  -3.2

2025-01-09T05:35:05.863Z,1736400905.863 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-01-09T05:35:05.864Z,1736400905.864 [DAT](INFO): direction in FSK: [0.992601,0.107831,0.055822]
2025-01-09T05:35:05.864Z,1736400905.864 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:05.889Z,1736400905.889 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=8.619081
2025-01-09T05:35:05.999Z,1736400905.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:06.030Z,1736400906.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.505959 s,
      deltaX: -0.100000 m,
      approachRate: -0.197645 m/s,
      rangeRepo size: 4

2025-01-09T05:35:06.036Z,1736400906.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.000000 m,
      bearing: 256.890297 deg,
      lat: 36.904012 deg,
      lon: -122.118957 deg,
      deltaT: 0.505959 s,
      deltaX: -0.100000 m,
      approachRate: -0.197645 m/s,
      posRepo size: 4

2025-01-09T05:35:06.037Z,1736400906.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m.
2025-01-09T05:35:06.044Z,1736400906.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.000000 m,
      nav range: 16.816118 m,
      bearing: 256.776883 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 248.775707 deg,
      new cmd heading: 248.642425 deg.

2025-01-09T05:35:06.045Z,1736400906.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339629 target range: 17.000000 and range: 17.00 m.
2025-01-09T05:35:06.072Z,1736400906.072 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=8.801860
2025-01-09T05:35:06.330Z,1736400906.330 [DAT](INFO): DAT read: Rx Time:05:35:05.2256 

2025-01-09T05:35:06.332Z,1736400906.332 [DAT](INFO): Rx dataTimestamp_ set to:1736400906.331388
2025-01-09T05:35:06.333Z,1736400906.333 [DAT](INFO): DAT read: Bearing   5.4,  -2.2 (Local)

2025-01-09T05:35:06.333Z,1736400906.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.4,  -2.2 (Local)

2025-01-09T05:35:06.336Z,1736400906.336 [DAT](INFO): DAT read: Range 10 to 50 :    16.5 m (trip time 11.0 ms) speed 0.4

2025-01-09T05:35:06.340Z,1736400906.340 [DAT](INFO): DAT read: 05:35:05.2256 LVL= 20672, 27457, 19234, 32755, AGC= 53, IDX= 498, 0.07, 1.140,-0.330, 0.997, 0.870, PHS= 0.358,-1.153, 0.124, RAW= 141.7,   9.6, CAL= 144.6,   2.2, ROT=   5.4,  -2.2

2025-01-09T05:35:06.341Z,1736400906.341 [DAT](INFO): got valid direction response:
 05:35:05.2256 LVL= 20672, 27457, 19234, 32755, AGC= 53, IDX= 498, 0.07, 1.140,-0.330, 0.997, 0.870, PHS= 0.358,-1.153, 0.124, RAW= 141.7,   9.6, CAL= 144.6,   2.2, ROT=   5.4,  -2.2

2025-01-09T05:35:06.342Z,1736400906.342 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-01-09T05:35:06.359Z,1736400906.359 [DAT](INFO): direction in FSK: [0.994828,0.094039,0.038388]
2025-01-09T05:35:06.359Z,1736400906.359 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:06.371Z,1736400906.371 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=9.101304
2025-01-09T05:35:06.452Z,1736400906.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:06.547Z,1736400906.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.503803 s,
      deltaX: -0.500000 m,
      approachRate: -0.992451 m/s,
      rangeRepo size: 4

2025-01-09T05:35:06.556Z,1736400906.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.500000 m,
      bearing: 255.959215 deg,
      lat: 36.904012 deg,
      lon: -122.118957 deg,
      deltaT: 0.503803 s,
      deltaX: -0.500000 m,
      approachRate: -0.992451 m/s,
      posRepo size: 4

2025-01-09T05:35:06.558Z,1736400906.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.50 m.
2025-01-09T05:35:06.571Z,1736400906.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.500000 m,
      nav range: 16.556915 m,
      bearing: 256.735132 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 248.642436 deg,
      new cmd heading: 248.510026 deg.

2025-01-09T05:35:06.572Z,1736400906.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337318 target range: 16.500000 and range: 16.50 m.
2025-01-09T05:35:06.576Z,1736400906.576 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=9.305967
2025-01-09T05:35:06.828Z,1736400906.828 [DAT](INFO): DAT read: Rx Time:05:35:05.7255 

2025-01-09T05:35:06.829Z,1736400906.829 [DAT](INFO): Rx dataTimestamp_ set to:1736400906.828475
2025-01-09T05:35:06.830Z,1736400906.830 [DAT](INFO): DAT read: Bearing   5.4,  -2.0 (Local)

2025-01-09T05:35:06.830Z,1736400906.830 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.4,  -2.0 (Local)

2025-01-09T05:35:06.833Z,1736400906.833 [DAT](INFO): DAT read: Range 10 to 50 :    16.4 m (trip time 10.9 ms) speed 0.5

2025-01-09T05:35:06.838Z,1736400906.838 [DAT](INFO): DAT read: 05:35:05.7255 LVL= 20864, 27761, 18834, 32755, AGC= 54, IDX= 496, 0.21, 1.281,-0.199, 1.134, 1.003, PHS= 0.366,-1.155, 0.128, RAW= 141.6,   9.4, CAL= 144.6,   2.0, ROT=   5.4,  -2.0

2025-01-09T05:35:06.839Z,1736400906.839 [DAT](INFO): got valid direction response:
 05:35:05.7255 LVL= 20864, 27761, 18834, 32755, AGC= 54, IDX= 496, 0.21, 1.281,-0.199, 1.134, 1.003, PHS= 0.366,-1.155, 0.128, RAW= 141.6,   9.4, CAL= 144.6,   2.0, ROT=   5.4,  -2.0

2025-01-09T05:35:06.839Z,1736400906.839 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-01-09T05:35:06.840Z,1736400906.840 [DAT](INFO): direction in FSK: [0.994955,0.094051,0.034899]
2025-01-09T05:35:06.840Z,1736400906.840 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:06.844Z,1736400906.844 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=9.574197
2025-01-09T05:35:07.009Z,1736400907.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:07.047Z,1736400907.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.497087 s,
      deltaX: -0.100000 m,
      approachRate: -0.201173 m/s,
      rangeRepo size: 4

2025-01-09T05:35:07.050Z,1736400907.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.400000 m,
      bearing: 255.502533 deg,
      lat: 36.904012 deg,
      lon: -122.118957 deg,
      deltaT: 0.497087 s,
      deltaX: -0.100000 m,
      approachRate: -0.201173 m/s,
      posRepo size: 4

2025-01-09T05:35:07.053Z,1736400907.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-01-09T05:35:07.064Z,1736400907.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.400000 m,
      nav range: 16.236694 m,
      bearing: 256.672959 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 248.510013 deg,
      new cmd heading: 248.377936 deg.

2025-01-09T05:35:07.066Z,1736400907.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335013 target range: 16.400000 and range: 16.40 m.
2025-01-09T05:35:07.080Z,1736400907.080 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=9.809770
2025-01-09T05:35:07.333Z,1736400907.333 [DAT](INFO): DAT read: Rx Time:05:35:06.2253 

2025-01-09T05:35:07.333Z,1736400907.333 [DAT](INFO): Rx dataTimestamp_ set to:1736400907.332804
2025-01-09T05:35:07.334Z,1736400907.334 [DAT](INFO): DAT read: Bearing   6.1,  -1.8 (Local)

2025-01-09T05:35:07.335Z,1736400907.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.1,  -1.8 (Local)

2025-01-09T05:35:07.336Z,1736400907.336 [DAT](INFO): DAT read: Range 10 to 50 :    16.1 m (trip tims) speed 0.5

2025-01-09T05:35:07.341Z,1736400907.341 [DAT](INFO): DAT read: 05:35:06.2253 LVL= 21952, 31553, 17650, 32755, AGC= 54, IDX= 509, 0.36,-0.532,-1.967,-0.697,-0.815, PHS= 0.371,-1.105, 0.116, RAW= 140.7,   9.1, CAL= 143.9,   1.8, ROT=   6.1,  -1.8

2025-01-09T05:35:07.342Z,1736400907.342 [DAT](INFO): got valid direction response:
 05:35:06.2253 LVL= 21952, 31553, 17650, 32755, AGC= 54, IDX= 509, 0.36,-0.532,-1.967,-0.697,-0.815, PHS= 0.371,-1.105, 0.116, RAW= 140.7,   9.1, CAL= 143.9,   1.8, ROT=   6.1,  -1.8

2025-01-09T05:35:07.342Z,1736400907.342 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-01-09T05:35:07.343Z,1736400907.343 [DAT](INFO): direction in FSK: [0.993847,0.106212,0.031411]
2025-01-09T05:35:07.343Z,1736400907.343 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:07.347Z,1736400907.347 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.076985
2025-01-09T05:35:07.406Z,1736400907.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:07.493Z,1736400907.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.504329 s,
      deltaX: -0.299999 m,
      approachRate: -0.594848 m/s,
      rangeRepo size: 4

2025-01-09T05:35:07.524Z,1736400907.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.100000 m,
      bearing: 255.964596 deg,
      lat: 36.904010 deg,
      lon: -122.118957 deg,
      deltaT: 0.504329 s,
      deltaX: -0.299999 m,
      approachRate: -0.594848 m/s,
      posRepo size: 4

2025-01-09T05:35:07.525Z,1736400907.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-01-09T05:35:07.532Z,1736400907.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.100000 m,
      nav range: 16.080481 m,
      bearing: 255.964651 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 248.377944 deg,
      new cmd heading: 248.264930 deg.

2025-01-09T05:35:07.533Z,1736400907.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333040 target range: 16.100000 and range: 16.10 m.
2025-01-09T05:35:07.585Z,1736400907.585 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.315258
2025-01-09T05:35:07.841Z,1736400907.841 [DAT](INFO): DAT read: Rx Time:05:35:06.7252 

2025-01-09T05:35:07.841Z,1736400907.841 [DAT](INFO): Rx dataTimestamp_ set to:1736400907.840827
2025-01-09T05:35:07.842Z,1736400907.842 [DAT](INFO): DAT read: Bearing   5.6,  -1.6 (Local)

2025-01-09T05:35:07.843Z,1736400907.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.6,  -1.6 (Local)

2025-01-09T05:35:07.845Z,1736400907.845 [DAT](INFO): DAT read: Range 10 to 50 :    15.9 m (trip time 10.6 ms) speed 0.5

2025-01-09T05:35:07.850Z,1736400907.850 [DAT](INFO): DAT read: 05:35:06.7252 LVL= 22784, 29681, 20178, 32755, AGC= 55, IDX= 508, 0.31, 0.981,-0.477, 0.829, 0.696, PHS= 0.373,-1.126, 0.130, RAW= 141.3,   9.0, CAL= 144.4,   1.6, ROT=   5.6,  -1.6

2025-01-09T05:35:07.851Z,1736400907.851 [DAT](INFO): got valid direction response:
 05:35:06.7252 LVL= 22784, 29681, 20178, 32755, AGC= 55, IDX= 508, 0.31, 0.981,-0.477, 0.829, 0.696, PHS= 0.373,-1.126, 0.130, RAW= 141.3,   9.0, CAL= 144.4,   1.6, ROT=   5.6,  -1.6

2025-01-09T05:35:07.852Z,1736400907.852 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-01-09T05:35:07.852Z,1736400907.852 [DAT](INFO): direction in FSK: [0.994839,0.097545,0.027922]
2025-01-09T05:35:07.853Z,1736400907.853 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:07.856Z,1736400907.856 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.586340
2025-01-09T05:35:07.925Z,1736400907.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:07.962Z,1736400907.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.508023 s,
      deltaX: -0.200001 m,
      approachRate: -0.393684 m/s,
      rangeRepo size: 4

2025-01-09T05:35:07.976Z,1736400907.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.900000 m,
      bearing: 255.172095 deg,
      lat: 36.904010 deg,
      lon: -122.118958 deg,
      deltaT: 0.508023 s,
      deltaX: -0.200001 m,
      approachRate: -0.393684 m/s,
      posRepo size: 4

2025-01-09T05:35:07.977Z,1736400907.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:35:07.985Z,1736400907.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.900000 m,
      nav range: 15.751446 m,
      bearing: 255.863767 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 248.264918 deg,
      new cmd heading: 248.135922 deg.

2025-01-09T05:35:07.986Z,1736400907.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330789 target range: 15.900000 and range: 15.90 m.
2025-01-09T05:35:08.093Z,1736400908.093 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.822899
2025-01-09T05:35:08.333Z,1736400908.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:08.344Z,1736400908.344 [DAT](INFO): DAT read: Rx Time:05:35:07.2249 

2025-01-09T05:35:08.345Z,1736400908.345 [DAT](INFO): Rx dataTimestamp_ set to:1736400908.344474
2025-01-09T05:35:08.346Z,1736400908.346 [DAT](INFO): DAT read: Bearing   5.7,  -2.0 (Local)

2025-01-09T05:35:08.346Z,1736400908.346 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.7,  -2.0 (Local)

2025-01-09T05:35:08.349Z,1736400908.349 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.6

2025-01-09T05:35:08.354Z,1736400908.354 [DAT](INFO): DAT read: 05:35:07.2249 LVL= 22176, 28529, 18098, 32755, AGC= 54, IDX= 505, 0.10, 0.276,-1.172, 0.126, 0.002, PHS= 0.363,-1.126, 0.121, RAW= 141.3,   9.3, CAL= 144.3,   2.0, ROT=   5.7,  -2.0

2025-01-09T05:35:08.355Z,1736400908.355 [DAT](INFO): got valid direction response:
 05:35:07.2249 LVL= 22176, 28529, 18098, 32755, AGC= 54, IDX= 505, 0.10, 0.276,-1.172, 0.126, 0.002, PHS= 0.363,-1.126, 0.121, RAW= 141.3,   9.3, CAL= 144.3,   2.0, ROT=   5.7,  -2.0

2025-01-09T05:35:08.355Z,1736400908.355 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-01-09T05:35:08.356Z,1736400908.356 [DAT](INFO): direction in FSK: [0.994449,0.099259,0.034899]
2025-01-09T05:35:08.356Z,1736400908.356 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:08.364Z,1736400908.364 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.094356
2025-01-09T05:35:08.409Z,1736400908.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503647 s,
      deltaX: -0.599999 m,
      approachRate: -1.191309 m/s,
      rangeRepo size: 4

2025-01-09T05:35:08.417Z,1736400908.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.300000 m,
      bearing: 255.235333 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.503647 s,
      deltaX: -0.599999 m,
      approachRate: -1.191309 m/s,
      posRepo size: 4

2025-01-09T05:35:08.418Z,1736400908.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-01-09T05:35:08.425Z,1736400908.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.300000 m,
      nav range: 15.489705 m,
      bearing: 255.441504 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 248.135909 deg,
      new cmd heading: 248.018695 deg.

2025-01-09T05:35:08.426Z,1736400908.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328743 target range: 15.300000 and range: 15.30 m.
2025-01-09T05:35:08.596Z,1736400908.596 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.326142
2025-01-09T05:35:08.831Z,1736400908.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:08.849Z,1736400908.849 [DAT](INFO): DAT read: Rx Time:05:35:07.7248 

2025-01-09T05:35:08.849Z,1736400908.849 [DAT](INFO): Rx dataTimestamp_ set to:1736400908.848994
2025-01-09T05:35:08.851Z,1736400908.851 [DAT](INFO): DAT read: Bearing   6.3,  -3.8 (Local)

2025-01-09T05:35:08.851Z,1736400908.851 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  -3.8 (Local)

2025-01-09T05:35:08.853Z,1736400908.853 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.6

2025-01-09T05:35:08.857Z,1736400908.857 [DAT](INFO): DAT read: 05:35:07.7248 LVL= 20688, 27841, 21026, 32755, AGC= 53, IDX= 504,-0.18, 0.846,-0.585, 0.677, 0.598, PHS= 0.336,-1.136, 0.076, RAW= 140.5,  10.7, CAL= 143.7,   3.8, ROT=   6.3,  -3.8

2025-01-09T05:35:08.862Z,1736400908.862 [DAT](INFO): got valid direction response:
 05:35:07.7248 LVL= 20688, 27841, 21026, 32755, AGC= 53, IDX= 504,-0.18, 0.846,-0.585, 0.677, 0.598, PHS= 0.336,-1.136, 0.076, RAW= 140.5,  10.7, CAL= 143.7,   3.8, ROT=   6.3,  -3.8

2025-01-09T05:35:08.868Z,1736400908.868 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-01-09T05:35:08.869Z,1736400908.869 [DAT](INFO): direction in FSK: [0.991776,0.109493,0.066274]
2025-01-09T05:35:08.869Z,1736400908.869 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:08.873Z,1736400908.873 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=11.602726
2025-01-09T05:35:08.902Z,1736400908.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504520 s,
      deltaX: -0.100000 m,
      approachRate: -0.198209 m/s,
      rangeRepo size: 4

2025-01-09T05:35:08.917Z,1736400908.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.200000 m,
      bearing: 255.669439 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.504520 s,
      deltaX: -0.100000 m,
      approachRate: -0.198209 m/s,
      posRepo size: 4

2025-01-09T05:35:08.917Z,1736400908.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:35:08.924Z,1736400908.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.200000 m,
      nav range: 15.166565 m,
      bearing: 255.343422 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087403 deg/s,
      cmd heading: 248.018703 deg,
      new cmd heading: 247.891069 deg.

2025-01-09T05:35:08.925Z,1736400908.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326515 target range: 15.200000 and range: 15.20 m.
2025-01-09T05:35:09.100Z,1736400909.100 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=11.830156
2025-01-09T05:35:09.209Z,1736400909.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:09.224Z,1736400909.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:09.227Z,1736400909.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:35:09.252Z,1736400909.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.200000 m,
      nav range: 14.918528 m,
      bearing: 255.276983 deg,
      approach rate: -0.746424 m/s,
      LOS rate: -0.203263 deg/s,
      cmd heading: 247.891061 deg,
      new cmd heading: 247.688428 deg.

2025-01-09T05:35:09.259Z,1736400909.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322978 target range: 15.200000 and range: 15.20 m.
2025-01-09T05:35:09.352Z,1736400909.352 [DAT](INFO): DAT read: Rx Time:05:35:08.2245 

2025-01-09T05:35:09.353Z,1736400909.353 [DAT](INFO): Rx dataTimestamp_ set to:1736400909.352490
2025-01-09T05:35:09.354Z,1736400909.354 [DAT](INFO): DAT read: Bearing   4.8,  -1.4 (Local)

2025-01-09T05:35:09.354Z,1736400909.354 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.8,  -1.4 (Local)

2025-01-09T05:35:09.356Z,1736400909.356 [DAT](INFO): DAT read: Range 10 to 50 :    14.7 m (trip time 9.8 ms) speed 0.6

2025-01-09T05:35:09.364Z,1736400909.364 [DAT](INFO): DAT read: 05:35:08.2245 LVL= 22432, 31153, 22850, 32755, AGC= 54, IDX= 500, 0.31, 3.002, 1.532, 2.881, 2.727, PHS= 0.363,-1.148, 0.150, RAW= 142.5,   9.0, CAL= 145.2,   1.4, ROT=   4.8,  -1.4

2025-01-09T05:35:09.366Z,1736400909.366 [DAT](INFO): got valid direction response:
 05:35:08.2245 LVL= 22432, 31153, 22850, 32755, AGC= 54, IDX= 500, 0.31, 3.002, 1.532, 2.881, 2.727, PHS= 0.363,-1.148, 0.150, RAW= 142.5,   9.0, CAL= 145.2,   1.4, ROT=   4.8,  -1.4

2025-01-09T05:35:09.366Z,1736400909.366 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-01-09T05:35:09.367Z,1736400909.367 [DAT](INFO): direction in FSK: [0.996195,0.083653,0.024432]
2025-01-09T05:35:09.368Z,1736400909.368 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:09.393Z,1736400909.393 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.122711
2025-01-09T05:35:09.606Z,1736400909.606 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.335588
2025-01-09T05:35:09.673Z,1736400909.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:09.705Z,1736400909.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.503496 s,
      deltaX: -0.500000 m,
      approachRate: -0.993057 m/s,
      rangeRepo size: 4

2025-01-09T05:35:09.711Z,1736400909.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.700000 m,
      bearing: 253.314368 deg,
      lat: 36.904009 deg,
      lon: -122.118957 deg,
      deltaT: 0.503496 s,
      deltaX: -0.500000 m,
      approachRate: -0.993057 m/s,
      posRepo size: 4

2025-01-09T05:35:09.712Z,1736400909.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.70 m.
2025-01-09T05:35:09.722Z,1736400909.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.700000 m,
      nav range: 14.607846 m,
      bearing: 255.223955 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.203263 deg/s,
      cmd heading: 247.688423 deg,
      new cmd heading: 247.397526 deg.

2025-01-09T05:35:09.728Z,1736400909.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317902 target range: 14.700000 and range: 14.70 m.
2025-01-09T05:35:09.857Z,1736400909.857 [DAT](INFO): DAT read: Rx Time:05:35:08.7242 

2025-01-09T05:35:09.857Z,1736400909.857 [DAT](INFO): Rx dataTimestamp_ set to:1736400909.856956
2025-01-09T05:35:09.859Z,1736400909.859 [DAT](INFO): DAT read: Bearing   5.4,  -3.4 (Local)

2025-01-09T05:35:09.859Z,1736400909.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.4,  -3.4 (Local)

2025-01-09T05:35:09.861Z,1736400909.861 [DAT](INFO): DAT read: Range 10 to 50 :    14.3 m (trip time 9.5 ms) speed 0.7

2025-01-09T05:35:09.866Z,1736400909.866 [DAT](INFO): DAT read: 05:35:08.7242 LVL= 21184, 28369, 20386, 32755, AGC= 53, IDX= 498,-0.09, 2.010, 0.558, 1.869, 1.766, PHS= 0.332,-1.162, 0.099, RAW= 141.7,  10.5, CAL= 144.6,   3.4, ROT=   5.4,  -3.4

2025-01-09T05:35:09.877Z,1736400909.877 [DAT](INFO): got valid direction response:
 05:35:08.7242 LVL= 21184, 28369, 20386, 32755, AGC= 53, IDX= 498,-0.09, 2.010, 0.558, 1.869, 1.766, PHS= 0.332,-1.162, 0.099, RAW= 141.7,  10.5, CAL= 144.6,   3.4, ROT=   5.4,  -3.4

2025-01-09T05:35:09.877Z,1736400909.877 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-01-09T05:35:09.878Z,1736400909.878 [DAT](INFO): direction in FSK: [0.993810,0.093943,0.059306]
2025-01-09T05:35:09.878Z,1736400909.878 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:09.883Z,1736400909.883 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=12.613104
2025-01-09T05:35:10.028Z,1736400910.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:10.061Z,1736400910.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.504466 s,
      deltaX: -0.400000 m,
      approachRate: -0.792917 m/s,
      rangeRepo size: 4

2025-01-09T05:35:10.063Z,1736400910.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.300000 m,
      bearing: 253.505206 deg,
      lat: 36.904008 deg,
      lon: -122.118957 deg,
      deltaT: 0.504466 s,
      deltaX: -0.400000 m,
      approachRate: -0.792917 m/s,
      posRepo size: 4

2025-01-09T05:35:10.064Z,1736400910.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.30 m.
2025-01-09T05:35:10.071Z,1736400910.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.300000 m,
      nav range: 14.349013 m,
      bearing: 254.631530 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.203263 deg/s,
      cmd heading: 247.397539 deg,
      new cmd heading: 247.180547 deg.

2025-01-09T05:35:10.072Z,1736400910.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314115 target range: 14.300000 and range: 14.30 m.
2025-01-09T05:35:10.108Z,1736400910.108 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=12.838150
2025-01-09T05:35:10.361Z,1736400910.361 [DAT](INFO): DAT read: Rx Time:05:35:09.2239 

2025-01-09T05:35:10.362Z,1736400910.362 [DAT](INFO): Rx dataTimestamp_ set to:1736400910.361565
2025-01-09T05:35:10.364Z,1736400910.364 [DAT](INFO): DAT read: Bearing   4.6,  -2.1 (Local)

2025-01-09T05:35:10.365Z,1736400910.365 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.6,  -2.1 (Local)

2025-01-09T05:35:10.369Z,1736400910.369 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed 0.6

2025-01-09T05:35:10.373Z,1736400910.373 [DAT](INFO): DAT read: 05:35:09.2239 LVL= 20944, 27425, 19250, 32755, AGC= 54, IDX= 494, 0.38, 1.851, 0.375, 1.736, 1.592, PHS= 0.347,-1.170, 0.141, RAW= 142.8,   9.6, CAL= 145.4,   2.1, ROT=   4.6,  -2.1

2025-01-09T05:35:10.374Z,1736400910.374 [DAT](INFO): got valid direction response:
 05:35:09.2239 LVL= 20944, 27425, 19250, 32755, AGC= 54, IDX= 494, 0.38, 1.851, 0.375, 1.736, 1.592, PHS= 0.347,-1.170, 0.141, RAW= 142.8,   9.6, CAL= 145.4,   2.1, ROT=   4.6,  -2.1

2025-01-09T05:35:10.374Z,1736400910.374 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-01-09T05:35:10.376Z,1736400910.376 [DAT](INFO): direction in FSK: [0.996109,0.080145,0.036644]
2025-01-09T05:35:10.376Z,1736400910.376 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:10.380Z,1736400910.380 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=13.110073
2025-01-09T05:35:10.477Z,1736400910.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:10.582Z,1736400910.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.504609 s,
      deltaX: -0.500000 m,
      approachRate: -0.990866 m/s,
      rangeRepo size: 4

2025-01-09T05:35:10.588Z,1736400910.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.800000 m,
      bearing: 252.666974 deg,
      lat: 36.904006 deg,
      lon: -122.118955 deg,
      deltaT: 0.504609 s,
      deltaX: -0.500000 m,
      approachRate: -0.990866 m/s,
      posRepo size: 4

2025-01-09T05:35:10.589Z,1736400910.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-01-09T05:35:10.596Z,1736400910.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 13.966152 m,
      bearing: 253.442012 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.203263 deg/s,
      cmd heading: 247.180557 deg,
      new cmd heading: 246.862955 deg.

2025-01-09T05:35:10.597Z,1736400910.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308571 target range: 13.800000 and range: 13.80 m.
2025-01-09T05:35:10.612Z,1736400910.612 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=13.341833
2025-01-09T05:35:10.864Z,1736400910.864 [DAT](INFO): DAT read: Rx Time:05:35:09.7237 

2025-01-09T05:35:10.865Z,1736400910.865 [DAT](INFO): Rx dataTimestamp_ set to:1736400910.864838
2025-01-09T05:35:10.867Z,1736400910.867 [DAT](INFO): DAT read: Bearing   4.1,  -2.0 (Local)

2025-01-09T05:35:10.867Z,1736400910.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.1,  -2.0 (Local)

2025-01-09T05:35:10.869Z,1736400910.869 [DAT](INFO): DAT read: Range 10 to 50 :    13.5 m (trip time 9.0 ms) speed 0.6

2025-01-09T05:35:10.879Z,1736400910.879 [DAT](INFO): DAT read: 05:35:09.7237 LVL= 22384, 31409, 20722, 32755, AGC= 54, IDX= 509, 0.05, 1.872, 0.420, 1.776, 1.625, PHS= 0.335,-1.158, 0.148, RAW= 143.4,   9.6, CAL= 145.9,   2.0, ROT=   4.1,  -2.0

2025-01-09T05:35:10.880Z,1736400910.880 [DAT](INFO): got valid direction response:
 05:35:09.7237 LVL= 22384, 31409, 20722, 32755, AGC= 54, IDX= 509, 0.05, 1.872, 0.420, 1.776, 1.625, PHS= 0.335,-1.158, 0.148, RAW= 143.4,   9.6, CAL= 145.9,   2.0, ROT=   4.1,  -2.0

2025-01-09T05:35:10.880Z,1736400910.880 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-01-09T05:35:10.882Z,1736400910.882 [DAT](INFO): direction in FSK: [0.996833,0.071454,0.034899]
2025-01-09T05:35:10.882Z,1736400910.882 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:10.890Z,1736400910.890 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=13.620034
2025-01-09T05:35:10.957Z,1736400910.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:10.996Z,1736400910.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503273 s,
      deltaX: -0.300000 m,
      approachRate: -0.596098 m/s,
      rangeRepo size: 4

2025-01-09T05:35:10.998Z,1736400910.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.500000 m,
      bearing: 252.178035 deg,
      lat: 36.904005 deg,
      lon: -122.118955 deg,
      deltaT: 0.503273 s,
      deltaX: -0.300000 m,
      approachRate: -0.596098 m/s,
      posRepo size: 4

2025-01-09T05:35:11.003Z,1736400911.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.50 m.
2025-01-09T05:35:11.006Z,1736400911.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.500000 m,
      nav range: 13.680571 m,
      bearing: 252.913059 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.203263 deg/s,
      cmd heading: 246.862953 deg,
      new cmd heading: 246.610317 deg.

2025-01-09T05:35:11.011Z,1736400911.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304162 target range: 13.500000 and range: 13.50 m.
2025-01-09T05:35:11.117Z,1736400911.117 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=13.846910
2025-01-09T05:35:11.254Z,1736400911.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:11.261Z,1736400911.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:11.265Z,1736400911.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.50 m.
2025-01-09T05:35:11.278Z,1736400911.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.500000 m,
      nav range: 13.491552 m,
      bearing: 252.883535 deg,
      approach rate: -0.706927 m/s,
      LOS rate: -0.111968 deg/s,
      cmd heading: 246.610318 deg,
      new cmd heading: 246.520505 deg.

2025-01-09T05:35:11.283Z,1736400911.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302595 target range: 13.500000 and range: 13.50 m.
2025-01-09T05:35:11.369Z,1736400911.369 [DAT](INFO): DAT read: Rx Time:05:35:10.2234 

2025-01-09T05:35:11.370Z,1736400911.370 [DAT](INFO): Rx dataTimestamp_ set to:1736400911.369119
2025-01-09T05:35:11.372Z,1736400911.372 [DAT](INFO): DAT read: Bearing   4.7,  -3.0 (Local)

2025-01-09T05:35:11.372Z,1736400911.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,  -3.0 (Local)

2025-01-09T05:35:11.375Z,1736400911.375 [DAT](INFO): DAT read: Range 10 to 50 :    13.1 m (trip time 8.7 ms) speed 0.7

2025-01-09T05:35:11.382Z,1736400911.382 [DAT](INFO): DAT read: 05:35:10.2234 LVL= 23168, 31921, 19106, 32755, AGC= 53, IDX= 506,-0.26,-1.573,-2.978,-1.681,-1.801, PHS= 0.316,-1.130, 0.117, RAW= 142.7,  10.3, CAL= 145.3,   3.0, ROT=   4.7,  -3.0

2025-01-09T05:35:11.384Z,1736400911.384 [DAT](INFO): got valid direction response:
 05:35:10.2234 LVL= 23168, 31921, 19106, 32755, AGC= 53, IDX= 506,-0.26,-1.573,-2.978,-1.681,-1.801, PHS= 0.316,-1.130, 0.117, RAW= 142.7,  10.3, CAL= 145.3,   3.0, ROT=   4.7,  -3.0

2025-01-09T05:35:11.384Z,1736400911.384 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-01-09T05:35:11.385Z,1736400911.385 [DAT](INFO): direction in FSK: [0.995272,0.081826,0.052336]
2025-01-09T05:35:11.386Z,1736400911.386 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:11.392Z,1736400911.392 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=14.121672
2025-01-09T05:35:11.620Z,1736400911.620 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=14.349821
2025-01-09T05:35:11.699Z,1736400911.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:11.736Z,1736400911.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.504281 s,
      deltaX: -0.400000 m,
      approachRate: -0.793208 m/s,
      rangeRepo size: 4

2025-01-09T05:35:11.743Z,1736400911.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.100000 m,
      bearing: 252.428757 deg,
      lat: 36.904004 deg,
      lon: -122.118953 deg,
      deltaT: 0.504281 s,
      deltaX: -0.400000 m,
      approachRate: -0.793208 m/s,
      posRepo size: 4

2025-01-09T05:35:11.745Z,1736400911.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.10 m.
2025-01-09T05:35:11.762Z,1736400911.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.100000 m,
      nav range: 13.042019 m,
      bearing: 252.632819 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.111968 deg/s,
      cmd heading: 246.520515 deg,
      new cmd heading: 246.361757 deg.

2025-01-09T05:35:11.776Z,1736400911.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299824 target range: 13.100000 and range: 13.10 m.
2025-01-09T05:35:11.872Z,1736400911.872 [DAT](INFO): DAT read: Rx Time:05:35:10.7233 

2025-01-09T05:35:11.873Z,1736400911.873 [DAT](INFO): Rx dataTimestamp_ set to:1736400911.872643
2025-01-09T05:35:11.874Z,1736400911.874 [DAT](INFO): DAT read: Bearing   3.6,  -2.3 (Local)

2025-01-09T05:35:11.878Z,1736400911.878 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.6,  -2.3 (Local)

2025-01-09T05:35:11.880Z,1736400911.880 [DAT](INFO): DAT read: Range 10 to 50 :    12.9 m (trip time 8.6 ms) speed 0.6

2025-01-09T05:35:11.886Z,1736400911.886 [DAT](INFO): DAT read: 05:35:10.7233 LVL= 24800, 32753, 20306, 32755, AGC= 53, IDX= 504, 0.28, 1.077,-0.379, 1.002, 0.846, PHS= 0.319,-1.178, 0.153, RAW= 144.2,  10.0, CAL= 146.4,   2.3, ROT=   3.6,  -2.3

2025-01-09T05:35:11.887Z,1736400911.887 [DAT](INFO): got valid direction response:
 05:35:10.7233 LVL= 24800, 32753, 20306, 32755, AGC= 53, IDX= 504, 0.28, 1.077,-0.379, 1.002, 0.846, PHS= 0.319,-1.178, 0.153, RAW= 144.2,  10.0, CAL= 146.4,   2.3, ROT=   3.6,  -2.3

2025-01-09T05:35:11.888Z,1736400911.888 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-01-09T05:35:11.889Z,1736400911.889 [DAT](INFO): direction in FSK: [0.997223,0.062740,0.040132]
2025-01-09T05:35:11.889Z,1736400911.889 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:11.897Z,1736400911.897 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=14.627282
2025-01-09T05:35:12.124Z,1736400912.124 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=14.853747
2025-01-09T05:35:12.164Z,1736400912.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:12.197Z,1736400912.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503524 s,
      deltaX: -0.200001 m,
      approachRate: -0.397202 m/s,
      rangeRepo size: 4

2025-01-09T05:35:12.200Z,1736400912.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.900000 m,
      bearing: 251.400415 deg,
      lat: 36.904004 deg,
      lon: -122.118953 deg,
      deltaT: 0.503524 s,
      deltaX: -0.200001 m,
      approachRate: -0.397202 m/s,
      posRepo size: 4

2025-01-09T05:35:12.201Z,1736400912.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.90 m.
2025-01-09T05:35:12.204Z,1736400912.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.900000 m,
      nav range: 12.772638 m,
      bearing: 252.429147 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.111968 deg/s,
      cmd heading: 246.361754 deg,
      new cmd heading: 246.206851 deg.

2025-01-09T05:35:12.205Z,1736400912.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297120 target range: 12.900000 and range: 12.90 m.
2025-01-09T05:35:12.377Z,1736400912.377 [DAT](INFO): DAT read: Rx Time:05:35:11.2229 

2025-01-09T05:35:12.377Z,1736400912.377 [DAT](INFO): Rx dataTimestamp_ set to:1736400912.376764
2025-01-09T05:35:12.378Z,1736400912.378 [DAT](INFO): DAT read: Bearing   3.4,  -3.1 (Local)

2025-01-09T05:35:12.379Z,1736400912.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.4,  -3.1 (Local)

2025-01-09T05:35:12.381Z,1736400912.381 [DAT](INFO): DAT read: Range 10 to 50 :    12.5 m (trip time 8.3 ms) speed 0.6

2025-01-09T05:35:12.387Z,1736400912.387 [DAT](INFO): DAT read: 05:35:11.2229 LVL= 27488, 32753, 21394, 32755, AGC= 50, IDX= 501, 0.02,-0.417,-1.855,-0.482,-0.626, PHS= 0.297,-1.182, 0.141, RAW= 144.5,  10.6, CAL= 146.6,   3.1, ROT=   3.4,  -3.1

2025-01-09T05:35:12.388Z,1736400912.388 [DAT](INFO): got valid direction response:
 05:35:11.2229 LVL= 27488, 32753, 21394, 32755, AGC= 50, IDX= 501, 0.02,-0.417,-1.855,-0.482,-0.626, PHS= 0.297,-1.182, 0.141, RAW= 144.5,  10.6, CAL= 146.6,   3.1, ROT=   3.4,  -3.1

2025-01-09T05:35:12.388Z,1736400912.388 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-01-09T05:35:12.389Z,1736400912.389 [DAT](INFO): direction in FSK: [0.996779,0.059220,0.054079]
2025-01-09T05:35:12.390Z,1736400912.390 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:12.397Z,1736400912.397 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=15.127573
2025-01-09T05:35:12.577Z,1736400912.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:12.632Z,1736400912.632 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=15.361928
2025-01-09T05:35:12.642Z,1736400912.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504121 s,
      deltaX: -0.400000 m,
      approachRate: -0.793460 m/s,
      rangeRepo size: 4

2025-01-09T05:35:12.648Z,1736400912.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.500000 m,
      bearing: 251.079335 deg,
      lat: 36.904004 deg,
      lon: -122.118952 deg,
      deltaT: 0.504121 s,
      deltaX: -0.400000 m,
      approachRate: -0.793460 m/s,
      posRepo size: 4

2025-01-09T05:35:12.649Z,1736400912.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:35:12.663Z,1736400912.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.500000 m,
      nav range: 12.500281 m,
      bearing: 252.151600 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.111968 deg/s,
      cmd heading: 246.206845 deg,
      new cmd heading: 246.057523 deg.

2025-01-09T05:35:12.664Z,1736400912.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294514 target range: 12.500000 and range: 12.50 m.
2025-01-09T05:35:12.884Z,1736400912.884 [DAT](INFO): DAT read: Rx Time:05:35:11.7228 

2025-01-09T05:35:12.885Z,1736400912.885 [DAT](INFO): Rx dataTimestamp_ set to:1736400912.884684
2025-01-09T05:35:12.887Z,1736400912.887 [DAT](INFO): DAT read: Bearing   3.6,  -3.8 (Local)

2025-01-09T05:35:12.888Z,1736400912.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.6,  -3.8 (Local)

2025-01-09T05:35:12.891Z,1736400912.891 [DAT](INFO): DAT read: Range 10 to 50 :    12.3 m (trip time 8.2 ms) speed 0.5

2025-01-09T05:35:12.897Z,1736400912.897 [DAT](INFO): DAT read: 05:35:11.7228 LVL= 23456, 32753, 18770, 32755, AGC= 52, IDX= 500,-0.09,-0.273,-1.688,-0.345,-0.469, PHS= 0.284,-1.172, 0.121, RAW= 144.1,  11.1, CAL= 146.4,   3.8, ROT=   3.6,  -3.8

2025-01-09T05:35:12.898Z,1736400912.898 [DAT](INFO): got valid direction response:
 05:35:11.7228 LVL= 23456, 32753, 18770, 32755, AGC= 52, IDX= 500,-0.09,-0.273,-1.688,-0.345,-0.469, PHS= 0.284,-1.172, 0.121, RAW= 144.1,  11.1, CAL= 146.4,   3.8, ROT=   3.6,  -3.8

2025-01-09T05:35:12.898Z,1736400912.898 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-01-09T05:35:12.901Z,1736400912.901 [DAT](INFO): direction in FSK: [0.995833,0.062652,0.066274]
2025-01-09T05:35:12.902Z,1736400912.902 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:12.906Z,1736400912.906 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=15.635856
2025-01-09T05:35:13.048Z,1736400913.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:13.111Z,1736400913.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.507920 s,
      deltaX: -0.200000 m,
      approachRate: -0.393762 m/s,
      rangeRepo size: 4

2025-01-09T05:35:13.113Z,1736400913.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.300000 m,
      bearing: 251.234120 deg,
      lat: 36.904002 deg,
      lon: -122.118952 deg,
      deltaT: 0.507920 s,
      deltaX: -0.200000 m,
      approachRate: -0.393762 m/s,
      posRepo size: 4

2025-01-09T05:35:13.114Z,1736400913.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-01-09T05:35:13.121Z,1736400913.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.300000 m,
      nav range: 12.266610 m,
      bearing: 251.300400 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.111968 deg/s,
      cmd heading: 246.057510 deg,
      new cmd heading: 245.901364 deg.

2025-01-09T05:35:13.122Z,1736400913.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291789 target range: 12.300000 and range: 12.30 m.
2025-01-09T05:35:13.136Z,1736400913.136 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=15.865995
2025-01-09T05:35:13.388Z,1736400913.388 [DAT](INFO): DAT read: Rx Time:05:35:12.2225 

2025-01-09T05:35:13.389Z,1736400913.389 [DAT](INFO): Rx dataTimestamp_ set to:1736400913.388565
2025-01-09T05:35:13.390Z,1736400913.390 [DAT](INFO): DAT read: Bearing   4.4,  -4.5 (Local)

2025-01-09T05:35:13.390Z,1736400913.390 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.4,  -4.5 (Local)

2025-01-09T05:35:13.392Z,1736400913.392 [DAT](INFO): DAT read: Range 10 to 50 :    11.9 m (trip time 7.9 ms) speed 0.6

2025-01-09T05:35:13.397Z,1736400913.397 [DAT](INFO): DAT read: 05:35:12.2225 LVL= 24736, 32753, 21426, 32755, AGC= 55, IDX= 497,-0.24,-0.562,-1.961,-0.659,-0.755, PHS= 0.281,-1.159, 0.093, RAW= 143.1,  11.6, CAL= 145.6,   4.5, ROT=   4.4,  -4.5

2025-01-09T05:35:13.401Z,1736400913.401 [DAT](INFO): got valid direction response:
 05:35:12.2225 LVL= 24736, 32753, 21426, 32755, AGC= 55, IDX= 497,-0.24,-0.562,-1.961,-0.659,-0.755, PHS= 0.281,-1.159, 0.093, RAW= 143.1,  11.6, CAL= 145.6,   4.5, ROT=   4.4,  -4.5

2025-01-09T05:35:13.402Z,1736400913.402 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-01-09T05:35:13.407Z,1736400913.407 [DAT](INFO): direction in FSK: [0.993979,0.076483,0.078459]
2025-01-09T05:35:13.407Z,1736400913.407 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:13.412Z,1736400913.412 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=16.142591
2025-01-09T05:35:13.473Z,1736400913.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:13.522Z,1736400913.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.503881 s,
      deltaX: -0.400001 m,
      approachRate: -0.793839 m/s,
      rangeRepo size: 4

2025-01-09T05:35:13.530Z,1736400913.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.900000 m,
      bearing: 251.971770 deg,
      lat: 36.904002 deg,
      lon: -122.118952 deg,
      deltaT: 0.503881 s,
      deltaX: -0.400001 m,
      approachRate: -0.793839 m/s,
      posRepo size: 4

2025-01-09T05:35:13.535Z,1736400913.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-01-09T05:35:13.537Z,1736400913.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 11.994980 m,
      bearing: 251.298568 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.111968 deg/s,
      cmd heading: 245.901372 deg,
      new cmd heading: 245.761930 deg.

2025-01-09T05:35:13.543Z,1736400913.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289355 target range: 11.900000 and range: 11.90 m.
2025-01-09T05:35:13.641Z,1736400913.641 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=16.370680
2025-01-09T05:35:13.892Z,1736400913.892 [DAT](INFO): DAT read: Rx Time:05:35:12.7223 

2025-01-09T05:35:13.893Z,1736400913.893 [DAT](INFO): Rx dataTimestamp_ set to:1736400913.892447
2025-01-09T05:35:13.894Z,1736400913.894 [DAT](INFO): DAT read: Bearing   3.7,  -3.2 (Local)

2025-01-09T05:35:13.894Z,1736400913.894 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.7,  -3.2 (Local)

2025-01-09T05:35:13.896Z,1736400913.896 [DAT](INFO): DAT read: Range 10 to 50 :    11.6 m (trip time 7.7 ms) speed 0.4

2025-01-09T05:35:13.905Z,1736400913.905 [DAT](INFO): DAT read: 05:35:12.7223 LVL= 26896, 30065, 23074, 32755, AGC= 52, IDX= 511,-0.21,-0.158,-1.580,-0.232,-0.366, PHS= 0.297,-1.166, 0.131, RAW= 144.1,  10.7, CAL= 146.3,   3.2, ROT=   3.7,  -3.2

2025-01-09T05:35:13.907Z,1736400913.907 [DAT](INFO): got valid direction response:
 05:35:12.7223 LVL= 26896, 30065, 23074, 32755, AGC= 52, IDX= 511,-0.21,-0.158,-1.580,-0.232,-0.366, PHS= 0.297,-1.166, 0.131, RAW= 144.1,  10.7, CAL= 146.3,   3.2, ROT=   3.7,  -3.2

2025-01-09T05:35:13.907Z,1736400913.907 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-01-09T05:35:13.908Z,1736400913.908 [DAT](INFO): direction in FSK: [0.996360,0.064432,0.055822]
2025-01-09T05:35:13.908Z,1736400913.908 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:13.924Z,1736400913.924 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=16.653957
2025-01-09T05:35:13.942Z,1736400913.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:13.986Z,1736400913.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.503882 s,
      deltaX: -0.299999 m,
      approachRate: -0.595376 m/s,
      rangeRepo size: 4

2025-01-09T05:35:13.996Z,1736400913.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.600000 m,
      bearing: 251.400764 deg,
      lat: 36.904002 deg,
      lon: -122.118951 deg,
      deltaT: 0.503882 s,
      deltaX: -0.299999 m,
      approachRate: -0.595376 m/s,
      posRepo size: 4

2025-01-09T05:35:13.997Z,1736400913.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.60 m.
2025-01-09T05:35:14.021Z,1736400914.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.600000 m,
      nav range: 11.673415 m,
      bearing: 251.246942 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.111968 deg/s,
      cmd heading: 245.761927 deg,
      new cmd heading: 245.605991 deg.

2025-01-09T05:35:14.022Z,1736400914.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.286633 target range: 11.600000 and range: 11.60 m.
2025-01-09T05:35:14.145Z,1736400914.145 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=16.874670
2025-01-09T05:35:14.346Z,1736400914.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:14.354Z,1736400914.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:14.356Z,1736400914.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.60 m.
2025-01-09T05:35:14.360Z,1736400914.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.600000 m,
      nav range: 11.450908 m,
      bearing: 251.292343 deg,
      approach rate: -0.599134 m/s,
      LOS rate: 0.124622 deg/s,
      cmd heading: 245.605980 deg,
      new cmd heading: 245.744827 deg.

2025-01-09T05:35:14.361Z,1736400914.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289056 target range: 11.600000 and range: 11.60 m.
2025-01-09T05:35:14.397Z,1736400914.397 [DAT](INFO): DAT read: Rx Time:05:35:13.2221 

2025-01-09T05:35:14.397Z,1736400914.397 [DAT](INFO): Rx dataTimestamp_ set to:1736400914.396879
2025-01-09T05:35:14.403Z,1736400914.403 [DAT](INFO): DAT read: Bearing   2.5,  -2.7 (Local)

2025-01-09T05:35:14.403Z,1736400914.403 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,  -2.7 (Local)

2025-01-09T05:35:14.406Z,1736400914.406 [DAT](INFO): DAT read: Range 10 to 50 :    11.3 m (trip time 7.5 ms) speed 0.4

2025-01-09T05:35:14.412Z,1736400914.412 [DAT](INFO): DAT read: 05:35:13.2221 LVL= 25280, 32625, 20930, 32755, AGC= 53, IDX= 508,-0.00,-1.715, 3.115,-1.748,-1.917, PHS= 0.290,-1.205, 0.166, RAW= 145.7,  10.4, CAL= 147.5,   2.7, ROT=   2.5,  -2.7

2025-01-09T05:35:14.413Z,1736400914.413 [DAT](INFO): got valid direction response:
 05:35:13.2221 LVL= 25280, 32625, 20930, 32755, AGC= 53, IDX= 508,-0.00,-1.715, 3.115,-1.748,-1.917, PHS= 0.290,-1.205, 0.166, RAW= 145.7,  10.4, CAL= 147.5,   2.7, ROT=   2.5,  -2.7

2025-01-09T05:35:14.414Z,1736400914.414 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-01-09T05:35:14.416Z,1736400914.416 [DAT](INFO): direction in FSK: [0.997939,0.043571,0.047106]
2025-01-09T05:35:14.417Z,1736400914.417 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:14.438Z,1736400914.438 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=17.167707
2025-01-09T05:35:14.648Z,1736400914.648 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=17.378160
2025-01-09T05:35:14.820Z,1736400914.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:14.841Z,1736400914.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.504432 s,
      deltaX: -0.300000 m,
      approachRate: -0.594729 m/s,
      rangeRepo size: 4

2025-01-09T05:35:14.865Z,1736400914.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.300000 m,
      bearing: 250.313366 deg,
      lat: 36.904002 deg,
      lon: -122.118951 deg,
      deltaT: 0.504432 s,
      deltaX: -0.300000 m,
      approachRate: -0.594729 m/s,
      posRepo size: 4

2025-01-09T05:35:14.867Z,1736400914.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.30 m.
2025-01-09T05:35:14.872Z,1736400914.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.300000 m,
      nav range: 11.197315 m,
      bearing: 251.304837 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.124622 deg/s,
      cmd heading: 245.744824 deg,
      new cmd heading: 245.925843 deg.

2025-01-09T05:35:14.874Z,1736400914.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292216 target range: 11.300000 and range: 11.30 m.
2025-01-09T05:35:14.903Z,1736400914.903 [DAT](INFO): DAT read: Rx Time:05:35:13.7221 

2025-01-09T05:35:14.903Z,1736400914.903 [DAT](INFO): Rx dataTimestamp_ set to:1736400914.902846
2025-01-09T05:35:14.904Z,1736400914.904 [DAT](INFO): DAT read: Bearing   2.0,  -2.7 (Local)

2025-01-09T05:35:14.905Z,1736400914.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,  -2.7 (Local)

2025-01-09T05:35:14.907Z,1736400914.907 [DAT](INFO): DAT read: Range 10 to 50 :    11.3 m (trip time 7.5 ms) speed 0.4

2025-01-09T05:35:14.911Z,1736400914.911 [DAT](INFO): DAT read: 05:35:13.7221 LVL= 26144, 32753, 23746, 32755, AGC= 51, IDX= 507, 0.29,-0.416,-1.893,-0.432,-0.613, PHS= 0.285,-1.233, 0.178, RAW= 146.4,  10.5, CAL= 148.0,   2.7, ROT=   2.0,  -2.7

2025-01-09T05:35:14.912Z,1736400914.912 [DAT](INFO): got valid direction response:
 05:35:13.7221 LVL= 26144, 32753, 23746, 32755, AGC= 51, IDX= 507, 0.29,-0.416,-1.893,-0.432,-0.613, PHS= 0.285,-1.233, 0.178, RAW= 146.4,  10.5, CAL= 148.0,   2.7, ROT=   2.0,  -2.7

2025-01-09T05:35:14.913Z,1736400914.913 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-01-09T05:35:14.914Z,1736400914.914 [DAT](INFO): direction in FSK: [0.998281,0.034861,0.047106]
2025-01-09T05:35:14.914Z,1736400914.914 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:14.981Z,1736400914.981 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=17.710981
2025-01-09T05:35:15.167Z,1736400915.167 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=17.897305
2025-01-09T05:35:15.209Z,1736400915.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:15.242Z,1736400915.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.505967 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:15.249Z,1736400915.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.300000 m,
      bearing: 249.837159 deg,
      lat: 36.904002 deg,
      lon: -122.118951 deg,
      deltaT: 0.505967 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T05:35:15.250Z,1736400915.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.30 m.
2025-01-09T05:35:15.257Z,1736400915.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.300000 m,
      nav range: 10.990215 m,
      bearing: 251.347189 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.124622 deg/s,
      cmd heading: 245.925851 deg,
      new cmd heading: 246.075562 deg.

2025-01-09T05:35:15.258Z,1736400915.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294829 target range: 11.300000 and range: 11.30 m.
2025-01-09T05:35:15.420Z,1736400915.420 [DAT](INFO): DAT read: Rx Time:05:35:14.2218 

2025-01-09T05:35:15.421Z,1736400915.421 [DAT](INFO): Rx dataTimestamp_ set to:1736400915.420550
2025-01-09T05:35:15.422Z,1736400915.422 [DAT](INFO): DAT read: Bearing   2.6,  -4.6 (Local)

2025-01-09T05:35:15.422Z,1736400915.422 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.6,  -4.6 (Local)

2025-01-09T05:35:15.424Z,1736400915.424 [DAT](INFO): DAT read: Range 10 to 50 :    10.8 m (trip time 7.2 ms) speed 0.4

2025-01-09T05:35:15.429Z,1736400915.429 [DAT](INFO): DAT read: 05:35:14.2218 LVL= 28944, 32753, 23730, 32755, AGC= 52, IDX= 505,-0.20, 2.477, 1.019, 2.438, 2.310, PHS= 0.256,-1.244, 0.125, RAW= 145.5,  12.0, CAL= 147.4,   4.6, ROT=   2.6,  -4.6

2025-01-09T05:35:15.430Z,1736400915.430 [DAT](INFO): got valid direction response:
 05:35:14.2218 LVL= 28944, 32753, 23730, 32755, AGC= 52, IDX= 505,-0.20, 2.477, 1.019, 2.438, 2.310, PHS= 0.256,-1.244, 0.125, RAW= 145.5,  12.0, CAL= 147.4,   4.6, ROT=   2.6,  -4.6

2025-01-09T05:35:15.431Z,1736400915.431 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-01-09T05:35:15.432Z,1736400915.432 [DAT](INFO): direction in FSK: [0.995753,0.045217,0.080199]
2025-01-09T05:35:15.433Z,1736400915.433 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:15.437Z,1736400915.437 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.167328
2025-01-09T05:35:15.672Z,1736400915.672 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.401890
2025-01-09T05:35:15.735Z,1736400915.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:15.800Z,1736400915.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.517704 s,
      deltaX: -0.500000 m,
      approachRate: -0.965803 m/s,
      rangeRepo size: 4

2025-01-09T05:35:15.824Z,1736400915.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.800000 m,
      bearing: 250.245930 deg,
      lat: 36.904000 deg,
      lon: -122.118951 deg,
      deltaT: 0.517704 s,
      deltaX: -0.500000 m,
      approachRate: -0.965803 m/s,
      posRepo size: 4

2025-01-09T05:35:15.825Z,1736400915.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.80 m.
2025-01-09T05:35:15.836Z,1736400915.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.800000 m,
      nav range: 10.737083 m,
      bearing: 250.245968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.124622 deg/s,
      cmd heading: 246.075569 deg,
      new cmd heading: 246.276894 deg.

2025-01-09T05:35:15.837Z,1736400915.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298343 target range: 10.800000 and range: 10.80 m.
2025-01-09T05:35:15.924Z,1736400915.924 [DAT](INFO): DAT read: Rx Time:05:35:14.7217 

2025-01-09T05:35:15.925Z,1736400915.925 [DAT](INFO): Rx dataTimestamp_ set to:1736400915.924609
2025-01-09T05:35:15.926Z,1736400915.926 [DAT](INFO): DAT read: Bearing   2.1,  -3.0 (Local)

2025-01-09T05:35:15.927Z,1736400915.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,  -3.0 (Local)

2025-01-09T05:35:15.929Z,1736400915.929 [DAT](INFO): DAT read: Range 10 to 50 :    10.7 m (trip time 7.1 ms) speed 0.4

2025-01-09T05:35:15.935Z,1736400915.935 [DAT](INFO): DAT read: 05:35:14.7217 LVL= 26992, 32753, 24658, 32755, AGC= 51, IDX= 504, 0.20,-1.974, 2.840,-1.994,-2.165, PHS= 0.280,-1.231, 0.168, RAW= 146.2,  10.8, CAL= 147.9,   3.0, ROT=   2.1,  -3.0

2025-01-09T05:35:15.937Z,1736400915.937 [DAT](INFO): got valid direction response:
 05:35:14.7217 LVL= 26992, 32753, 24658, 32755, AGC= 51, IDX= 504, 0.20,-1.974, 2.840,-1.994,-2.165, PHS= 0.280,-1.231, 0.168, RAW= 146.2,  10.8, CAL= 147.9,   3.0, ROT=   2.1,  -3.0

2025-01-09T05:35:15.937Z,1736400915.937 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-01-09T05:35:15.938Z,1736400915.938 [DAT](INFO): direction in FSK: [0.997959,0.036593,0.052336]
2025-01-09T05:35:15.940Z,1736400915.940 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:15.944Z,1736400915.944 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=18.674349
2025-01-09T05:35:16.152Z,1736400916.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:16.176Z,1736400916.176 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=18.905878
2025-01-09T05:35:16.188Z,1736400916.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.504059 s,
      deltaX: -0.100000 m,
      approachRate: -0.198390 m/s,
      rangeRepo size: 4

2025-01-09T05:35:16.190Z,1736400916.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.700000 m,
      bearing: 249.859109 deg,
      lat: 36.904000 deg,
      lon: -122.118951 deg,
      deltaT: 0.504059 s,
      deltaX: -0.100000 m,
      approachRate: -0.198390 m/s,
      posRepo size: 4

2025-01-09T05:35:16.195Z,1736400916.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.70 m.
2025-01-09T05:35:16.198Z,1736400916.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.700000 m,
      nav range: 10.548355 m,
      bearing: 250.267751 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.124622 deg/s,
      cmd heading: 246.276896 deg,
      new cmd heading: 246.429332 deg.

2025-01-09T05:35:16.204Z,1736400916.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301003 target range: 10.700000 and range: 10.70 m.
2025-01-09T05:35:16.428Z,1736400916.428 [DAT](INFO): DAT read: Rx Time:05:35:15.2215 

2025-01-09T05:35:16.429Z,1736400916.429 [DAT](INFO): Rx dataTimestamp_ set to:1736400916.428535
2025-01-09T05:35:16.430Z,1736400916.430 [DAT](INFO): DAT read: Bearing   3.0,  -4.9 (Local)

2025-01-09T05:35:16.431Z,1736400916.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0,  -4.9 (Local)

2025-01-09T05:35:16.434Z,1736400916.434 [DAT](INFO): DAT read: Range 10 to 50 :    10.4 m (trip time 6.9 ms) speed 0.4

2025-01-09T05:35:16.441Z,1736400916.441 [DAT](INFO): DAT read: 05:35:15.2215 LVL= 27120, 32753, 25202, 32755, AGC= 52, IDX= 502,-0.29, 1.962, 0.488, 1.906, 1.789, PHS= 0.261,-1.254, 0.114, RAW= 145.0,  12.1, CAL= 147.0,   4.9, ROT=   3.0,  -4.9

2025-01-09T05:35:16.451Z,1736400916.451 [DAT](INFO): got valid direction response:
 05:35:15.2215 LVL= 27120, 32753, 25202, 32755, AGC= 52, IDX= 502,-0.29, 1.962, 0.488, 1.906, 1.789, PHS= 0.261,-1.254, 0.114, RAW= 145.0,  12.1, CAL= 147.0,   4.9, ROT=   3.0,  -4.9

2025-01-09T05:35:16.451Z,1736400916.451 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-01-09T05:35:16.452Z,1736400916.452 [DAT](INFO): direction in FSK: [0.994980,0.052145,0.085417]
2025-01-09T05:35:16.452Z,1736400916.452 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:16.468Z,1736400916.468 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.198233
2025-01-09T05:35:16.528Z,1736400916.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:16.585Z,1736400916.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.503926 s,
      deltaX: -0.300000 m,
      approachRate: -0.595326 m/s,
      rangeRepo size: 4

2025-01-09T05:35:16.592Z,1736400916.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.400000 m,
      bearing: 250.508810 deg,
      lat: 36.904000 deg,
      lon: -122.118951 deg,
      deltaT: 0.503926 s,
      deltaX: -0.300000 m,
      approachRate: -0.595326 m/s,
      posRepo size: 4

2025-01-09T05:35:16.593Z,1736400916.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:35:16.600Z,1736400916.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.400000 m,
      nav range: 10.347939 m,
      bearing: 250.248448 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.124622 deg/s,
      cmd heading: 246.429346 deg,
      new cmd heading: 246.575405 deg.

2025-01-09T05:35:16.608Z,1736400916.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303553 target range: 10.400000 and range: 10.40 m.
2025-01-09T05:35:16.680Z,1736400916.680 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.409838
2025-01-09T05:35:16.933Z,1736400916.933 [DAT](INFO): DAT read: Rx Time:05:35:15.7214 

2025-01-09T05:35:16.933Z,1736400916.933 [DAT](INFO): Rx dataTimestamp_ set to:1736400916.933070
2025-01-09T05:35:16.935Z,1736400916.935 [DAT](INFO): DAT read: Bearing   2.0,  -4.4 (Local)

2025-01-09T05:35:16.935Z,1736400916.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,  -4.4 (Local)

2025-01-09T05:35:16.937Z,1736400916.937 [DAT](INFO): DAT read: Range 10 to 50 :    10.2 m (trip time 6.8 ms) speed 0.4

2025-01-09T05:35:16.942Z,1736400916.942 [DAT](INFO): DAT read: 05:35:15.7214 LVL= 32176, 32753, 23490, 32755, AGC= 52, IDX= 501, 0.09,-1.435,-2.922,-1.455,-1.601, PHS= 0.254,-1.274, 0.143, RAW= 146.3,  11.9, CAL= 148.0,   4.4, ROT=   2.0,  -4.4

2025-01-09T05:35:16.943Z,1736400916.943 [DAT](INFO): got valid direction response:
 05:35:15.7214 LVL= 32176, 32753, 23490, 32755, AGC= 52, IDX= 501, 0.09,-1.435,-2.922,-1.455,-1.601, PHS= 0.254,-1.274, 0.143, RAW= 146.3,  11.9, CAL= 148.0,   4.4, ROT=   2.0,  -4.4

2025-01-09T05:35:16.943Z,1736400916.943 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-01-09T05:35:16.944Z,1736400916.944 [DAT](INFO): direction in FSK: [0.996445,0.034797,0.076719]
2025-01-09T05:35:16.944Z,1736400916.944 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:16.956Z,1736400916.956 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=19.686037
2025-01-09T05:35:17.060Z,1736400917.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:17.100Z,1736400917.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.504535 s,
      deltaX: -0.200000 m,
      approachRate: -0.396404 m/s,
      rangeRepo size: 4

2025-01-09T05:35:17.102Z,1736400917.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.200000 m,
      bearing: 249.461189 deg,
      lat: 36.903999 deg,
      lon: -122.118952 deg,
      deltaT: 0.504535 s,
      deltaX: -0.200000 m,
      approachRate: -0.396404 m/s,
      posRepo size: 4

2025-01-09T05:35:17.108Z,1736400917.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.20 m.
2025-01-09T05:35:17.118Z,1736400917.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.200000 m,
      nav range: 10.131362 m,
      bearing: 249.645035 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.124622 deg/s,
      cmd heading: 246.575402 deg,
      new cmd heading: 246.768452 deg.

2025-01-09T05:35:17.125Z,1736400917.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306922 target range: 10.200000 and range: 10.20 m.
2025-01-09T05:35:17.185Z,1736400917.185 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=19.915316
2025-01-09T05:35:17.396Z,1736400917.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:17.407Z,1736400917.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:17.409Z,1736400917.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.20 m.
2025-01-09T05:35:17.412Z,1736400917.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.200000 m,
      nav range: 9.944069 m,
      bearing: 249.572682 deg,
      approach rate: -0.595125 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 246.768451 deg,
      new cmd heading: 246.547304 deg.

2025-01-09T05:35:17.413Z,1736400917.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303062 target range: 10.200000 and range: 10.20 m.
2025-01-09T05:35:17.436Z,1736400917.436 [DAT](INFO): DAT read: Rx Time:05:35:16.2212 

2025-01-09T05:35:17.437Z,1736400917.437 [DAT](INFO): Rx dataTimestamp_ set to:1736400917.436402
2025-01-09T05:35:17.438Z,1736400917.438 [DAT](INFO): DAT read: Bearing   2.7,  -5.4 (Local)

2025-01-09T05:35:17.438Z,1736400917.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  -5.4 (Local)

2025-01-09T05:35:17.440Z,1736400917.440 [DAT](INFO): DAT read: Range 10 to 50 :     9.9 m (trip time 6.6 ms) speed 0.4

2025-01-09T05:35:17.446Z,1736400917.446 [DAT](INFO): DAT read: 05:35:16.2212 LVL= 30960, 32753, 24882, 32755, AGC= 52, IDX= 499,-0.40, 2.529, 1.027, 2.482, 2.368, PHS= 0.249,-1.294, 0.111, RAW= 145.4,  12.6, CAL= 147.3,   5.4, ROT=   2.7,  -5.4

2025-01-09T05:35:17.448Z,1736400917.448 [DAT](INFO): got valid direction response:
 05:35:16.2212 LVL= 30960, 32753, 24882, 32755, AGC= 52, IDX= 499,-0.40, 2.529, 1.027, 2.482, 2.368, PHS= 0.249,-1.294, 0.111, RAW= 145.4,  12.6, CAL= 147.3,   5.4, ROT=   2.7,  -5.4

2025-01-09T05:35:17.449Z,1736400917.449 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-01-09T05:35:17.450Z,1736400917.450 [DAT](INFO): direction in FSK: [0.994457,0.046897,0.094108]
2025-01-09T05:35:17.452Z,1736400917.452 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:17.459Z,1736400917.459 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.188349
2025-01-09T05:35:17.688Z,1736400917.688 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.418123
2025-01-09T05:35:17.878Z,1736400917.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:17.893Z,1736400917.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.503332 s,
      deltaX: -0.300000 m,
      approachRate: -0.596028 m/s,
      rangeRepo size: 4

2025-01-09T05:35:17.896Z,1736400917.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.900000 m,
      bearing: 249.899196 deg,
      lat: 36.903999 deg,
      lon: -122.118952 deg,
      deltaT: 0.503332 s,
      deltaX: -0.300000 m,
      approachRate: -0.596028 m/s,
      posRepo size: 4

2025-01-09T05:35:17.896Z,1736400917.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.90 m.
2025-01-09T05:35:17.897Z,1736400917.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m.
2025-01-09T05:35:17.897Z,1736400917.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-01-09T05:35:17.900Z,1736400917.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 9.659706 m,
      bearing: 249.545400 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 246.547317 deg,
      new cmd heading: 246.207772 deg.

2025-01-09T05:35:17.901Z,1736400917.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297136 target range: 9.900000 and range: 9.90 m.
2025-01-09T05:35:17.943Z,1736400917.943 [DAT](INFO): DAT read: Rx Time:05:35:16.7210 

2025-01-09T05:35:17.944Z,1736400917.944 [DAT](INFO): Rx dataTimestamp_ set to:1736400917.943588
2025-01-09T05:35:17.945Z,1736400917.945 [DAT](INFO): DAT read: Bearing   2.2,  -5.6 (Local)

2025-01-09T05:35:17.945Z,1736400917.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  -5.6 (Local)

2025-01-09T05:35:17.948Z,1736400917.948 [DAT](INFO): DAT read: Range 10 to 50 :     9.6 m (trip time 6.4 ms) speed 0.4

2025-01-09T05:35:17.953Z,1736400917.953 [DAT](INFO): DAT read: 05:35:16.7210 LVL= 32464, 32753, 25826, 32755, AGC= 52, IDX= 497,-0.03,-2.990, 1.812,-3.019,-3.136, PHS= 0.235,-1.288, 0.115, RAW= 145.9,  12.8, CAL= 147.8,   5.6, ROT=   2.2,  -5.6

2025-01-09T05:35:17.954Z,1736400917.954 [DAT](INFO): got valid direction response:
 05:35:16.7210 LVL= 32464, 32753, 25826, 32755, AGC= 52, IDX= 497,-0.03,-2.990, 1.812,-3.019,-3.136, PHS= 0.235,-1.288, 0.115, RAW= 145.9,  12.8, CAL= 147.8,   5.6, ROT=   2.2,  -5.6

2025-01-09T05:35:17.954Z,1736400917.954 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-01-09T05:35:17.963Z,1736400917.963 [DAT](INFO): direction in FSK: [0.994494,0.038205,0.097583]
2025-01-09T05:35:17.963Z,1736400917.963 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:17.968Z,1736400917.968 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=20.698008
2025-01-09T05:35:18.192Z,1736400918.192 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=20.921902
2025-01-09T05:35:18.233Z,1736400918.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:18.344Z,1736400918.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.507186 s,
      deltaX: -0.299999 m,
      approachRate: -0.591497 m/s,
      rangeRepo size: 4

2025-01-09T05:35:18.346Z,1736400918.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.600000 m,
      bearing: 249.318221 deg,
      lat: 36.903999 deg,
      lon: -122.118952 deg,
      deltaT: 0.507186 s,
      deltaX: -0.299999 m,
      approachRate: -0.591497 m/s,
      posRepo size: 4

2025-01-09T05:35:18.351Z,1736400918.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.90 m.
2025-01-09T05:35:18.354Z,1736400918.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 9.456384 m,
      bearing: 249.431992 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 246.207774 deg,
      new cmd heading: 245.890683 deg.

2025-01-09T05:35:18.367Z,1736400918.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291602 target range: 9.900000 and range: 9.60 m.
2025-01-09T05:35:18.444Z,1736400918.444 [DAT](INFO): DAT read: Rx Time:05:35:17.2208 

2025-01-09T05:35:18.445Z,1736400918.445 [DAT](INFO): Rx dataTimestamp_ set to:1736400918.444657
2025-01-09T05:35:18.446Z,1736400918.446 [DAT](INFO): DAT read: Bearing   0.9,  -4.8 (Local)

2025-01-09T05:35:18.447Z,1736400918.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,  -4.8 (Local)

2025-01-09T05:35:18.450Z,1736400918.450 [DAT](INFO): DAT read: Range 10 to 50 :     9.2 m (trip time 6.1 ms) speed 0.4

2025-01-09T05:35:18.457Z,1736400918.457 [DAT](INFO): DAT read: 05:35:17.2208 LVL= 32752, 32753, 25410, 32755, AGC= 52, IDX= 510, 0.21,-1.866, 2.944,-1.842,-1.999, PHS= 0.221,-1.293, 0.154, RAW= 147.8,  12.4, CAL= 149.1,   4.8, ROT=   0.9,  -4.8

2025-01-09T05:35:18.459Z,1736400918.459 [DAT](INFO): got valid direction response:
 05:35:17.2208 LVL= 32752, 32753, 25410, 32755, AGC= 52, IDX= 510, 0.21,-1.866, 2.944,-1.842,-1.999, PHS= 0.221,-1.293, 0.154, RAW= 147.8,  12.4, CAL= 149.1,   4.8, ROT=   0.9,  -4.8

2025-01-09T05:35:18.460Z,1736400918.460 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-01-09T05:35:18.461Z,1736400918.461 [DAT](INFO): direction in FSK: [0.996370,0.015652,0.083678]
2025-01-09T05:35:18.461Z,1736400918.461 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:18.466Z,1736400918.466 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.196199
2025-01-09T05:35:18.632Z,1736400918.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:18.699Z,1736400918.699 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.428518
2025-01-09T05:35:18.719Z,1736400918.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.501069 s,
      deltaX: -0.400001 m,
      approachRate: -0.798294 m/s,
      rangeRepo size: 4

2025-01-09T05:35:18.721Z,1736400918.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.200000 m,
      bearing: 247.963858 deg,
      lat: 36.903999 deg,
      lon: -122.118952 deg,
      deltaT: 1.008255 s,
      deltaX: -0.700000 m,
      approachRate: -0.694269 m/s,
      posRepo size: 4

2025-01-09T05:35:18.722Z,1736400918.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.20 m. 9.90 m.
2025-01-09T05:35:18.737Z,1736400918.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 9.227959 m,
      bearing: 249.301851 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 245.890690 deg,
      new cmd heading: 245.630391 deg.

2025-01-09T05:35:18.738Z,1736400918.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287059 target range: 9.900000 and range: 9.20 m.
2025-01-09T05:35:18.949Z,1736400918.949 [DAT](INFO): DAT read: Rx Time:05:35:17.7208 

2025-01-09T05:35:18.949Z,1736400918.949 [DAT](INFO): Rx dataTimestamp_ set to:1736400918.949149
2025-01-09T05:35:18.951Z,1736400918.951 [DAT](INFO): DAT read: Bearing 359.9,  -6.1 (Local)

2025-01-09T05:35:18.951Z,1736400918.951 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  -6.1 (Local)

2025-01-09T05:35:18.953Z,1736400918.953 [DAT](INFO): DAT read: Range 10 to 50 :     9.2 m (trip time 6.1 ms) speed 0.4

2025-01-09T05:35:18.958Z,1736400918.958 [DAT](INFO): DAT read: 05:35:17.7208 LVL= 32752, 32753, 22386, 32755, AGC= 55, IDX= 510,-0.47,-1.059,-2.509,-1.001,-1.145, PHS= 0.174,-1.316, 0.142, RAW= 148.9,  13.5, CAL= 150.1,   6.1, ROT= 359.9,  -6.1

2025-01-09T05:35:18.959Z,1736400918.959 [DAT](INFO): got valid direction response:
 05:35:17.7208 LVL= 32752, 32753, 22386, 32755, AGC= 55, IDX= 510,-0.47,-1.059,-2.509,-1.001,-1.145, PHS= 0.174,-1.316, 0.142, RAW= 148.9,  13.5, CAL= 150.1,   6.1, ROT= 359.9,  -6.1

2025-01-09T05:35:18.959Z,1736400918.959 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-01-09T05:35:18.960Z,1736400918.960 [DAT](INFO): direction in FSK: [0.994336,-0.001736,0.106264]
2025-01-09T05:35:18.961Z,1736400918.961 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:18.964Z,1736400918.964 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=21.694204
2025-01-09T05:35:19.157Z,1736400919.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:19.189Z,1736400919.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.504492 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:19.201Z,1736400919.201 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=21.930799
2025-01-09T05:35:19.202Z,1736400919.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.200000 m,
      bearing: 246.833849 deg,
      lat: 36.903999 deg,
      lon: -122.118952 deg,
      deltaT: 1.512747 s,
      deltaX: -0.700000 m,
      approachRate: -0.462734 m/s,
      posRepo size: 4

2025-01-09T05:35:19.207Z,1736400919.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.20 m. 9.90 m.
2025-01-09T05:35:19.210Z,1736400919.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 8.917269 m,
      bearing: 249.078338 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 245.630405 deg,
      new cmd heading: 245.296879 deg.

2025-01-09T05:35:19.215Z,1736400919.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281238 target range: 9.900000 and range: 9.20 m.
2025-01-09T05:35:19.453Z,1736400919.453 [DAT](INFO): DAT read: Rx Time:05:35:18.2205 

2025-01-09T05:35:19.454Z,1736400919.454 [DAT](INFO): Rx dataTimestamp_ set to:1736400919.453466
2025-01-09T05:35:19.456Z,1736400919.456 [DAT](INFO): DAT read: Bearing 358.2,  -6.3 (Local)

2025-01-09T05:35:19.457Z,1736400919.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,  -6.3 (Local)

2025-01-09T05:35:19.460Z,1736400919.460 [DAT](INFO): DAT read: Range 10 to 50 :     8.7 m (trip time 5.8 ms) speed 0.4

2025-01-09T05:35:19.464Z,1736400919.464 [DAT](INFO): DAT read: 05:35:18.2205 LVL= 32752, 32753, 23122, 32755, AGC= 52, IDX= 507,-0.07, 2.841, 1.399, 2.957, 2.788, PHS= 0.141,-1.342, 0.166, RAW= 150.8,  13.8, CAL= 151.8,   6.3, ROT= 358.2,  -6.3

2025-01-09T05:35:19.466Z,1736400919.466 [DAT](INFO): got valid direction response:
 05:35:18.2205 LVL= 32752, 32753, 23122, 32755, AGC= 52, IDX= 507,-0.07, 2.841, 1.399, 2.957, 2.788, PHS= 0.141,-1.342, 0.166, RAW= 150.8,  13.8, CAL= 151.8,   6.3, ROT= 358.2,  -6.3

2025-01-09T05:35:19.483Z,1736400919.483 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-01-09T05:35:19.484Z,1736400919.484 [DAT](INFO): direction in FSK: [0.993471,-0.031221,0.109734]
2025-01-09T05:35:19.485Z,1736400919.485 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:19.512Z,1736400919.512 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.242592
2025-01-09T05:35:19.555Z,1736400919.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:19.593Z,1736400919.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.504317 s,
      deltaX: -0.500000 m,
      approachRate: -0.991440 m/s,
      rangeRepo size: 4

2025-01-09T05:35:19.608Z,1736400919.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.700000 m,
      bearing: 244.904955 deg,
      lat: 36.903998 deg,
      lon: -122.118952 deg,
      deltaT: 2.017064 s,
      deltaX: -1.200000 m,
      approachRate: -0.594924 m/s,
      posRepo size: 4

2025-01-09T05:35:19.609Z,1736400919.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 9.90 m.
2025-01-09T05:35:19.627Z,1736400919.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 8.686695 m,
      bearing: 248.907563 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 245.296873 deg,
      new cmd heading: 245.012858 deg.

2025-01-09T05:35:19.628Z,1736400919.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276281 target range: 9.900000 and range: 8.70 m.
2025-01-09T05:35:19.704Z,1736400919.704 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.433853
2025-01-09T05:35:19.956Z,1736400919.956 [DAT](INFO): DAT read: Rx Time:05:35:18.7204 

2025-01-09T05:35:19.957Z,1736400919.957 [DAT](INFO): Rx dataTimestamp_ set to:1736400919.956557
2025-01-09T05:35:19.958Z,1736400919.958 [DAT](INFO): DAT read: Bearing 356.9,  -7.7 (Local)

2025-01-09T05:35:19.958Z,1736400919.958 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.9,  -7.7 (Local)

2025-01-09T05:35:19.960Z,1736400919.960 [DAT](INFO): DAT read: Range 10 to 50 :     8.6 m (trip time 5.7 ms) speed 0.4

2025-01-09T05:35:19.966Z,1736400919.966 [DAT](INFO): DAT read: 05:35:18.7204 LVL= 32752, 32753, 30370, 32755, AGC= 52, IDX= 506, 0.05,-0.767,-2.190,-0.614,-0.772, PHS= 0.093,-1.370, 0.156, RAW= 152.1,  14.8, CAL= 153.1,   7.7, ROT= 356.9,  -7.7

2025-01-09T05:35:19.967Z,1736400919.967 [DAT](INFO): got valid direction response:
 05:35:18.7204 LVL= 32752, 32753, 30370, 32755, AGC= 52, IDX= 506, 0.05,-0.767,-2.190,-0.614,-0.772, PHS= 0.093,-1.370, 0.156, RAW= 152.1,  14.8, CAL= 153.1,   7.7, ROT= 356.9,  -7.7

2025-01-09T05:35:19.967Z,1736400919.967 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-01-09T05:35:19.968Z,1736400919.968 [DAT](INFO): direction in FSK: [0.989533,-0.053591,0.133986]
2025-01-09T05:35:19.968Z,1736400919.968 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:19.972Z,1736400919.972 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=22.702000
2025-01-09T05:35:20.045Z,1736400920.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:20.088Z,1736400920.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.503091 s,
      deltaX: -0.099999 m,
      approachRate: -0.198770 m/s,
      rangeRepo size: 4

2025-01-09T05:35:20.090Z,1736400920.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.600000 m,
      bearing: 243.239786 deg,
      lat: 36.903995 deg,
      lon: -122.118950 deg,
      deltaT: 2.520155 s,
      deltaX: -1.299999 m,
      approachRate: -0.515841 m/s,
      posRepo size: 4

2025-01-09T05:35:20.095Z,1736400920.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.60 m. 9.90 m.
2025-01-09T05:35:20.101Z,1736400920.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 8.382133 m,
      bearing: 248.635375 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 245.012846 deg,
      new cmd heading: 244.665145 deg.

2025-01-09T05:35:20.111Z,1736400920.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.270212 target range: 9.900000 and range: 8.60 m.
2025-01-09T05:35:20.208Z,1736400920.208 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=22.938457
2025-01-09T05:35:20.417Z,1736400920.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:20.440Z,1736400920.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:20.447Z,1736400920.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-01-09T05:35:20.450Z,1736400920.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 8.154469 m,
      bearing: 248.422485 deg,
      approach rate: -0.641765 m/s,
      LOS rate: -0.616870 deg/s,
      cmd heading: 244.665135 deg,
      new cmd heading: 244.008664 deg.

2025-01-09T05:35:20.455Z,1736400920.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258755 target range: 9.900000 and range: 8.60 m.
2025-01-09T05:35:20.460Z,1736400920.460 [DAT](INFO): DAT read: Rx Time:05:35:19.2202 

2025-01-09T05:35:20.461Z,1736400920.461 [DAT](INFO): Rx dataTimestamp_ set to:1736400920.460399
2025-01-09T05:35:20.462Z,1736400920.462 [DAT](INFO): DAT read: Bearing 355.1,  -9.5 (Local)

2025-01-09T05:35:20.462Z,1736400920.462 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  -9.5 (Local)

2025-01-09T05:35:20.465Z,1736400920.465 [DAT](INFO): DAT read: Range 10 to 50 :     8.3 m (trip time 5.5 ms) speed 0.5

2025-01-09T05:35:20.471Z,1736400920.471 [DAT](INFO): DAT read: 05:35:19.2202 LVL= 32752, 32753, 30322, 32755, AGC= 52, IDX= 503, 0.16,-1.580,-3.001,-1.371,-1.522, PHS= 0.030,-1.432, 0.148, RAW= 153.9,  16.2, CAL= 154.9,   9.5, ROT= 355.1,  -9.5

2025-01-09T05:35:20.472Z,1736400920.472 [DAT](INFO): got valid direction response:
 05:35:19.2202 LVL= 32752, 32753, 30322, 32755, AGC= 52, IDX= 503, 0.16,-1.580,-3.001,-1.371,-1.522, PHS= 0.030,-1.432, 0.148, RAW= 153.9,  16.2, CAL= 154.9,   9.5, ROT= 355.1,  -9.5

2025-01-09T05:35:20.472Z,1736400920.472 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-01-09T05:35:20.473Z,1736400920.473 [DAT](INFO): direction in FSK: [0.982681,-0.084245,0.165048]
2025-01-09T05:35:20.474Z,1736400920.474 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:20.487Z,1736400920.487 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.212326
2025-01-09T05:35:20.715Z,1736400920.715 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.444096
2025-01-09T05:35:20.925Z,1736400920.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:20.939Z,1736400920.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.503842 s,
      deltaX: -0.300000 m,
      approachRate: -0.595425 m/s,
      rangeRepo size: 4

2025-01-09T05:35:20.941Z,1736400920.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.300000 m,
      bearing: 241.013041 deg,
      lat: 36.903994 deg,
      lon: -122.118950 deg,
      deltaT: 3.023997 s,
      deltaX: -1.599999 m,
      approachRate: -0.529101 m/s,
      posRepo size: 4

2025-01-09T05:35:20.942Z,1736400920.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.30 m. 9.90 m.
2025-01-09T05:35:20.945Z,1736400920.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 7.844852 m,
      bearing: 248.112594 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 244.008672 deg,
      new cmd heading: 243.660222 deg.

2025-01-09T05:35:20.946Z,1736400920.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252673 target range: 9.900000 and range: 8.30 m.
2025-01-09T05:35:20.964Z,1736400920.964 [DAT](INFO): DAT read: Rx Time:05:35:19.7201 

2025-01-09T05:35:20.965Z,1736400920.965 [DAT](INFO): Rx dataTimestamp_ set to:1736400920.964675
2025-01-09T05:35:20.967Z,1736400920.967 [DAT](INFO): DAT read: Bearing 354.1, -11.7 (Local)

2025-01-09T05:35:20.967Z,1736400920.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.1, -11.7 (Local)

2025-01-09T05:35:20.969Z,1736400920.969 [DAT](INFO): DAT read: Range 10 to 50 :     8.1 m (trip time 5.4 ms) speed 0.5

2025-01-09T05:35:20.973Z,1736400920.973 [DAT](INFO): DAT read: 05:35:19.7201 LVL= 32752, 32753, 31794, 32755, AGC= 54, IDX= 502, 0.20,-0.090,-1.490, 0.143, 0.026, PHS=-0.028,-1.468, 0.114, RAW= 154.7,  17.9, CAL= 155.9,  11.7, ROT= 354.1, -11.7

2025-01-09T05:35:20.974Z,1736400920.974 [DAT](INFO): got valid direction response:
 05:35:19.7201 LVL= 32752, 32753, 31794, 32755, AGC= 54, IDX= 502, 0.20,-0.090,-1.490, 0.143, 0.026, PHS=-0.028,-1.468, 0.114, RAW= 154.7,  17.9, CAL= 155.9,  11.7, ROT= 354.1, -11.7

2025-01-09T05:35:20.975Z,1736400920.975 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-01-09T05:35:20.976Z,1736400920.976 [DAT](INFO): direction in FSK: [0.974036,-0.100657,0.202787]
2025-01-09T05:35:20.976Z,1736400920.976 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:20.980Z,1736400920.980 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=23.709810
2025-01-09T05:35:21.212Z,1736400921.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:21.216Z,1736400921.216 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=23.946568
2025-01-09T05:35:21.241Z,1736400921.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.504276 s,
      deltaX: -0.200000 m,
      approachRate: -0.396608 m/s,
      rangeRepo size: 4

2025-01-09T05:35:21.247Z,1736400921.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.100000 m,
      bearing: 239.596844 deg,
      lat: 36.903992 deg,
      lon: -122.118949 deg,
      deltaT: 3.528273 s,
      deltaX: -1.799999 m,
      approachRate: -0.510164 m/s,
      posRepo size: 4

2025-01-09T05:35:21.249Z,1736400921.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 9.90 m.
2025-01-09T05:35:21.256Z,1736400921.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 7.669301 m,
      bearing: 247.930316 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 243.660223 deg,
      new cmd heading: 243.448122 deg.

2025-01-09T05:35:21.257Z,1736400921.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248971 target range: 9.900000 and range: 8.10 m.
2025-01-09T05:35:21.468Z,1736400921.468 [DAT](INFO): DAT read: Rx Time:05:35:20.2199 

2025-01-09T05:35:21.469Z,1736400921.469 [DAT](INFO): Rx dataTimestamp_ set to:1736400921.468480
2025-01-09T05:35:21.470Z,1736400921.470 [DAT](INFO): DAT read: Bearing 352.2, -13.0 (Local)

2025-01-09T05:35:21.470Z,1736400921.470 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.2, -13.0 (Local)

2025-01-09T05:35:21.474Z,1736400921.474 [DAT](INFO): DAT read: Range 10 to 50 :     7.8 m (trip time 5.2 ms) speed 0.5

2025-01-09T05:35:21.478Z,1736400921.478 [DAT](INFO): DAT read: 05:35:20.2199 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 499, 0.25,-0.656,-2.036,-0.367,-0.488, PHS=-0.081,-1.501, 0.118, RAW= 156.4,  18.7, CAL= 157.8,  13.0, ROT= 352.2, -13.0

2025-01-09T05:35:21.479Z,1736400921.479 [DAT](INFO): got valid direction response:
 05:35:20.2199 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 499, 0.25,-0.656,-2.036,-0.367,-0.488, PHS=-0.081,-1.501, 0.118, RAW= 156.4,  18.7, CAL= 157.8,  13.0, ROT= 352.2, -13.0

2025-01-09T05:35:21.480Z,1736400921.480 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-01-09T05:35:21.481Z,1736400921.481 [DAT](INFO): direction in FSK: [0.965355,-0.132237,0.224951]
2025-01-09T05:35:21.481Z,1736400921.481 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:21.485Z,1736400921.485 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.215281
2025-01-09T05:35:21.632Z,1736400921.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:21.724Z,1736400921.724 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.453514
2025-01-09T05:35:21.737Z,1736400921.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.503805 s,
      deltaX: -0.300000 m,
      approachRate: -0.595469 m/s,
      rangeRepo size: 4

2025-01-09T05:35:21.745Z,1736400921.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.800000 m,
      bearing: 237.558783 deg,
      lat: 36.903990 deg,
      lon: -122.118948 deg,
      deltaT: 4.032078 s,
      deltaX: -2.099999 m,
      approachRate: -0.520823 m/s,
      posRepo size: 4

2025-01-09T05:35:21.746Z,1736400921.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.80 m. 9.90 m.
2025-01-09T05:35:21.760Z,1736400921.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 7.419113 m,
      bearing: 247.655479 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 243.448132 deg,
      new cmd heading: 243.099441 deg.

2025-01-09T05:35:21.761Z,1736400921.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.242886 target range: 9.900000 and range: 7.80 m.
2025-01-09T05:35:21.972Z,1736400921.972 [DAT](INFO): DAT read: Rx Time:05:35:20.7198 

2025-01-09T05:35:21.973Z,1736400921.973 [DAT](INFO): Rx dataTimestamp_ set to:1736400921.972443
2025-01-09T05:35:21.974Z,1736400921.974 [DAT](INFO): DAT read: Bearing 350.8, -10.8 (Local)

2025-01-09T05:35:21.974Z,1736400921.974 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.8, -10.8 (Local)

2025-01-09T05:35:21.976Z,1736400921.976 [DAT](INFO): DAT read: Range 10 to 50 :     7.7 m (trip time 5.1 ms) speed 0.5

2025-01-09T05:35:21.981Z,1736400921.981 [DAT](INFO): DAT read: 05:35:20.7198 LVL= 32752, 32753, 31106, 32755, AGC= 53, IDX= 498, 0.28,-0.288,-1.677, 0.068,-0.126, PHS=-0.074,-1.504, 0.191, RAW= 158.4,  17.3, CAL= 159.2,  10.8, ROT= 350.8, -10.8

2025-01-09T05:35:21.983Z,1736400921.983 [DAT](INFO): got valid direction response:
 05:35:20.7198 LVL= 32752, 32753, 31106, 32755, AGC= 53, IDX= 498, 0.28,-0.288,-1.677, 0.068,-0.126, PHS=-0.074,-1.504, 0.191, RAW= 158.4,  17.3, CAL= 159.2,  10.8, ROT= 350.8, -10.8

2025-01-09T05:35:21.984Z,1736400921.984 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-01-09T05:35:21.984Z,1736400921.984 [DAT](INFO): direction in FSK: [0.969651,-0.157049,0.187381]
2025-01-09T05:35:21.985Z,1736400921.985 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:21.988Z,1736400921.988 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=24.718567
2025-01-09T05:35:22.138Z,1736400922.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:22.186Z,1736400922.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.503963 s,
      deltaX: -0.100000 m,
      approachRate: -0.198428 m/s,
      rangeRepo size: 4

2025-01-09T05:35:22.203Z,1736400922.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.700000 m,
      bearing: 236.102481 deg,
      lat: 36.903989 deg,
      lon: -122.118948 deg,
      deltaT: 4.536041 s,
      deltaX: -2.200000 m,
      approachRate: -0.485004 m/s,
      posRepo size: 4

2025-01-09T05:35:22.204Z,1736400922.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.70 m. 9.90 m.
2025-01-09T05:35:22.211Z,1736400922.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 7.102629 m,
      bearing: 247.316684 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 243.099437 deg,
      new cmd heading: 242.784058 deg.

2025-01-09T05:35:22.212Z,1736400922.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237381 target range: 9.900000 and range: 7.70 m.
2025-01-09T05:35:22.224Z,1736400922.224 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=24.954130
2025-01-09T05:35:22.476Z,1736400922.476 [DAT](INFO): DAT read: Rx Time:05:35:21.2195 

2025-01-09T05:35:22.477Z,1736400922.477 [DAT](INFO): Rx dataTimestamp_ set to:1736400922.476527
2025-01-09T05:35:22.478Z,1736400922.478 [DAT](INFO): DAT read: Bearing 348.7, -14.8 (Local)

2025-01-09T05:35:22.478Z,1736400922.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.7, -14.8 (Local)

2025-01-09T05:35:22.480Z,1736400922.480 [DAT](INFO): DAT read: Range 10 to 50 :     7.2 m (trip time 4.8 ms) speed 0.4

2025-01-09T05:35:22.491Z,1736400922.491 [DAT](INFO): DAT read: 05:35:21.2195 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 495, 0.26,-1.511,-2.858,-1.108,-1.251, PHS=-0.172,-1.561, 0.139, RAW= 159.9,  19.8, CAL= 161.3,  14.8, ROT= 348.7, -14.8

2025-01-09T05:35:22.492Z,1736400922.492 [DAT](INFO): got valid direction response:
 05:35:21.2195 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 495, 0.26,-1.511,-2.858,-1.108,-1.251, PHS=-0.172,-1.561, 0.139, RAW= 159.9,  19.8, CAL= 161.3,  14.8, ROT= 348.7, -14.8

2025-01-09T05:35:22.493Z,1736400922.493 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-01-09T05:35:22.494Z,1736400922.494 [DAT](INFO): direction in FSK: [0.948081,-0.189445,0.255446]
2025-01-09T05:35:22.494Z,1736400922.494 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:22.498Z,1736400922.498 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.227678
2025-01-09T05:35:22.520Z,1736400922.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:22.551Z,1736400922.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.504084 s,
      deltaX: -0.500000 m,
      approachRate: -0.991898 m/s,
      rangeRepo size: 4

2025-01-09T05:35:22.553Z,1736400922.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.200000 m,
      bearing: 233.592656 deg,
      lat: 36.903988 deg,
      lon: -122.118948 deg,
      deltaT: 5.040125 s,
      deltaX: -2.700000 m,
      approachRate: -0.535701 m/s,
      posRepo size: 4

2025-01-09T05:35:22.554Z,1736400922.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.20 m. 9.90 m.
2025-01-09T05:35:22.561Z,1736400922.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 6.868362 m,
      bearing: 247.045594 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 242.784046 deg,
      new cmd heading: 242.530464 deg.

2025-01-09T05:35:22.562Z,1736400922.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.232955 target range: 9.900000 and range: 7.20 m.
2025-01-09T05:35:22.733Z,1736400922.733 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.461849
2025-01-09T05:35:22.980Z,1736400922.980 [DAT](INFO): DAT read: Rx Time:05:35:21.7194 

2025-01-09T05:35:22.981Z,1736400922.981 [DAT](INFO): Rx dataTimestamp_ set to:1736400922.980523
2025-01-09T05:35:22.984Z,1736400922.984 [DAT](INFO): DAT read: Bearing 348.0, -14.5 (Local)

2025-01-09T05:35:22.984Z,1736400922.984 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.0, -14.5 (Local)

2025-01-09T05:35:22.986Z,1736400922.986 [DAT](INFO): DAT read: Range 10 to 50 :     7.1 m (trip time 4.7 ms) speed 0.5

2025-01-09T05:35:22.991Z,1736400922.991 [DAT](INFO): DAT read: 05:35:21.7194 LVL= 32752, 32753, 27890, 32755, AGC= 52, IDX= 509, 0.30,-1.772,-3.120,-1.339,-1.503, PHS=-0.182,-1.571, 0.161, RAW= 160.8,  19.5, CAL= 162.0,  14.5, ROT= 348.0, -14.5

2025-01-09T05:35:22.992Z,1736400922.992 [DAT](INFO): got valid direction response:
 05:35:21.7194 LVL= 32752, 32753, 27890, 32755, AGC= 52, IDX= 509, 0.30,-1.772,-3.120,-1.339,-1.503, PHS=-0.182,-1.571, 0.161, RAW= 160.8,  19.5, CAL= 162.0,  14.5, ROT= 348.0, -14.5

2025-01-09T05:35:22.992Z,1736400922.992 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-01-09T05:35:22.993Z,1736400922.993 [DAT](INFO): direction in FSK: [0.946991,-0.201289,0.250380]
2025-01-09T05:35:22.993Z,1736400922.993 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:22.997Z,1736400922.997 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=25.726934
2025-01-09T05:35:23.012Z,1736400923.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:23.044Z,1736400923.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.503996 s,
      deltaX: -0.100000 m,
      approachRate: -0.198414 m/s,
      rangeRepo size: 4

2025-01-09T05:35:23.046Z,1736400923.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.100000 m,
      bearing: 232.925391 deg,
      lat: 36.903986 deg,
      lon: -122.118946 deg,
      deltaT: 5.544121 s,
      deltaX: -2.800000 m,
      approachRate: -0.505039 m/s,
      posRepo size: 4

2025-01-09T05:35:23.055Z,1736400923.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.10 m. 9.90 m.
2025-01-09T05:35:23.057Z,1736400923.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 6.572671 m,
      bearing: 246.717601 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 242.530455 deg,
      new cmd heading: 242.181068 deg.

2025-01-09T05:35:23.063Z,1736400923.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226857 target range: 9.900000 and range: 7.10 m.
2025-01-09T05:35:23.233Z,1736400923.233 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=25.963348
2025-01-09T05:35:23.402Z,1736400923.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:23.422Z,1736400923.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:23.428Z,1736400923.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-01-09T05:35:23.435Z,1736400923.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 6.338120 m,
      bearing: 246.458845 deg,
      approach rate: -0.609834 m/s,
      LOS rate: -0.697660 deg/s,
      cmd heading: 242.181077 deg,
      new cmd heading: 241.376138 deg.

2025-01-09T05:35:23.436Z,1736400923.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212808 target range: 9.900000 and range: 7.10 m.
2025-01-09T05:35:23.485Z,1736400923.485 [DAT](INFO): DAT read: Rx Time:05:35:22.2191 

2025-01-09T05:35:23.486Z,1736400923.486 [DAT](INFO): Rx dataTimestamp_ set to:1736400923.485613
2025-01-09T05:35:23.488Z,1736400923.488 [DAT](INFO): DAT read: Bearing 347.1, -19.6 (Local)

2025-01-09T05:35:23.489Z,1736400923.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.1, -19.6 (Local)

2025-01-09T05:35:23.493Z,1736400923.493 [DAT](INFO): DAT read: Range 10 to 50 :     6.6 m (trip time 4.4 ms) speed 0.7

2025-01-09T05:35:23.507Z,1736400923.507 [DAT](INFO): DAT read: 05:35:22.2191 LVL= 32752, 32753, 32082, 32755, AGC= 51, IDX= 506, 0.27, 3.073, 1.743,-2.778,-2.845, PHS=-0.277,-1.648, 0.064, RAW= 160.8,  22.7, CAL= 162.9,  19.6, ROT= 347.1, -19.6

2025-01-09T05:35:23.508Z,1736400923.508 [DAT](INFO): got valid direction response:
 05:35:22.2191 LVL= 32752, 32753, 32082, 32755, AGC= 51, IDX= 506, 0.27, 3.073, 1.743,-2.778,-2.845, PHS=-0.277,-1.648, 0.064, RAW= 160.8,  22.7, CAL= 162.9,  19.6, ROT= 347.1, -19.6

2025-01-09T05:35:23.508Z,1736400923.508 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-01-09T05:35:23.509Z,1736400923.509 [DAT](INFO): direction in FSK: [0.918281,-0.210315,0.335452]
2025-01-09T05:35:23.510Z,1736400923.510 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:23.529Z,1736400923.529 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.258785
2025-01-09T05:35:23.741Z,1736400923.741 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.470478
2025-01-09T05:35:23.923Z,1736400923.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:23.943Z,1736400923.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.505090 s,
      deltaX: -0.500000 m,
      approachRate: -0.989923 m/s,
      rangeRepo size: 4

2025-01-09T05:35:23.960Z,1736400923.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.600000 m,
      bearing: 230.771863 deg,
      lat: 36.903986 deg,
      lon: -122.118945 deg,
      deltaT: 6.049211 s,
      deltaX: -3.300000 m,
      approachRate: -0.545526 m/s,
      posRepo size: 4

2025-01-09T05:35:23.967Z,1736400923.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.60 m. 9.90 m.
2025-01-09T05:35:23.969Z,1736400923.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 6.021066 m,
      bearing: 246.093021 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 241.376126 deg,
      new cmd heading: 241.015358 deg.

2025-01-09T05:35:23.970Z,1736400923.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206511 target range: 9.900000 and range: 6.60 m.
2025-01-09T05:35:23.988Z,1736400923.988 [DAT](INFO): DAT read: Rx Time:05:35:22.7190 

2025-01-09T05:35:23.989Z,1736400923.989 [DAT](INFO): Rx dataTimestamp_ set to:1736400923.988562
2025-01-09T05:35:23.990Z,1736400923.990 [DAT](INFO): DAT read: Bearing 347.1, -21.1 (Local)

2025-01-09T05:35:23.990Z,1736400923.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.1, -21.1 (Local)

2025-01-09T05:35:23.992Z,1736400923.992 [DAT](INFO): DAT read: Range 10 to 50 :     6.5 m (trip time 4.3 ms) speed 0.5

2025-01-09T05:35:23.997Z,1736400923.997 [DAT](INFO): DAT read: 05:35:22.7190 LVL= 32576, 32753, 23538, 32755, AGC= 51, IDX= 505, 0.37,-2.631, 2.337,-2.218,-2.255, PHS=-0.288,-1.645, 0.034, RAW= 160.4,  23.5, CAL= 162.9,  21.1, ROT= 347.1, -21.1

2025-01-09T05:35:23.999Z,1736400923.999 [DAT](INFO): got valid direction response:
 05:35:22.7190 LVL= 32576, 32753, 23538, 32755, AGC= 51, IDX= 505, 0.37,-2.631, 2.337,-2.218,-2.255, PHS=-0.288,-1.645, 0.034, RAW= 160.4,  23.5, CAL= 162.9,  21.1, ROT= 347.1, -21.1

2025-01-09T05:35:23.000Z,1736400924.000 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-01-09T05:35:24.001Z,1736400924.001 [DAT](INFO): direction in FSK: [0.909407,-0.208282,0.359997]
2025-01-09T05:35:24.001Z,1736400924.001 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:24.020Z,1736400924.020 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=26.750498
2025-01-09T05:35:24.240Z,1736400924.240 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=26.969751
2025-01-09T05:35:24.349Z,1736400924.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:24.381Z,1736400924.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.502949 s,
      deltaX: -0.100000 m,
      approachRate: -0.198827 m/s,
      rangeRepo size: 4

2025-01-09T05:35:24.388Z,1736400924.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.500000 m,
      bearing: 230.084182 deg,
      lat: 36.903986 deg,
      lon: -122.118944 deg,
      deltaT: 6.552160 s,
      deltaX: -3.400000 m,
      approachRate: -0.518913 m/s,
      posRepo size: 4

2025-01-09T05:35:24.389Z,1736400924.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.50 m. 9.90 m.
2025-01-09T05:35:24.396Z,1736400924.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 5.761257 m,
      bearing: 245.790017 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 241.015355 deg,
      new cmd heading: 240.706689 deg.

2025-01-09T05:35:24.400Z,1736400924.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201124 target range: 9.900000 and range: 6.50 m.
2025-01-09T05:35:24.494Z,1736400924.494 [DAT](INFO): DAT read: Rx Time:05:35:23.2187 

2025-01-09T05:35:24.495Z,1736400924.495 [DAT](INFO): Rx dataTimestamp_ set to:1736400924.493979
2025-01-09T05:35:24.496Z,1736400924.496 [DAT](INFO): DAT read: Bearing 350.0, -30.6 (Local)

2025-01-09T05:35:24.497Z,1736400924.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.0, -30.6 (Local)

2025-01-09T05:35:24.501Z,1736400924.501 [DAT](INFO): DAT read: Range 10 to 50 :     6.2 m (trip time 4.1 ms) speed 0.5

2025-01-09T05:35:24.506Z,1736400924.506 [DAT](INFO): DAT read: 05:35:23.2187 LVL= 31728, 32753, 21362, 32755, AGC= 52, IDX= 503,-0.46,-0.204,-1.537,-0.021, 0.151, PHS=-0.267,-1.641,-0.174, RAW= 153.2,  27.4, CAL= 160.0,  30.6, ROT= 350.0, -30.6

2025-01-09T05:35:24.510Z,1736400924.510 [DAT](INFO): got valid direction response:
 05:35:23.2187 LVL= 31728, 32753, 21362, 32755, AGC= 52, IDX= 503,-0.46,-0.204,-1.537,-0.021, 0.151, PHS=-0.267,-1.641,-0.174, RAW= 153.2,  27.4, CAL= 160.0,  30.6, ROT= 350.0, -30.6

2025-01-09T05:35:24.511Z,1736400924.511 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-01-09T05:35:24.512Z,1736400924.512 [DAT](INFO): direction in FSK: [0.847665,-0.149466,0.509041]
2025-01-09T05:35:24.512Z,1736400924.512 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:24.521Z,1736400924.521 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.250946
2025-01-09T05:35:24.683Z,1736400924.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:24.716Z,1736400924.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.505417 s,
      deltaX: -0.300000 m,
      approachRate: -0.593570 m/s,
      rangeRepo size: 4

2025-01-09T05:35:24.724Z,1736400924.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.200000 m,
      bearing: 231.733922 deg,
      lat: 36.903986 deg,
      lon: -122.118944 deg,
      deltaT: 7.057577 s,
      deltaX: -3.700000 m,
      approachRate: -0.524259 m/s,
      posRepo size: 4

2025-01-09T05:35:24.732Z,1736400924.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.20 m. 9.90 m.
2025-01-09T05:35:24.747Z,1736400924.747 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.476410
2025-01-09T05:35:24.761Z,1736400924.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 5.556979 m,
      bearing: 245.542892 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 240.706685 deg,
      new cmd heading: 240.474591 deg.

2025-01-09T05:35:24.770Z,1736400924.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197073 target range: 9.900000 and range: 6.20 m.
2025-01-09T05:35:24.996Z,1736400924.996 [DAT](INFO): DAT read: Rx Time:05:35:23.7189 

2025-01-09T05:35:24.997Z,1736400924.997 [DAT](INFO): Rx dataTimestamp_ set to:1736400924.996454
2025-01-09T05:35:24.999Z,1736400924.999 [DAT](INFO): DAT read: Bearing   2.4, -42.6 (Local)

2025-01-09T05:35:24.999Z,1736400924.999 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.4, -42.6 (Local)

2025-01-09T05:35:25.001Z,1736400925.001 [DAT](INFO): DAT read: Range 10 to 50 :     6.3 m (trip time 4.2 ms) speed 0.6

2025-01-09T05:35:25.008Z,1736400925.008 [DAT](INFO): DAT read: 05:35:23.7189 LVL= 26608, 30529, 15202, 32755, AGC= 51, IDX= 502,-0.25,-0.799,-2.176,-1.124,-0.541, PHS=-0.170,-1.588,-0.586, RAW= 133.4,  33.3, CAL= 147.6,  42.6, ROT=   2.4, -42.6

2025-01-09T05:35:25.013Z,1736400925.013 [DAT](INFO): got valid direction response:
 05:35:23.7189 LVL= 26608, 30529, 15202, 32755, AGC= 51, IDX= 502,-0.25,-0.799,-2.176,-1.124,-0.541, PHS=-0.170,-1.588,-0.586, RAW= 133.4,  33.3, CAL= 147.6,  42.6, ROT=   2.4, -42.6

2025-01-09T05:35:25.014Z,1736400925.014 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-01-09T05:35:25.019Z,1736400925.019 [DAT](INFO): direction in FSK: [0.735451,0.030825,0.676876]
2025-01-09T05:35:25.020Z,1736400925.020 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:25.025Z,1736400925.025 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=27.755095
2025-01-09T05:35:25.147Z,1736400925.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:25.199Z,1736400925.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.502475 s,
      deltaX: 0.100000 m,
      approachRate: 0.199016 m/s,
      rangeRepo size: 4

2025-01-09T05:35:25.201Z,1736400925.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.300000 m,
      bearing: 242.592704 deg,
      lat: 36.903986 deg,
      lon: -122.118944 deg,
      deltaT: 7.560052 s,
      deltaX: -3.599999 m,
      approachRate: -0.476187 m/s,
      posRepo size: 4

2025-01-09T05:35:25.207Z,1736400925.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.30 m. 9.90 m.
2025-01-09T05:35:25.209Z,1736400925.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 5.274104 m,
      bearing: 245.179459 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 240.474596 deg,
      new cmd heading: 240.146349 deg.

2025-01-09T05:35:25.210Z,1736400925.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191344 target range: 9.900000 and range: 6.30 m.
2025-01-09T05:35:25.248Z,1736400925.248 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=27.978277
2025-01-09T05:35:25.500Z,1736400925.500 [DAT](INFO): DAT read: Rx Time:05:35:24.2186 

2025-01-09T05:35:25.502Z,1736400925.502 [DAT](INFO): Rx dataTimestamp_ set to:1736400925.501241
2025-01-09T05:35:25.503Z,1736400925.503 [DAT](INFO): DAT read: Bearing  42.2, -47.6 (Local)

2025-01-09T05:35:25.503Z,1736400925.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing  42.2, -47.6 (Local)

2025-01-09T05:35:25.505Z,1736400925.505 [DAT](INFO): DAT read: Range 10 to 50 :     6.0 m (trip time 4.0 ms) speed 0.4

2025-01-09T05:35:25.511Z,1736400925.511 [DAT](INFO): DAT read: 05:35:24.2186 LVL= 32128, 32753, 20402, 32755, AGC= 53, IDX= 499,-0.20,-1.827, 2.955,-2.884,-1.619, PHS=-0.121,-1.663,-1.269, RAW= 104.2,  37.9, CAL= 107.8,  47.6, ROT=  42.2, -47.6

2025-01-09T05:35:25.512Z,1736400925.512 [DAT](INFO): got valid direction response:
 05:35:24.2186 LVL= 32128, 32753, 20402, 32755, AGC= 53, IDX= 499,-0.20,-1.827, 2.955,-2.884,-1.619, PHS=-0.121,-1.663,-1.269, RAW= 104.2,  37.9, CAL= 107.8,  47.6, ROT=  42.2, -47.6

2025-01-09T05:35:25.512Z,1736400925.512 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-01-09T05:35:25.513Z,1736400925.513 [DAT](INFO): direction in FSK: [0.499526,0.452943,0.738455]
2025-01-09T05:35:25.513Z,1736400925.513 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:25.521Z,1736400925.521 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.251379
2025-01-09T05:35:25.518Z,1736400925.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:25.536Z,1736400925.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.504787 s,
      deltaX: -0.300000 m,
      approachRate: -0.594310 m/s,
      rangeRepo size: 4

2025-01-09T05:35:25.538Z,1736400925.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.000000 m,
      bearing: 283.794823 deg,
      lat: 36.903990 deg,
      lon: -122.118943 deg,
      deltaT: 8.064839 s,
      deltaX: -3.900000 m,
      approachRate: -0.483581 m/s,
      posRepo size: 4

2025-01-09T05:35:25.576Z,1736400925.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.00 m. 9.90 m.
2025-01-09T05:35:25.578Z,1736400925.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 5.042526 m,
      bearing: 244.866825 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 240.146337 deg,
      new cmd heading: 239.894893 deg.

2025-01-09T05:35:25.583Z,1736400925.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186956 target range: 9.900000 and range: 6.00 m.
2025-01-09T05:35:25.755Z,1736400925.755 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.484016
2025-01-09T05:35:25.966Z,1736400925.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:25.990Z,1736400925.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:26.004Z,1736400926.004 [DAT](INFO): DAT read: Rx Time:05:35:24.7185 

2025-01-09T05:35:26.005Z,1736400926.005 [DAT](INFO): Rx dataTimestamp_ set to:1736400926.004484
2025-01-09T05:35:26.006Z,1736400926.006 [DAT](INFO): DAT read: Bearing  67.0, -40.1 (Local)

2025-01-09T05:35:26.006Z,1736400926.006 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.0, -40.1 (Local)

2025-01-09T05:35:26.008Z,1736400926.008 [DAT](INFO): DAT read: Range 10 to 50 :     5.9 m (trip time 3.9 ms) speed 0.6

2025-01-09T05:35:26.013Z,1736400926.013 [DAT](INFO): DAT read: 05:35:24.7185 LVL= 22064, 32753, 26354, 32755, AGC= 51, IDX= 498, 0.08,-2.106, 2.488, 2.319,-2.180, PHS= 0.162,-1.568,-1.787, RAW=  84.1,  31.4, CAL=  83.0,  40.1, ROT=  67.0, -40.1

2025-01-09T05:35:26.014Z,1736400926.014 [DAT](INFO): got valid direction response:
 05:35:24.7185 LVL= 22064, 32753, 26354, 32755, AGC= 51, IDX= 498, 0.08,-2.106, 2.488, 2.319,-2.180, PHS= 0.162,-1.568,-1.787, RAW=  84.1,  31.4, CAL=  83.0,  40.1, ROT=  67.0, -40.1

2025-01-09T05:35:26.014Z,1736400926.014 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-01-09T05:35:26.017Z,1736400926.017 [DAT](INFO): direction in FSK: [0.298879,0.704114,0.644124]
2025-01-09T05:35:26.017Z,1736400926.017 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:26.020Z,1736400926.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-01-09T05:35:26.025Z,1736400926.025 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=28.754801
2025-01-09T05:35:26.027Z,1736400926.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 4.761185 m,
      bearing: 244.395075 deg,
      approach rate: -0.607642 m/s,
      LOS rate: -1.079085 deg/s,
      cmd heading: 239.894904 deg,
      new cmd heading: 238.396384 deg.

2025-01-09T05:35:26.032Z,1736400926.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160802 target range: 9.900000 and range: 6.00 m.
2025-01-09T05:35:26.259Z,1736400926.259 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=28.988232
2025-01-09T05:35:26.308Z,1736400926.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:26.335Z,1736400926.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.503243 s,
      deltaX: -0.100000 m,
      approachRate: -0.198711 m/s,
      rangeRepo size: 4

2025-01-09T05:35:26.337Z,1736400926.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.900000 m,
      bearing: 310.333825 deg,
      lat: 36.904000 deg,
      lon: -122.118941 deg,
      deltaT: 8.568082 s,
      deltaX: -4.000000 m,
      approachRate: -0.466849 m/s,
      posRepo size: 4

2025-01-09T05:35:26.338Z,1736400926.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.90 m. 9.90 m.
2025-01-09T05:35:26.350Z,1736400926.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 4.546551 m,
      bearing: 244.009929 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 238.396388 deg,
      new cmd heading: 238.166584 deg.

2025-01-09T05:35:26.351Z,1736400926.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156791 target range: 9.900000 and range: 5.90 m.
2025-01-09T05:35:26.508Z,1736400926.508 [DAT](INFO): DAT read: Rx Time:05:35:25.2179 

2025-01-09T05:35:26.508Z,1736400926.508 [DAT](INFO): Rx dataTimestamp_ set to:1736400926.508085
2025-01-09T05:35:26.509Z,1736400926.509 [DAT](INFO): DAT read: Range 10 to 50 :     5.0 m (trip time 3.3 ms) speed 0.3

2025-01-09T05:35:26.510Z,1736400926.510 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-01-09T05:35:26.512Z,1736400926.512 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.242149
2025-01-09T05:35:26.711Z,1736400926.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:26.722Z,1736400926.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.503601 s,
      deltaX: -0.900000 m,
      approachRate: -1.787129 m/s,
      rangeRepo size: 4

2025-01-09T05:35:26.723Z,1736400926.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-01-09T05:35:26.725Z,1736400926.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 4.293392 m,
      bearing: 243.527752 deg,
      approach rate: -0.640330 m/s,
      LOS rate: -1.291492 deg/s,
      cmd heading: 238.166593 deg,
      new cmd heading: 236.635152 deg.

2025-01-09T05:35:26.726Z,1736400926.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.130063 target range: 9.900000 and range: 5.00 m.
2025-01-09T05:35:26.766Z,1736400926.766 [DAT](INFO): DAT read: Rx Time:05:35:25.7176 

2025-01-09T05:35:26.768Z,1736400926.768 [DAT](INFO): Rx dataTimestamp_ set to:1736400926.766877
2025-01-09T05:35:26.771Z,1736400926.771 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.500456
2025-01-09T05:35:27.014Z,1736400927.014 [DAT](INFO): DAT read: Range 10 to 50 :     4.5 m (trip time 3.0 ms) speed 0.4

2025-01-09T05:35:27.017Z,1736400927.017 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-01-09T05:35:27.021Z,1736400927.021 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=29.751064
2025-01-09T05:35:27.131Z,1736400927.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:27.141Z,1736400927.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.504004 s,
      deltaX: -0.500000 m,
      approachRate: -0.992056 m/s,
      rangeRepo size: 4

2025-01-09T05:35:27.142Z,1736400927.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-01-09T05:35:27.145Z,1736400927.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 4.033713 m,
      bearing: 243.019184 deg,
      approach rate: -0.618781 m/s,
      LOS rate: -1.289851 deg/s,
      cmd heading: 236.635155 deg,
      new cmd heading: 235.011686 deg.

2025-01-09T05:35:27.146Z,1736400927.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.101727 target range: 9.900000 and range: 4.50 m.
2025-01-09T05:35:27.271Z,1736400927.271 [DAT](INFO): DAT read: Rx Time:05:35:26.2173 

2025-01-09T05:35:27.273Z,1736400927.273 [DAT](INFO): Rx dataTimestamp_ set to:1736400927.271590
2025-01-09T05:35:27.277Z,1736400927.277 [DAT](INFO): DAT read: Bearing 342.7,  -7.5 (Local)

2025-01-09T05:35:27.278Z,1736400927.278 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.7,  -7.5 (Local)

2025-01-09T05:35:27.288Z,1736400927.288 [DAT](INFO): DAT read: Range 10 to 50 :     4.1 m (trip time 2.7 ms) speed 0.4

2025-01-09T05:35:27.296Z,1736400927.296 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-01-09T05:35:27.301Z,1736400927.301 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.030125
2025-01-09T05:35:27.521Z,1736400927.521 [DAT](INFO): DAT read: 05:35:26.2173 LVL= 21696, 24161, 12626, 22099, AGC= 46, IDX= 506,-0.03,-2.994, 1.947,-2.289,-2.724, PHS=-0.182,-1.565, 0.432, RAW= 167.5,  14.7, CAL= 167.3,   7.5, ROT= 342.7,  -7.5

2025-01-09T05:35:27.522Z,1736400927.522 [DAT](INFO): got valid direction response:
 05:35:26.2173 LVL= 21696, 24161, 12626, 22099, AGC= 46, IDX= 506,-0.03,-2.994, 1.947,-2.289,-2.724, PHS=-0.182,-1.565, 0.432, RAW= 167.5,  14.7, CAL= 167.3,   7.5, ROT= 342.7,  -7.5

2025-01-09T05:35:27.522Z,1736400927.522 [DAT](INFO): #Rx 67: Read direction message, but no range.
2025-01-09T05:35:27.523Z,1736400927.523 [DAT](INFO): direction in FSK: [0.946593,-0.294831,0.130526]
2025-01-09T05:35:27.527Z,1736400927.527 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=30.256866
2025-01-09T05:35:27.564Z,1736400927.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:27.597Z,1736400927.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.259501 s,
      deltaX: -0.400000 m,
      approachRate: -1.541420 m/s,
      rangeRepo size: 4

2025-01-09T05:35:27.603Z,1736400927.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.100000 m,
      bearing: 224.425782 deg,
      lat: 36.904000 deg,
      lon: -122.118941 deg,
      deltaT: 9.835188 s,
      deltaX: -5.800000 m,
      approachRate: -0.589719 m/s,
      posRepo size: 4

2025-01-09T05:35:27.604Z,1736400927.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.10 m. 9.90 m.
2025-01-09T05:35:27.611Z,1736400927.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 3.765502 m,
      bearing: 242.449635 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 235.011674 deg,
      new cmd heading: 234.691845 deg.

2025-01-09T05:35:27.612Z,1736400927.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096146 target range: 9.900000 and range: 4.10 m.
2025-01-09T05:35:27.852Z,1736400927.852 [DAT](INFO): DAT read: Rx Time:05:35:26.7173 

2025-01-09T05:35:27.853Z,1736400927.853 [DAT](INFO): Rx dataTimestamp_ set to:1736400927.852575
2025-01-09T05:35:27.855Z,1736400927.855 [DAT](INFO): DAT read: Bearing 325.8, -37.6 (Local)

2025-01-09T05:35:27.855Z,1736400927.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.8, -37.6 (Local)

2025-01-09T05:35:27.858Z,1736400927.858 [DAT](INFO): DAT read: Range 10 to 50 :     4.1 m (trip time 2.7 ms) speed 0.4

2025-01-09T05:35:27.871Z,1736400927.871 [DAT](INFO): DAT read: 05:35:26.7173 LVL= 17232, 20929, 11058, 24035, AGC= 44, IDX= 506,-0.47, 2.014, 1.451, 2.765, 2.726, PHS=-0.625,-1.228, 0.036, RAW= 181.5,  30.4, CAL= 184.2,  37.6, ROT= 325.8, -37.6

2025-01-09T05:35:27.872Z,1736400927.872 [DAT](INFO): got valid direction response:
 05:35:26.7173 LVL= 17232, 20929, 11058, 24035, AGC= 44, IDX= 506,-0.47, 2.014, 1.451, 2.765, 2.726, PHS=-0.625,-1.228, 0.036, RAW= 181.5,  30.4, CAL= 184.2,  37.6, ROT= 325.8, -37.6

2025-01-09T05:35:27.872Z,1736400927.872 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-01-09T05:35:27.873Z,1736400927.873 [DAT](INFO): direction in FSK: [0.655287,-0.445333,0.610145]
2025-01-09T05:35:27.874Z,1736400927.874 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:27.913Z,1736400927.913 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=30.643158
2025-01-09T05:35:28.051Z,1736400928.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:28.081Z,1736400928.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.580985 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:28.096Z,1736400928.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.100000 m,
      bearing: 204.805834 deg,
      lat: 36.904000 deg,
      lon: -122.118941 deg,
      deltaT: 10.416173 s,
      deltaX: -5.800000 m,
      approachRate: -0.556826 m/s,
      posRepo size: 4

2025-01-09T05:35:28.102Z,1736400928.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.10 m. 9.90 m.
2025-01-09T05:35:28.104Z,1736400928.104 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=30.833817
2025-01-09T05:35:28.118Z,1736400928.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 3.469930 m,
      bearing: 241.779197 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 234.691857 deg,
      new cmd heading: 234.351467 deg.

2025-01-09T05:35:28.119Z,1736400928.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090205 target range: 9.900000 and range: 4.10 m.
2025-01-09T05:35:28.356Z,1736400928.356 [DAT](INFO): DAT read: Rx Time:05:35:27.2171 

2025-01-09T05:35:28.357Z,1736400928.357 [DAT](INFO): Rx dataTimestamp_ set to:1736400928.356349
2025-01-09T05:35:28.358Z,1736400928.358 [DAT](INFO): DAT read: Range 10 to 50 :     3.8 m (trip time 2.5 ms) speed 0.4

2025-01-09T05:35:28.359Z,1736400928.359 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-01-09T05:35:28.360Z,1736400928.360 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=31.090092
2025-01-09T05:35:28.363Z,1736400928.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:28.379Z,1736400928.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:28.387Z,1736400928.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.503774 s,
      deltaX: -0.300000 m,
      approachRate: -0.595505 m/s,
      rangeRepo size: 4

2025-01-09T05:35:28.388Z,1736400928.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-01-09T05:35:28.397Z,1736400928.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 3.281231 m,
      bearing: 241.287265 deg,
      approach rate: -0.627147 m/s,
      LOS rate: -1.728948 deg/s,
      cmd heading: 234.351468 deg,
      new cmd heading: 232.791205 deg.

2025-01-09T05:35:28.403Z,1736400928.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.062973 target range: 9.900000 and range: 3.80 m.
2025-01-09T05:35:28.523Z,1736400928.523 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:35:28.608Z,1736400928.608 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=31.338009
2025-01-09T05:35:28.744Z,1736400928.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:28.769Z,1736400928.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-01-09T05:35:28.800Z,1736400928.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 3.051183 m,
      bearing: 240.604119 deg,
      approach rate: -0.602982 m/s,
      LOS rate: -1.925567 deg/s,
      cmd heading: 232.791206 deg,
      new cmd heading: 230.588389 deg.

2025-01-09T05:35:28.809Z,1736400928.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.024527 target range: 9.900000 and range: 3.80 m.
2025-01-09T05:35:28.860Z,1736400928.860 [DAT](INFO): DAT read: Rx Time:05:35:27.7171 

2025-01-09T05:35:28.861Z,1736400928.861 [DAT](INFO): Rx dataTimestamp_ set to:1736400928.860468
2025-01-09T05:35:28.862Z,1736400928.862 [DAT](INFO): DAT read: Bearing 314.8, -30.4 (Local)

2025-01-09T05:35:28.862Z,1736400928.862 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.8, -30.4 (Local)

2025-01-09T05:35:28.864Z,1736400928.864 [DAT](INFO): DAT read: Range 10 to 50 :     3.8 m (trip time 2.5 ms) speed 0.4

2025-01-09T05:35:28.869Z,1736400928.869 [DAT](INFO): DAT read: 05:35:27.7171 LVL= 16432, 32753, 13810, 32755, AGC= 47, IDX= 502, 0.40,-2.048,-2.368,-0.890,-1.173, PHS=-0.787,-1.148, 0.280, RAW= 195.9,  24.5, CAL= 195.2,  30.4, ROT= 314.8, -30.4

2025-01-09T05:35:28.870Z,1736400928.870 [DAT](INFO): got valid direction response:
 05:35:27.7171 LVL= 16432, 32753, 13810, 32755, AGC= 47, IDX= 502, 0.40,-2.048,-2.368,-0.890,-1.173, PHS=-0.787,-1.148, 0.280, RAW= 195.9,  24.5, CAL= 195.2,  30.4, ROT= 314.8, -30.4

2025-01-09T05:35:28.871Z,1736400928.871 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-01-09T05:35:28.872Z,1736400928.872 [DAT](INFO): direction in FSK: [0.607756,-0.612015,0.506034]
2025-01-09T05:35:28.872Z,1736400928.872 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:28.880Z,1736400928.880 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=31.609623
2025-01-09T05:35:29.112Z,1736400929.112 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=31.841850
2025-01-09T05:35:29.160Z,1736400929.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:29.196Z,1736400929.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.504119 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:29.198Z,1736400929.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.800000 m,
      bearing: 193.183748 deg,
      lat: 36.903989 deg,
      lon: -122.118941 deg,
      deltaT: 11.424066 s,
      deltaX: -6.099999 m,
      approachRate: -0.533960 m/s,
      posRepo size: 4

2025-01-09T05:35:29.204Z,1736400929.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.80 m. 9.90 m.
2025-01-09T05:35:29.206Z,1736400929.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 2.804484 m,
      bearing: 239.966262 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.234233 deg/s,
      cmd heading: 230.588388 deg,
      new cmd heading: 230.287968 deg.

2025-01-09T05:35:29.211Z,1736400929.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.019283 target range: 9.900000 and range: 3.80 m.
2025-01-09T05:35:29.364Z,1736400929.364 [DAT](INFO): DAT read: Rx Time:05:35:28.2168 

2025-01-09T05:35:29.365Z,1736400929.365 [DAT](INFO): Rx dataTimestamp_ set to:1736400929.364165
2025-01-09T05:35:29.366Z,1736400929.366 [DAT](INFO): DAT read: Range 10 to 50 :     3.3 m (trip time 2.2 ms) speed 0.3

2025-01-09T05:35:29.367Z,1736400929.367 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-01-09T05:35:29.368Z,1736400929.368 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=32.098392
2025-01-09T05:35:29.527Z,1736400929.527 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:35:29.550Z,1736400929.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:29.560Z,1736400929.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.503697 s,
      deltaX: -0.500000 m,
      approachRate: -0.992660 m/s,
      rangeRepo size: 4

2025-01-09T05:35:29.561Z,1736400929.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-01-09T05:35:29.564Z,1736400929.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 2.573214 m,
      bearing: 239.314958 deg,
      approach rate: -0.626509 m/s,
      LOS rate: -1.922911 deg/s,
      cmd heading: 230.287969 deg,
      new cmd heading: 228.159473 deg.

2025-01-09T05:35:29.565Z,1736400929.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.982134 target range: 9.900000 and range: 3.30 m.
2025-01-09T05:35:29.617Z,1736400929.617 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=32.346626
2025-01-09T05:35:29.868Z,1736400929.868 [DAT](INFO): DAT read: Rx Time:05:35:28.7168 

2025-01-09T05:35:29.868Z,1736400929.868 [DAT](INFO): Rx dataTimestamp_ set to:1736400929.867906
2025-01-09T05:35:29.869Z,1736400929.869 [DAT](INFO): DAT read: Range 10 to 50 :     3.3 m (trip time 2.2 ms) speed 0.3

2025-01-09T05:35:29.870Z,1736400929.870 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-01-09T05:35:29.871Z,1736400929.871 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=32.601067
2025-01-09T05:35:30.008Z,1736400930.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:30.032Z,1736400930.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.503741 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:30.032Z,1736400930.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-01-09T05:35:30.039Z,1736400930.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 2.309704 m,
      bearing: 238.506261 deg,
      approach rate: -0.563822 m/s,
      LOS rate: -1.927686 deg/s,
      cmd heading: 228.159478 deg,
      new cmd heading: 225.458692 deg.

2025-01-09T05:35:30.040Z,1736400930.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.934997 target range: 9.900000 and range: 3.30 m.
2025-01-09T05:35:30.121Z,1736400930.121 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=32.850712
2025-01-09T05:35:30.351Z,1736400930.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:30.361Z,1736400930.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-01-09T05:35:30.364Z,1736400930.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.900000 m,
      nav range: 2.111644 m,
      bearing: 237.840288 deg,
      approach rate: -0.593487 m/s,
      LOS rate: -2.182720 deg/s,
      cmd heading: 225.458698 deg,
      new cmd heading: 223.274491 deg.

2025-01-09T05:35:30.365Z,1736400930.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.896875 target range: 9.900000 and range: 3.30 m.
2025-01-09T05:35:30.372Z,1736400930.372 [DAT](INFO): DAT read: Rx Time:05:35:29.2168 

2025-01-09T05:35:30.372Z,1736400930.372 [DAT](INFO): Rx dataTimestamp_ set to:1736400930.372065
2025-01-09T05:35:30.373Z,1736400930.373 [DAT](INFO): DAT read: Range 10 to 50 :     3.3 m (trip time 2.2 ms) speed 0.2

2025-01-09T05:35:30.374Z,1736400930.374 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-01-09T05:35:30.375Z,1736400930.375 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=33.105247
2025-01-09T05:35:30.624Z,1736400930.624 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=33.354034
2025-01-09T05:35:30.803Z,1736400930.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:30.869Z,1736400930.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:30.880Z,1736400930.880 [DAT](INFO): DAT read: Rx Time:05:35:29.7166 

2025-01-09T05:35:30.881Z,1736400930.881 [DAT](INFO): Rx dataTimestamp_ set to:1736400930.880624
2025-01-09T05:35:30.884Z,1736400930.884 [DAT](INFO): DAT read: Bearing 321.4, -50.7 (Local)

2025-01-09T05:35:30.884Z,1736400930.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.4, -50.7 (Local)

2025-01-09T05:35:30.886Z,1736400930.886 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed 0.1

2025-01-09T05:35:30.890Z,1736400930.890 [DAT](INFO): DAT read: 05:35:29.7166 LVL= 27408, 24881, 22418, 32755, AGC= 42, IDX= 497, 0.41, 1.035, 0.605, 1.843, 2.159, PHS=-1.036,-1.508,-0.319, RAW= 186.8,  44.3, CAL= 188.6,  50.7, ROT= 321.4, -50.7

2025-01-09T05:35:30.894Z,1736400930.894 [DAT](INFO): got valid direction response:
 05:35:29.7166 LVL= 27408, 24881, 22418, 32755, AGC= 42, IDX= 497, 0.41, 1.035, 0.605, 1.843, 2.159, PHS=-1.036,-1.508,-0.319, RAW= 186.8,  44.3, CAL= 188.6,  50.7, ROT= 321.4, -50.7

2025-01-09T05:35:30.895Z,1736400930.895 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-01-09T05:35:30.896Z,1736400930.896 [DAT](INFO): direction in FSK: [0.495000,-0.395153,0.773840]
2025-01-09T05:35:30.896Z,1736400930.896 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:30.900Z,1736400930.900 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=33.629734
2025-01-09T05:35:30.907Z,1736400930.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 1.012718 s,
      deltaX: -0.300000 m,
      approachRate: -0.296232 m/s,
      rangeRepo size: 4

2025-01-09T05:35:30.907Z,1736400930.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-01-09T05:35:30.908Z,1736400930.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-01-09T05:35:31.128Z,1736400931.128 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=33.857735
2025-01-09T05:35:31.198Z,1736400931.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:31.381Z,1736400931.381 [DAT](INFO): DAT read: Rx Time:05:35:30.2165 

2025-01-09T05:35:31.381Z,1736400931.381 [DAT](INFO): Rx dataTimestamp_ set to:1736400931.380745
2025-01-09T05:35:31.383Z,1736400931.383 [DAT](INFO): DAT read: Bearing 299.9, -58.4 (Local)

2025-01-09T05:35:31.384Z,1736400931.384 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.9, -58.4 (Local)

2025-01-09T05:35:31.386Z,1736400931.386 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.2

2025-01-09T05:35:31.390Z,1736400931.390 [DAT](INFO): DAT read: 05:35:30.2165 LVL= 25744, 21473, 11586, 25123, AGC= 46, IDX= 496, 0.00,-2.890,-2.807,-1.793,-1.277, PHS=-1.525,-1.482,-0.519, RAW= 212.1,  51.7, CAL= 210.1,  58.4, ROT= 299.9, -58.4

2025-01-09T05:35:31.392Z,1736400931.392 [DAT](INFO): got valid direction response:
 05:35:30.2165 LVL= 25744, 21473, 11586, 25123, AGC= 46, IDX= 496, 0.00,-2.890,-2.807,-1.793,-1.277, PHS=-1.525,-1.482,-0.519, RAW= 212.1,  51.7, CAL= 210.1,  58.4, ROT= 299.9, -58.4

2025-01-09T05:35:31.392Z,1736400931.392 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-01-09T05:35:31.393Z,1736400931.393 [DAT](INFO): direction in FSK: [0.261201,-0.454242,0.851727]
2025-01-09T05:35:31.393Z,1736400931.393 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:31.397Z,1736400931.397 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=34.127281
2025-01-09T05:35:31.568Z,1736400931.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:31.590Z,1736400931.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.500121 s,
      deltaX: -0.300000 m,
      approachRate: -0.599855 m/s,
      rangeRepo size: 4

2025-01-09T05:35:31.605Z,1736400931.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.700000 m,
      bearing: 173.303684 deg,
      lat: 36.903989 deg,
      lon: -122.118936 deg,
      deltaT: 13.944343 s,
      deltaX: -7.200000 m,
      approachRate: -0.516338 m/s,
      posRepo size: 4

2025-01-09T05:35:31.633Z,1736400931.633 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=34.363308
2025-01-09T05:35:31.885Z,1736400931.885 [DAT](INFO): DAT read: Rx Time:05:35:30.7166 

2025-01-09T05:35:31.885Z,1736400931.885 [DAT](INFO): Rx dataTimestamp_ set to:1736400931.884729
2025-01-09T05:35:31.886Z,1736400931.886 [DAT](INFO): DAT read: Bearing 135.9, -49.8 (Local)

2025-01-09T05:35:31.887Z,1736400931.887 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.9, -49.8 (Local)

2025-01-09T05:35:31.889Z,1736400931.889 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-01-09T05:35:31.893Z,1736400931.893 [DAT](INFO): DAT read: 05:35:30.7166 LVL= 32752, 23281,  9170, 28515, AGC= 44, IDX= 513,-0.07,-0.691,-0.332,-1.882, 0.520, PHS=-1.123,-0.805,-2.405, RAW=  19.2,  46.2, CAL=  14.1,  49.8, ROT= 135.9, -49.8

2025-01-09T05:35:31.894Z,1736400931.894 [DAT](INFO): got valid direction response:
 05:35:30.7166 LVL= 32752, 23281,  9170, 28515, AGC= 44, IDX= 513,-0.07,-0.691,-0.332,-1.882, 0.520, PHS=-1.123,-0.805,-2.405, RAW=  19.2,  46.2, CAL=  14.1,  49.8, ROT= 135.9, -49.8

2025-01-09T05:35:31.895Z,1736400931.895 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-01-09T05:35:31.896Z,1736400931.896 [DAT](INFO): direction in FSK: [-0.463520,0.449182,0.763796]
2025-01-09T05:35:31.896Z,1736400931.896 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:31.902Z,1736400931.902 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=34.631847
2025-01-09T05:35:32.054Z,1736400932.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:32.104Z,1736400932.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.503984 s,
      deltaX: 0.200000 m,
      approachRate: 0.396838 m/s,
      rangeRepo size: 4

2025-01-09T05:35:32.106Z,1736400932.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.900000 m,
      bearing: 11.139994 deg,
      lat: 36.903991 deg,
      lon: -122.118936 deg,
      deltaT: 0.503984 s,
      deltaX: 0.200000 m,
      approachRate: 0.396838 m/s,
      posRepo size: 4

2025-01-09T05:35:32.136Z,1736400932.136 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=34.865898
2025-01-09T05:35:32.388Z,1736400932.388 [DAT](INFO): DAT read: Rx Time:05:35:31.2166 

2025-01-09T05:35:32.389Z,1736400932.389 [DAT](INFO): Rx dataTimestamp_ set to:1736400932.388487
2025-01-09T05:35:32.390Z,1736400932.390 [DAT](INFO): DAT read: Bearing 298.9, -35.7 (Local)

2025-01-09T05:35:32.390Z,1736400932.390 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.9, -35.7 (Local)

2025-01-09T05:35:32.392Z,1736400932.392 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-01-09T05:35:32.397Z,1736400932.397 [DAT](INFO): DAT read: 05:35:31.2166 LVL= 28064, 19265, 11490, 32755, AGC= 42, IDX= 512, 0.05, 0.531, 0.673, 2.676, 2.279, PHS=-1.660,-1.558, 0.394, RAW= 212.5,  26.5, CAL= 211.1,  35.7, ROT= 298.9, -35.7

2025-01-09T05:35:32.403Z,1736400932.403 [DAT](INFO): got valid direction response:
 05:35:31.2166 LVL= 28064, 19265, 11490, 32755, AGC= 42, IDX= 512, 0.05, 0.531, 0.673, 2.676, 2.279, PHS=-1.660,-1.558, 0.394, RAW= 212.5,  26.5, CAL= 211.1,  35.7, ROT= 298.9, -35.7

2025-01-09T05:35:32.403Z,1736400932.403 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-01-09T05:35:32.404Z,1736400932.404 [DAT](INFO): direction in FSK: [0.392466,-0.710950,0.583541]
2025-01-09T05:35:32.405Z,1736400932.405 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:32.417Z,1736400932.417 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=35.146908
2025-01-09T05:35:32.443Z,1736400932.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:32.478Z,1736400932.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.503758 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:32.484Z,1736400932.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.900000 m,
      bearing: 171.638854 deg,
      lat: 36.903991 deg,
      lon: -122.118937 deg,
      deltaT: 0.503758 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T05:35:32.485Z,1736400932.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.90 m.
2025-01-09T05:35:32.640Z,1736400932.640 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=35.370060
2025-01-09T05:35:32.833Z,1736400932.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:32.898Z,1736400932.898 [DAT](INFO): DAT read: Rx Time:05:35:31.7166 

2025-01-09T05:35:32.901Z,1736400932.901 [DAT](INFO): Rx dataTimestamp_ set to:1736400932.899666
2025-01-09T05:35:32.905Z,1736400932.905 [DAT](INFO): DAT read: Bearing 274.1, -50.3 (Local)

2025-01-09T05:35:32.916Z,1736400932.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.1, -50.3 (Local)

2025-01-09T05:35:32.919Z,1736400932.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:32.925Z,1736400932.925 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-01-09T05:35:32.955Z,1736400932.955 [DAT](INFO): DAT read: 05:35:31.7166 LVL= 30000, 25425, 16210, 27939, AGC= 43, IDX= 513,-0.01, 0.581, 1.160, 2.324, 2.619, PHS=-1.950,-1.412,-0.298, RAW= 228.6,  41.6, CAL= 235.9,  50.3, ROT= 274.1, -50.3

2025-01-09T05:35:32.956Z,1736400932.956 [DAT](INFO): got valid direction response:
 05:35:31.7166 LVL= 30000, 25425, 16210, 27939, AGC= 43, IDX= 513,-0.01, 0.581, 1.160, 2.324, 2.619, PHS=-1.950,-1.412,-0.298, RAW= 228.6,  41.6, CAL= 235.9,  50.3, ROT= 274.1, -50.3

2025-01-09T05:35:32.957Z,1736400932.957 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-01-09T05:35:32.958Z,1736400932.958 [DAT](INFO): direction in FSK: [0.045670,-0.637133,0.769400]
2025-01-09T05:35:32.958Z,1736400932.958 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:32.992Z,1736400932.992 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=35.721977
2025-01-09T05:35:33.144Z,1736400933.144 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=35.873875
2025-01-09T05:35:33.220Z,1736400933.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:33.238Z,1736400933.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.511179 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:33.240Z,1736400933.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.900000 m,
      bearing: 144.811710 deg,
      lat: 36.903991 deg,
      lon: -122.118937 deg,
      deltaT: 0.511179 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T05:35:33.241Z,1736400933.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.90 m.
2025-01-09T05:35:33.396Z,1736400933.396 [DAT](INFO): DAT read: Rx Time:05:35:32.2165 

2025-01-09T05:35:33.396Z,1736400933.396 [DAT](INFO): Rx dataTimestamp_ set to:1736400933.395926
2025-01-09T05:35:33.397Z,1736400933.397 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-01-09T05:35:33.399Z,1736400933.399 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-01-09T05:35:33.400Z,1736400933.400 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=36.129826
2025-01-09T05:35:33.600Z,1736400933.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:33.610Z,1736400933.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.496260 s,
      deltaX: -0.200000 m,
      approachRate: -0.403015 m/s,
      rangeRepo size: 4

2025-01-09T05:35:33.610Z,1736400933.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m.
2025-01-09T05:35:33.648Z,1736400933.648 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=36.378441
2025-01-09T05:35:33.904Z,1736400933.904 [DAT](INFO): DAT read: Rx Time:05:35:32.7166 

2025-01-09T05:35:33.906Z,1736400933.906 [DAT](INFO): Rx dataTimestamp_ set to:1736400933.904718
2025-01-09T05:35:33.910Z,1736400933.910 [DAT](INFO): DAT read: Bearing 273.1, -56.6 (Local)

2025-01-09T05:35:33.911Z,1736400933.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.1, -56.6 (Local)

2025-01-09T05:35:33.913Z,1736400933.913 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed -0.1

2025-01-09T05:35:33.919Z,1736400933.919 [DAT](INFO): DAT read: 05:35:32.7166 LVL= 21488, 17489, 14610, 15123, AGC= 42, IDX=   1, 0.37, 3.024,-2.681,-1.657,-1.022, PHS=-2.150,-1.612,-0.639, RAW= 230.5,  49.5, CAL= 236.9,  56.6, ROT= 273.1, -56.6

2025-01-09T05:35:33.920Z,1736400933.920 [DAT](INFO): got valid direction response:
 05:35:32.7166 LVL= 21488, 17489, 14610, 15123, AGC= 42, IDX=   1, 0.37, 3.024,-2.681,-1.657,-1.022, PHS=-2.150,-1.612,-0.639, RAW= 230.5,  49.5, CAL= 236.9,  56.6, ROT= 273.1, -56.6

2025-01-09T05:35:33.921Z,1736400933.921 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-01-09T05:35:33.922Z,1736400933.922 [DAT](INFO): direction in FSK: [0.029769,-0.549675,0.834848]
2025-01-09T05:35:33.922Z,1736400933.922 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:33.926Z,1736400933.926 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=36.655754
2025-01-09T05:35:34.081Z,1736400934.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:34.114Z,1736400934.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.000000 m,
      deltaT: 0.508792 s,
      deltaX: 0.300000 m,
      approachRate: 0.589632 m/s,
      rangeRepo size: 4

2025-01-09T05:35:34.128Z,1736400934.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.000000 m,
      bearing: 142.247145 deg,
      lat: 36.903989 deg,
      lon: -122.118937 deg,
      deltaT: 1.005052 s,
      deltaX: 0.100000 m,
      approachRate: 0.099497 m/s,
      posRepo size: 4

2025-01-09T05:35:34.130Z,1736400934.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m.
2025-01-09T05:35:34.152Z,1736400934.152 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=36.881878
2025-01-09T05:35:34.404Z,1736400934.404 [DAT](INFO): DAT read: Rx Time:05:35:33.2167 

2025-01-09T05:35:34.405Z,1736400934.405 [DAT](INFO): Rx dataTimestamp_ set to:1736400934.404234
2025-01-09T05:35:34.406Z,1736400934.406 [DAT](INFO): DAT read: Bearing 261.7, -53.9 (Local)

2025-01-09T05:35:34.406Z,1736400934.406 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.7, -53.9 (Local)

2025-01-09T05:35:34.408Z,1736400934.408 [DAT](INFO): DAT read: Range 10 to 50 :     3.2 m (trip time 2.1 ms) speed -0.1

2025-01-09T05:35:34.413Z,1736400934.413 [DAT](INFO): DAT read: 05:35:33.2167 LVL= 23536, 25249, 19634, 32387, AGC= 39, IDX= 497,-0.06,-0.564, 0.225, 1.012, 1.629, PHS=-2.104,-1.356,-0.620, RAW= 240.2,  48.3, CAL= 248.3,  53.9, ROT= 261.7, -53.9

2025-01-09T05:35:34.414Z,1736400934.414 [DAT](INFO): got valid direction response:
 05:35:33.2167 LVL= 23536, 25249, 19634, 32387, AGC= 39, IDX= 497,-0.06,-0.564, 0.225, 1.012, 1.629, PHS=-2.104,-1.356,-0.620, RAW= 240.2,  48.3, CAL= 248.3,  53.9, ROT= 261.7, -53.9

2025-01-09T05:35:34.414Z,1736400934.414 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-01-09T05:35:34.416Z,1736400934.416 [DAT](INFO): direction in FSK: [-0.085054,-0.583025,0.807990]
2025-01-09T05:35:34.417Z,1736400934.417 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:34.420Z,1736400934.420 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=37.150272
2025-01-09T05:35:34.429Z,1736400934.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:34.494Z,1736400934.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.499516 s,
      deltaX: 0.200000 m,
      approachRate: 0.400388 m/s,
      rangeRepo size: 4

2025-01-09T05:35:34.508Z,1736400934.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.200000 m,
      bearing: 130.348892 deg,
      lat: 36.903988 deg,
      lon: -122.118937 deg,
      deltaT: 0.499516 s,
      deltaX: 0.200000 m,
      approachRate: 0.400388 m/s,
      posRepo size: 4

2025-01-09T05:35:34.509Z,1736400934.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.20 m.
2025-01-09T05:35:34.656Z,1736400934.656 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=37.385948
2025-01-09T05:35:34.835Z,1736400934.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:34.914Z,1736400934.914 [DAT](INFO): DAT read: Rx Time:05:35:33.7167 

2025-01-09T05:35:34.925Z,1736400934.925 [DAT](INFO): Rx dataTimestamp_ set to:1736400934.923514
2025-01-09T05:35:34.935Z,1736400934.935 [DAT](INFO): DAT read: Bearing 251.2, -47.9 (Local)

2025-01-09T05:35:34.936Z,1736400934.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.2, -47.9 (Local)

2025-01-09T05:35:34.944Z,1736400934.944 [DAT](INFO): DAT read: Range 10 to 50 :     3.2 m (trip time 2.1 ms) speed -0.2

2025-01-09T05:35:34.962Z,1736400934.962 [DAT](INFO): DAT read: 05:35:33.7167 LVL= 32752, 32753, 25586, 32755, AGC= 43, IDX= 498,-0.45,-1.531,-0.399, 0.337, 0.835, PHS=-2.278,-1.187,-0.502, RAW= 247.5,  42.1, CAL= 258.8,  47.9, ROT= 251.2, -47.9

2025-01-09T05:35:34.968Z,1736400934.968 [DAT](INFO): got valid direction response:
 05:35:33.7167 LVL= 32752, 32753, 25586, 32755, AGC= 43, IDX= 498,-0.45,-1.531,-0.399, 0.337, 0.835, PHS=-2.278,-1.187,-0.502, RAW= 247.5,  42.1, CAL= 258.8,  47.9, ROT= 251.2, -47.9

2025-01-09T05:35:34.968Z,1736400934.968 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-01-09T05:35:34.970Z,1736400934.970 [DAT](INFO): direction in FSK: [-0.216056,-0.634659,0.741976]
2025-01-09T05:35:34.970Z,1736400934.970 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:34.992Z,1736400934.992 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=37.721687
2025-01-09T05:35:35.161Z,1736400935.161 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=37.890419
2025-01-09T05:35:35.299Z,1736400935.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:35.340Z,1736400935.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.519280 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:35.342Z,1736400935.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.200000 m,
      bearing: 119.404577 deg,
      lat: 36.903988 deg,
      lon: -122.118935 deg,
      deltaT: 0.519280 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T05:35:35.347Z,1736400935.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.20 m.
2025-01-09T05:35:35.413Z,1736400935.413 [DAT](INFO): DAT read: Rx Time:05:35:34.2166 

2025-01-09T05:35:35.414Z,1736400935.414 [DAT](INFO): Rx dataTimestamp_ set to:1736400935.413593
2025-01-09T05:35:35.417Z,1736400935.417 [DAT](INFO): DAT read: Bearing 222.5, -38.6 (Local)

2025-01-09T05:35:35.418Z,1736400935.418 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.5, -38.6 (Local)

2025-01-09T05:35:35.421Z,1736400935.421 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed -0.2

2025-01-09T05:35:35.441Z,1736400935.441 [DAT](INFO): DAT read: 05:35:34.2166 LVL= 27104, 32753, 14562, 29315, AGC= 41, IDX= 497,-0.16, 1.153, 2.807, 2.719,-2.992, PHS=-2.050,-0.437,-0.575, RAW= 274.4,  35.0, CAL= 287.5,  38.6, ROT= 222.5, -38.6

2025-01-09T05:35:35.451Z,1736400935.451 [DAT](INFO): got valid direction response:
 05:35:34.2166 LVL= 27104, 32753, 14562, 29315, AGC= 41, IDX= 497,-0.16, 1.153, 2.807, 2.719,-2.992, PHS=-2.050,-0.437,-0.575, RAW= 274.4,  35.0, CAL= 287.5,  38.6, ROT= 222.5, -38.6

2025-01-09T05:35:35.452Z,1736400935.452 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-01-09T05:35:35.453Z,1736400935.453 [DAT](INFO): direction in FSK: [-0.576197,-0.527988,0.623880]
2025-01-09T05:35:35.453Z,1736400935.453 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:35.474Z,1736400935.474 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=38.204346
2025-01-09T05:35:35.624Z,1736400935.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:35.639Z,1736400935.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.490079 s,
      deltaX: -0.300000 m,
      approachRate: -0.612146 m/s,
      rangeRepo size: 4

2025-01-09T05:35:35.641Z,1736400935.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.900000 m,
      bearing: 89.958602 deg,
      lat: 36.903988 deg,
      lon: -122.118934 deg,
      deltaT: 0.490079 s,
      deltaX: -0.300000 m,
      approachRate: -0.612146 m/s,
      posRepo size: 4

2025-01-09T05:35:35.641Z,1736400935.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.90 m.
2025-01-09T05:35:35.664Z,1736400935.664 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=38.393852
2025-01-09T05:35:35.921Z,1736400935.921 [DAT](INFO): DAT read: Rx Time:05:35:34.7167 

2025-01-09T05:35:35.922Z,1736400935.922 [DAT](INFO): Rx dataTimestamp_ set to:1736400935.921169
2025-01-09T05:35:35.937Z,1736400935.937 [DAT](INFO): DAT read: Range 10 to 50 :     3.2 m (trip time 2.1 ms) speed -0.3

2025-01-09T05:35:35.940Z,1736400935.940 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-01-09T05:35:35.942Z,1736400935.942 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=38.672165
2025-01-09T05:35:36.128Z,1736400936.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:36.163Z,1736400936.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:36.168Z,1736400936.168 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=38.897896
2025-01-09T05:35:36.175Z,1736400936.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.507576 s,
      deltaX: 0.300000 m,
      approachRate: 0.591044 m/s,
      rangeRepo size: 4

2025-01-09T05:35:36.175Z,1736400936.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.20 m.
2025-01-09T05:35:36.420Z,1736400936.420 [DAT](INFO): DAT read: Rx Time:05:35:35.2168 

2025-01-09T05:35:36.421Z,1736400936.421 [DAT](INFO): Rx dataTimestamp_ set to:1736400936.420602
2025-01-09T05:35:36.422Z,1736400936.422 [DAT](INFO): DAT read: Bearing 216.3, -24.8 (Local)

2025-01-09T05:35:36.423Z,1736400936.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.3, -24.8 (Local)

2025-01-09T05:35:36.425Z,1736400936.425 [DAT](INFO): DAT read: Range 10 to 50 :     3.3 m (trip time 2.2 ms) speed -0.3

2025-01-09T05:35:36.434Z,1736400936.434 [DAT](INFO): DAT read: 05:35:35.2168 LVL= 23728, 18049, 13378, 24563, AGC= 40, IDX= 499,-0.49, 1.397,-2.756, 2.945,-3.027, PHS=-1.771, 0.319,-0.314, RAW= 287.2,  18.6, CAL= 293.7,  24.8, ROT= 216.3, -24.8

2025-01-09T05:35:36.444Z,1736400936.444 [DAT](INFO): got valid direction response:
 05:35:35.2168 LVL= 23728, 18049, 13378, 24563, AGC= 40, IDX= 499,-0.49, 1.397,-2.756, 2.945,-3.027, PHS=-1.771, 0.319,-0.314, RAW= 287.2,  18.6, CAL= 293.7,  24.8, ROT= 216.3, -24.8

2025-01-09T05:35:36.444Z,1736400936.444 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-01-09T05:35:36.445Z,1736400936.445 [DAT](INFO): direction in FSK: [-0.731604,-0.537416,0.419452]
2025-01-09T05:35:36.445Z,1736400936.445 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:36.461Z,1736400936.461 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=39.191216
2025-01-09T05:35:36.488Z,1736400936.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:36.543Z,1736400936.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.499433 s,
      deltaX: 0.100000 m,
      approachRate: 0.200227 m/s,
      rangeRepo size: 4

2025-01-09T05:35:36.545Z,1736400936.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.300000 m,
      bearing: 82.798424 deg,
      lat: 36.903988 deg,
      lon: -122.118934 deg,
      deltaT: 1.007009 s,
      deltaX: 0.400000 m,
      approachRate: 0.397216 m/s,
      posRepo size: 4

2025-01-09T05:35:36.546Z,1736400936.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.30 m.
2025-01-09T05:35:36.672Z,1736400936.672 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=39.402271
2025-01-09T05:35:36.852Z,1736400936.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:36.929Z,1736400936.929 [DAT](INFO): DAT read: Rx Time:05:35:35.7171 

2025-01-09T05:35:36.930Z,1736400936.930 [DAT](INFO): Rx dataTimestamp_ set to:1736400936.929294
2025-01-09T05:35:36.936Z,1736400936.936 [DAT](INFO): DAT read: Bearing 213.9, -23.2 (Local)

2025-01-09T05:35:36.937Z,1736400936.937 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.9, -23.2 (Local)

2025-01-09T05:35:36.968Z,1736400936.968 [DAT](INFO): DAT read: Range 10 to 50 :     3.8 m (trip time 2.5 ms) speed -0.4

2025-01-09T05:35:36.993Z,1736400936.993 [DAT](INFO): DAT read: 05:35:35.7171 LVL= 19424, 19313, 14610, 27747, AGC= 41, IDX= 501,-0.03,-1.593, 0.449,-0.203, 0.096, PHS=-1.601, 0.400,-0.303, RAW= 290.2,  16.8, CAL= 296.1,  23.2, ROT= 213.9, -23.2

2025-01-09T05:35:36.999Z,1736400936.999 [DAT](INFO): got valid direction response:
 05:35:35.7171 LVL= 19424, 19313, 14610, 27747, AGC= 41, IDX= 501,-0.03,-1.593, 0.449,-0.203, 0.096, PHS=-1.601, 0.400,-0.303, RAW= 290.2,  16.8, CAL= 296.1,  23.2, ROT= 213.9, -23.2

2025-01-09T05:35:36.999Z,1736400936.999 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-01-09T05:35:37.001Z,1736400937.001 [DAT](INFO): direction in FSK: [-0.762894,-0.512643,0.393942]
2025-01-09T05:35:37.001Z,1736400937.001 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:37.011Z,1736400937.011 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=39.741383
2025-01-09T05:35:37.177Z,1736400937.177 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=39.907394
2025-01-09T05:35:37.334Z,1736400937.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:37.348Z,1736400937.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.508692 s,
      deltaX: 0.500000 m,
      approachRate: 0.982913 m/s,
      rangeRepo size: 4

2025-01-09T05:35:37.351Z,1736400937.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.800000 m,
      bearing: 79.738115 deg,
      lat: 36.903995 deg,
      lon: -122.118931 deg,
      deltaT: 0.508692 s,
      deltaX: 0.500000 m,
      approachRate: 0.982913 m/s,
      posRepo size: 4

2025-01-09T05:35:37.352Z,1736400937.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.80 m.
2025-01-09T05:35:37.430Z,1736400937.430 [DAT](INFO): DAT read: Rx Time:05:35:36.2170 

2025-01-09T05:35:37.431Z,1736400937.431 [DAT](INFO): Rx dataTimestamp_ set to:1736400937.430235
2025-01-09T05:35:37.433Z,1736400937.433 [DAT](INFO): DAT read: Bearing 230.4, -16.6 (Local)

2025-01-09T05:35:37.434Z,1736400937.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.4, -16.6 (Local)

2025-01-09T05:35:37.438Z,1736400937.438 [DAT](INFO): DAT read: Range 10 to 50 :     3.6 m (trip time 2.4 ms) speed -0.4

2025-01-09T05:35:37.448Z,1736400937.448 [DAT](INFO): DAT read: 05:35:36.2170 LVL= 19248, 18417, 10146, 18739, AGC= 42, IDX= 501, 0.18,-2.184,-0.134,-0.184,-0.408, PHS=-1.689, 0.320, 0.220, RAW= 272.5,  11.7, CAL= 279.6,  16.6, ROT= 230.4, -16.6

2025-01-09T05:35:37.471Z,1736400937.471 [DAT](INFO): got valid direction response:
 05:35:36.2170 LVL= 19248, 18417, 10146, 18739, AGC= 42, IDX= 501, 0.18,-2.184,-0.134,-0.184,-0.408, PHS=-1.689, 0.320, 0.220, RAW= 272.5,  11.7, CAL= 279.6,  16.6, ROT= 230.4, -16.6

2025-01-09T05:35:37.472Z,1736400937.472 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-01-09T05:35:37.473Z,1736400937.473 [DAT](INFO): direction in FSK: [-0.610858,-0.738400,0.285688]
2025-01-09T05:35:37.474Z,1736400937.474 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:37.492Z,1736400937.492 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=40.222313
2025-01-09T05:35:37.656Z,1736400937.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:37.680Z,1736400937.680 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=40.409767
2025-01-09T05:35:37.683Z,1736400937.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.500941 s,
      deltaX: -0.200000 m,
      approachRate: -0.399249 m/s,
      rangeRepo size: 4

2025-01-09T05:35:37.685Z,1736400937.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.600000 m,
      bearing: 95.356558 deg,
      lat: 36.903995 deg,
      lon: -122.118927 deg,
      deltaT: 0.500941 s,
      deltaX: -0.200000 m,
      approachRate: -0.399249 m/s,
      posRepo size: 4

2025-01-09T05:35:37.937Z,1736400937.937 [DAT](INFO): DAT read: Rx Time:05:35:36.7171 

2025-01-09T05:35:37.940Z,1736400937.940 [DAT](INFO): Rx dataTimestamp_ set to:1736400937.937586
2025-01-09T05:35:37.944Z,1736400937.944 [DAT](INFO): DAT read: Bearing 237.5, -20.5 (Local)

2025-01-09T05:35:37.945Z,1736400937.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.5, -20.5 (Local)

2025-01-09T05:35:37.959Z,1736400937.959 [DAT](INFO): DAT read: Range 10 to 50 :     3.8 m (trip time 2.5 ms) speed -0.4

2025-01-09T05:35:38.008Z,1736400938.008 [DAT](INFO): DAT read: 05:35:36.7171 LVL= 26272, 21345, 18482, 27123, AGC= 43, IDX= 503,-0.24,-0.109, 1.847, 2.147, 1.844, PHS=-1.865, 0.050, 0.300, RAW= 263.9,  14.6, CAL= 272.5,  20.5, ROT= 237.5, -20.5

2025-01-09T05:35:38.009Z,1736400938.009 [DAT](INFO): got valid direction response:
 05:35:36.7171 LVL= 26272, 21345, 18482, 27123, AGC= 43, IDX= 503,-0.24,-0.109, 1.847, 2.147, 1.844, PHS=-1.865, 0.050, 0.300, RAW= 263.9,  14.6, CAL= 272.5,  20.5, ROT= 237.5, -20.5

2025-01-09T05:35:38.010Z,1736400938.010 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-01-09T05:35:38.017Z,1736400938.017 [DAT](INFO): direction in FSK: [-0.503274,-0.789981,0.350207]
2025-01-09T05:35:38.017Z,1736400938.017 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:38.031Z,1736400938.031 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=40.752464
2025-01-09T05:35:38.181Z,1736400938.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:38.186Z,1736400938.186 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=40.915936
2025-01-09T05:35:38.219Z,1736400938.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.507351 s,
      deltaX: 0.200000 m,
      approachRate: 0.394204 m/s,
      rangeRepo size: 4

2025-01-09T05:35:38.221Z,1736400938.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.800000 m,
      bearing: 102.285834 deg,
      lat: 36.903995 deg,
      lon: -122.118927 deg,
      deltaT: 0.507351 s,
      deltaX: 0.200000 m,
      approachRate: 0.394204 m/s,
      posRepo size: 4

2025-01-09T05:35:38.436Z,1736400938.436 [DAT](INFO): DAT read: Rx Time:05:35:37.2172 

2025-01-09T05:35:38.437Z,1736400938.437 [DAT](INFO): Rx dataTimestamp_ set to:1736400938.436449
2025-01-09T05:35:38.438Z,1736400938.438 [DAT](INFO): DAT read: Bearing 228.3, -24.0 (Local)

2025-01-09T05:35:38.438Z,1736400938.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.3, -24.0 (Local)

2025-01-09T05:35:38.440Z,1736400938.440 [DAT](INFO): DAT read: Range 10 to 50 :     3.9 m (trip time 2.6 ms) speed -0.4

2025-01-09T05:35:38.445Z,1736400938.445 [DAT](INFO): DAT read: 05:35:37.2172 LVL= 25808, 24913, 12466, 27859, AGC= 39, IDX= 503, 0.40,-2.262,-0.460,-0.504,-0.500, PHS=-1.674, 0.087,-0.007, RAW= 272.7,  18.2, CAL= 281.7,  24.0, ROT= 228.3, -24.0

2025-01-09T05:35:38.446Z,1736400938.446 [DAT](INFO): got valid direction response:
 05:35:37.2172 LVL= 25808, 24913, 12466, 27859, AGC= 39, IDX= 503, 0.40,-2.262,-0.460,-0.504,-0.500, PHS=-1.674, 0.087,-0.007, RAW= 272.7,  18.2, CAL= 281.7,  24.0, ROT= 228.3, -24.0

2025-01-09T05:35:38.447Z,1736400938.447 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-01-09T05:35:38.448Z,1736400938.448 [DAT](INFO): direction in FSK: [-0.607718,-0.682088,0.406737]
2025-01-09T05:35:38.449Z,1736400938.449 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:38.453Z,1736400938.453 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=41.183357
2025-01-09T05:35:38.506Z,1736400938.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:38.569Z,1736400938.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.498863 s,
      deltaX: 0.100000 m,
      approachRate: 0.200456 m/s,
      rangeRepo size: 4

2025-01-09T05:35:38.580Z,1736400938.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.900000 m,
      bearing: 93.390828 deg,
      lat: 36.903986 deg,
      lon: -122.118927 deg,
      deltaT: 0.498863 s,
      deltaX: 0.100000 m,
      approachRate: 0.200456 m/s,
      posRepo size: 4

2025-01-09T05:35:38.688Z,1736400938.688 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=41.418598
2025-01-09T05:35:38.889Z,1736400938.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:38.897Z,1736400938.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:35:38.943Z,1736400938.943 [DAT](INFO): DAT read: Rx Time:05:35:37.7174 

2025-01-09T05:35:38.944Z,1736400938.944 [DAT](INFO): Rx dataTimestamp_ set to:1736400938.943619
2025-01-09T05:35:38.949Z,1736400938.949 [DAT](INFO): DAT read: Range 10 to 50 :     4.2 m (trip time 2.8 ms) speed -0.5

2025-01-09T05:35:38.954Z,1736400938.954 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-01-09T05:35:38.969Z,1736400938.969 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=41.699013
2025-01-09T05:35:39.194Z,1736400939.194 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=41.923599
2025-01-09T05:35:39.359Z,1736400939.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:39.369Z,1736400939.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.507170 s,
      deltaX: 0.300000 m,
      approachRate: 0.591517 m/s,
      rangeRepo size: 4

2025-01-09T05:35:39.444Z,1736400939.444 [DAT](INFO): DAT read: Rx Time:05:35:38.2175 

2025-01-09T05:35:39.445Z,1736400939.445 [DAT](INFO): Rx dataTimestamp_ set to:1736400939.444521
2025-01-09T05:35:39.447Z,1736400939.447 [DAT](INFO): DAT read: Bearing 192.4, -20.2 (Local)

2025-01-09T05:35:39.448Z,1736400939.448 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.4, -20.2 (Local)

2025-01-09T05:35:39.451Z,1736400939.451 [DAT](INFO): DAT read: Range 10 to 50 :     4.4 m (trip time 2.9 ms) speed -0.5

2025-01-09T05:35:39.457Z,1736400939.457 [DAT](INFO): DAT read: 05:35:38.2175 LVL= 17392, 23921,  8738, 21219, AGC= 40, IDX= 506, 0.07,-2.180,-0.075,-1.508,-0.792, PHS=-1.300, 0.764,-0.719, RAW= 314.2,  13.5, CAL= 317.6,  20.2, ROT= 192.4, -20.2

2025-01-09T05:35:39.458Z,1736400939.458 [DAT](INFO): got valid direction response:
 05:35:38.2175 LVL= 17392, 23921,  8738, 21219, AGC= 40, IDX= 506, 0.07,-2.180,-0.075,-1.508,-0.792, PHS=-1.300, 0.764,-0.719, RAW= 314.2,  13.5, CAL= 317.6,  20.2, ROT= 192.4, -20.2

2025-01-09T05:35:39.460Z,1736400939.460 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-01-09T05:35:39.461Z,1736400939.461 [DAT](INFO): direction in FSK: [-0.916600,-0.201528,0.345298]
2025-01-09T05:35:39.462Z,1736400939.462 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:39.467Z,1736400939.467 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=42.196903
2025-01-09T05:35:39.697Z,1736400939.697 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=42.427208
2025-01-09T05:35:39.711Z,1736400939.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:39.726Z,1736400939.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.500902 s,
      deltaX: 0.200000 m,
      approachRate: 0.399280 m/s,
      rangeRepo size: 4

2025-01-09T05:35:39.728Z,1736400939.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.400000 m,
      bearing: 57.431801 deg,
      lat: 36.903986 deg,
      lon: -122.118929 deg,
      deltaT: 1.008072 s,
      deltaX: 0.500000 m,
      approachRate: 0.495996 m/s,
      posRepo size: 4

2025-01-09T05:35:39.729Z,1736400939.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 4.40 m. Rolling out.
2025-01-09T05:35:39.729Z,1736400939.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-01-09T05:35:39.793Z,1736400939.793 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T05:35:39.793Z,1736400939.793 [DockingStepper](INFO): Standby mode.
2025-01-09T05:35:39.859Z,1736400939.859 [DockingStepper](INFO): Commanding positive:54488
2025-01-09T05:35:39.952Z,1736400939.952 [DAT](INFO): DAT read: Rx Time:05:35:38.7178 

2025-01-09T05:35:39.953Z,1736400939.953 [DAT](INFO): Rx dataTimestamp_ set to:1736400939.952256
2025-01-09T05:35:39.957Z,1736400939.957 [DAT](INFO): DAT read: Range 10 to 50 :     4.8 m (trip time 3.2 ms) speed -0.5

2025-01-09T05:35:39.964Z,1736400939.964 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-01-09T05:35:39.969Z,1736400939.969 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=42.698521
2025-01-09T05:35:40.132Z,1736400940.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:40.138Z,1736400940.138 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-01-09T05:35:40.138Z,1736400940.138 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-01-09T05:35:40.139Z,1736400940.139 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-01-09T05:35:40.140Z,1736400940.140 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 4.400000 m (mode  5.000000 count ).
2025-01-09T05:35:40.140Z,1736400940.140 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-01-09T05:35:40.140Z,1736400940.140 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-01-09T05:35:40.141Z,1736400940.141 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-01-09T05:35:40.141Z,1736400940.141 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-01-09T05:35:40.141Z,1736400940.141 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-01-09T05:35:40.142Z,1736400940.142 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  4.400000 m (mode  5.000000 count ).
2025-01-09T05:35:40.142Z,1736400940.142 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-01-09T05:35:40.143Z,1736400940.143 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-01-09T05:35:40.145Z,1736400940.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.507735 s,
      deltaX: 0.400000 m,
      approachRate: 0.787813 m/s,
      rangeRepo size: 4

2025-01-09T05:35:40.146Z,1736400940.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.40 m.
2025-01-09T05:35:40.148Z,1736400940.148 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-01-09T05:35:40.148Z,1736400940.148 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-01-09T05:35:40.148Z,1736400940.148 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-01-09T05:35:40.148Z,1736400940.148 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-09T05:35:40.200Z,1736400940.200 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=42.930035
2025-01-09T05:35:40.452Z,1736400940.452 [DAT](INFO): DAT read: Rx Time:05:35:39.2179 

2025-01-09T05:35:40.452Z,1736400940.452 [DAT](INFO): Rx dataTimestamp_ set to:1736400940.451909
2025-01-09T05:35:40.453Z,1736400940.453 [DAT](INFO): DAT read: Range 10 to 50 :     5.0 m (trip time 3.3 ms) speed -0.6

2025-01-09T05:35:40.454Z,1736400940.454 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-01-09T05:35:40.455Z,1736400940.455 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=43.185066
2025-01-09T05:35:40.535Z,1736400940.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:40.545Z,1736400940.545 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-01-09T05:35:40.545Z,1736400940.545 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-01-09T05:35:40.546Z,1736400940.546 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-01-09T05:35:40.546Z,1736400940.546 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-01-09T05:35:40.553Z,1736400940.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.499653 s,
      deltaX: 0.200000 m,
      approachRate: 0.400277 m/s,
      rangeRepo size: 4

2025-01-09T05:35:40.553Z,1736400940.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.40 m.
2025-01-09T05:35:40.704Z,1736400940.704 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=43.433823
2025-01-09T05:35:40.904Z,1736400940.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:40.910Z,1736400940.910 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-01-09T05:35:40.910Z,1736400940.910 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-01-09T05:35:40.911Z,1736400940.911 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-01-09T05:35:40.911Z,1736400940.911 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-01-09T05:35:40.913Z,1736400940.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.40 m.
2025-01-09T05:35:40.956Z,1736400940.956 [DAT](INFO): DAT read: Rx Time:05:35:39.7182 

2025-01-09T05:35:40.957Z,1736400940.957 [DAT](INFO): Rx dataTimestamp_ set to:1736400940.956242
2025-01-09T05:35:40.958Z,1736400940.958 [DAT](INFO): DAT read: Range 10 to 50 :     5.4 m (trip time 3.6 ms) speed -0.6

2025-01-09T05:35:40.958Z,1736400940.958 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-01-09T05:35:40.959Z,1736400940.959 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=43.689419
2025-01-09T05:35:41.208Z,1736400941.208 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=43.937786
2025-01-09T05:35:41.371Z,1736400941.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:41.377Z,1736400941.377 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-01-09T05:35:41.377Z,1736400941.377 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-01-09T05:35:41.377Z,1736400941.377 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-01-09T05:35:41.377Z,1736400941.377 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-01-09T05:35:41.378Z,1736400941.378 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-01-09T05:35:41.378Z,1736400941.378 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-01-09T05:35:41.378Z,1736400941.378 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-01-09T05:35:41.379Z,1736400941.379 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-01-09T05:35:41.383Z,1736400941.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.504333 s,
      deltaX: 0.400000 m,
      approachRate: 0.793127 m/s,
      rangeRepo size: 4

2025-01-09T05:35:41.383Z,1736400941.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.40 m.
2025-01-09T05:35:41.461Z,1736400941.461 [DAT](INFO): DAT read: Rx Time:05:35:40.2183 

2025-01-09T05:35:41.462Z,1736400941.462 [DAT](INFO): Rx dataTimestamp_ set to:1736400941.461096
2025-01-09T05:35:41.464Z,1736400941.464 [DAT](INFO): DAT read: Range 10 to 50 :     5.6 m (trip time 3.7 ms) speed -0.6

2025-01-09T05:35:41.465Z,1736400941.465 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-01-09T05:35:41.469Z,1736400941.469 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.196484
2025-01-09T05:35:41.712Z,1736400941.712 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.441681
2025-01-09T05:35:41.773Z,1736400941.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:41.802Z,1736400941.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.504854 s,
      deltaX: 0.200000 m,
      approachRate: 0.396154 m/s,
      rangeRepo size: 4

2025-01-09T05:35:41.802Z,1736400941.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.40 m.
2025-01-09T05:35:41.975Z,1736400941.975 [DAT](INFO): DAT read: Rx Time:05:35:40.7185 

2025-01-09T05:35:41.977Z,1736400941.977 [DAT](INFO): Rx dataTimestamp_ set to:1736400941.975455
2025-01-09T05:35:41.982Z,1736400941.982 [DAT](INFO): DAT read: Range 10 to 50 :     5.9 m (trip time 3.9 ms) speed -0.6

2025-01-09T05:35:41.985Z,1736400941.985 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-01-09T05:35:42.015Z,1736400942.015 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=44.720188
2025-01-09T05:35:42.171Z,1736400942.171 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +154,  +563,  

2025-01-09T05:35:42.178Z,1736400942.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:35:42.178Z,1736400942.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:42.192Z,1736400942.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.514359 s,
      deltaX: 0.300000 m,
      approachRate: 0.583251 m/s,
      rangeRepo size: 4

2025-01-09T05:35:42.193Z,1736400942.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.40 m.
2025-01-09T05:35:42.217Z,1736400942.217 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=44.946842
2025-01-09T05:35:42.468Z,1736400942.468 [DAT](INFO): DAT read: Rx Time:05:35:41.2186 

2025-01-09T05:35:42.468Z,1736400942.468 [DAT](INFO): Rx dataTimestamp_ set to:1736400942.467981
2025-01-09T05:35:42.469Z,1736400942.469 [DAT](INFO): DAT read: Range 10 to 50 :     6.0 m (trip time 4.0 ms) speed -0.6

2025-01-09T05:35:42.470Z,1736400942.470 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-01-09T05:35:42.473Z,1736400942.473 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.202950
2025-01-09T05:35:42.575Z,1736400942.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:35:42.575Z,1736400942.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:42.587Z,1736400942.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.492526 s,
      deltaX: 0.100000 m,
      approachRate: 0.203035 m/s,
      rangeRepo size: 4

2025-01-09T05:35:42.587Z,1736400942.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.40 m.
2025-01-09T05:35:42.720Z,1736400942.720 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.450096
2025-01-09T05:35:42.977Z,1736400942.977 [DAT](INFO): DAT read: Rx Time:05:35:41.7189 

2025-01-09T05:35:42.978Z,1736400942.978 [DAT](INFO): Rx dataTimestamp_ set to:1736400942.977720
2025-01-09T05:35:42.979Z,1736400942.979 [DAT](INFO): DAT read: Range 10 to 50 :     6.3 m (trip time 4.2 ms) speed -0.6

2025-01-09T05:35:42.980Z,1736400942.980 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-01-09T05:35:42.981Z,1736400942.981 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=45.710987
2025-01-09T05:35:42.988Z,1736400942.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:35:42.988Z,1736400942.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:43.072Z,1736400943.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.509739 s,
      deltaX: 0.300000 m,
      approachRate: 0.588537 m/s,
      rangeRepo size: 4

2025-01-09T05:35:43.072Z,1736400943.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.40 m.
2025-01-09T05:35:43.230Z,1736400943.230 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=45.959969
2025-01-09T05:35:43.478Z,1736400943.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:43.480Z,1736400943.480 [DAT](INFO): DAT read: Rx Time:05:35:42.2191 

2025-01-09T05:35:43.480Z,1736400943.480 [DAT](INFO): Rx dataTimestamp_ set to:1736400943.480056
2025-01-09T05:35:43.483Z,1736400943.483 [DAT](INFO): DAT read: Range 10 to 50 :     6.6 m (trip time 4.4 ms) speed -0.5

2025-01-09T05:35:43.483Z,1736400943.483 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-01-09T05:35:43.484Z,1736400943.484 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.214516
2025-01-09T05:35:43.518Z,1736400943.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.502336 s,
      deltaX: 0.300000 m,
      approachRate: 0.597209 m/s,
      rangeRepo size: 4

2025-01-09T05:35:43.518Z,1736400943.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.40 m.
2025-01-09T05:35:43.735Z,1736400943.735 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.464634
2025-01-09T05:35:43.847Z,1736400943.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:43.857Z,1736400943.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.40 m.
2025-01-09T05:35:43.984Z,1736400943.984 [DAT](INFO): DAT read: Rx Time:05:35:42.7194 

2025-01-09T05:35:43.985Z,1736400943.985 [DAT](INFO): Rx dataTimestamp_ set to:1736400943.984293
2025-01-09T05:35:43.986Z,1736400943.986 [DAT](INFO): DAT read: Range 10 to 50 :     7.1 m (trip time 4.7 ms) speed -0.5

2025-01-09T05:35:43.986Z,1736400943.986 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-01-09T05:35:43.987Z,1736400943.987 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=46.717461
2025-01-09T05:35:44.236Z,1736400944.236 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=46.965866
2025-01-09T05:35:44.313Z,1736400944.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:44.327Z,1736400944.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.504237 s,
      deltaX: 0.500000 m,
      approachRate: 0.991597 m/s,
      rangeRepo size: 4

2025-01-09T05:35:44.328Z,1736400944.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.40 m.
2025-01-09T05:35:44.488Z,1736400944.488 [DAT](INFO): DAT read: Rx Time:05:35:43.2195 

2025-01-09T05:35:44.488Z,1736400944.488 [DAT](INFO): Rx dataTimestamp_ set to:1736400944.487963
2025-01-09T05:35:44.489Z,1736400944.489 [DAT](INFO): DAT read: Range 10 to 50 :     7.2 m (trip time 4.8 ms) speed -0.4

2025-01-09T05:35:44.490Z,1736400944.490 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-01-09T05:35:44.491Z,1736400944.491 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.221157
2025-01-09T05:35:44.656Z,1736400944.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:44.667Z,1736400944.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.503670 s,
      deltaX: 0.100000 m,
      approachRate: 0.198543 m/s,
      rangeRepo size: 4

2025-01-09T05:35:44.668Z,1736400944.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.40 m.
2025-01-09T05:35:44.741Z,1736400944.741 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.470982
2025-01-09T05:35:44.992Z,1736400944.992 [DAT](INFO): DAT read: Rx Time:05:35:43.7198 

2025-01-09T05:35:44.993Z,1736400944.993 [DAT](INFO): Rx dataTimestamp_ set to:1736400944.992653
2025-01-09T05:35:44.994Z,1736400944.994 [DAT](INFO): DAT read: Bearing 182.3, -10.6 (Local)

2025-01-09T05:35:44.995Z,1736400944.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.3, -10.6 (Local)

2025-01-09T05:35:44.997Z,1736400944.997 [DAT](INFO): DAT read: Range 10 to 50 :     7.7 m (trip time 5.1 ms) speed -0.4

2025-01-09T05:35:45.002Z,1736400945.002 [DAT](INFO): DAT read: 05:35:43.7198 LVL= 18912, 19537, 13714, 22947, AGC= 50, IDX= 512, 0.45, 1.369,-2.539, 1.688, 2.581, PHS=-1.123, 1.210,-0.896, RAW= 324.9,   7.3, CAL= 327.7,  10.6, ROT= 182.3, -10.6

2025-01-09T05:35:45.006Z,1736400945.006 [DAT](INFO): got valid direction response:
 05:35:43.7198 LVL= 18912, 19537, 13714, 22947, AGC= 50, IDX= 512, 0.45, 1.369,-2.539, 1.688, 2.581, PHS=-1.123, 1.210,-0.896, RAW= 324.9,   7.3, CAL= 327.7,  10.6, ROT= 182.3, -10.6

2025-01-09T05:35:45.036Z,1736400945.036 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-01-09T05:35:45.049Z,1736400945.049 [DAT](INFO): direction in FSK: [-0.982143,-0.039447,0.183951]
2025-01-09T05:35:45.050Z,1736400945.050 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:45.112Z,1736400945.112 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=47.842278
2025-01-09T05:35:45.214Z,1736400945.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:45.244Z,1736400945.244 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=47.973942
2025-01-09T05:35:45.253Z,1736400945.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.504690 s,
      deltaX: 0.500000 m,
      approachRate: 0.990707 m/s,
      rangeRepo size: 4

2025-01-09T05:35:45.279Z,1736400945.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.700000 m,
      bearing: 46.440589 deg,
      lat: 36.903986 deg,
      lon: -122.118930 deg,
      deltaT: 5.548132 s,
      deltaX: 3.300000 m,
      approachRate: 0.594795 m/s,
      posRepo size: 4

2025-01-09T05:35:45.281Z,1736400945.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.70 m.
2025-01-09T05:35:45.496Z,1736400945.496 [DAT](INFO): DAT read: Rx Time:05:35:44.2199 

2025-01-09T05:35:45.497Z,1736400945.497 [DAT](INFO): Rx dataTimestamp_ set to:1736400945.496298
2025-01-09T05:35:45.499Z,1736400945.499 [DAT](INFO): DAT read: Bearing 192.6,   5.8 (Local)

2025-01-09T05:35:45.500Z,1736400945.500 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.6,   5.8 (Local)

2025-01-09T05:35:45.502Z,1736400945.502 [DAT](INFO): DAT read: Range 10 to 50 :     7.8 m (trip time 5.2 ms) speed -0.4

2025-01-09T05:35:45.506Z,1736400945.506 [DAT](INFO): DAT read: 05:35:44.2199 LVL= 24560, 21953, 13298, 25139, AGC= 49, IDX= 513, 0.03, 1.267, 3.142, 1.881, 2.028, PHS=-0.673, 1.161,-0.149, RAW= 313.9,  -4.2, CAL= 317.4,  -5.8, ROT= 192.6,   5.8

2025-01-09T05:35:45.507Z,1736400945.507 [DAT](INFO): got valid direction response:
 05:35:44.2199 LVL= 24560, 21953, 13298, 25139, AGC= 49, IDX= 513, 0.03, 1.267, 3.142, 1.881, 2.028, PHS=-0.673, 1.161,-0.149, RAW= 313.9,  -4.2, CAL= 317.4,  -5.8, ROT= 192.6,   5.8

2025-01-09T05:35:45.508Z,1736400945.508 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-01-09T05:35:45.509Z,1736400945.509 [DAT](INFO): direction in FSK: [-0.970921,-0.217027,-0.101056]
2025-01-09T05:35:45.509Z,1736400945.509 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:45.521Z,1736400945.521 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.251179
2025-01-09T05:35:45.619Z,1736400945.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:45.654Z,1736400945.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.503645 s,
      deltaX: 0.100000 m,
      approachRate: 0.198553 m/s,
      rangeRepo size: 4

2025-01-09T05:35:45.660Z,1736400945.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.800000 m,
      bearing: 54.402527 deg,
      lat: 36.904002 deg,
      lon: -122.118936 deg,
      deltaT: 0.503645 s,
      deltaX: 0.100000 m,
      approachRate: 0.198553 m/s,
      posRepo size: 4

2025-01-09T05:35:45.660Z,1736400945.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:45.750Z,1736400945.750 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.479424
2025-01-09T05:35:46.001Z,1736400946.001 [DAT](INFO): DAT read: Rx Time:05:35:44.7200 

2025-01-09T05:35:46.001Z,1736400946.001 [DAT](INFO): Rx dataTimestamp_ set to:1736400946.001176
2025-01-09T05:35:46.005Z,1736400946.005 [DAT](INFO): DAT read: Range 10 to 50 :     8.0 m (trip time 5.3 ms) speed -0.4

2025-01-09T05:35:46.008Z,1736400946.008 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-01-09T05:35:46.009Z,1736400946.009 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=48.739109
2025-01-09T05:35:46.177Z,1736400946.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:46.187Z,1736400946.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.504878 s,
      deltaX: 0.200000 m,
      approachRate: 0.396135 m/s,
      rangeRepo size: 4

2025-01-09T05:35:46.187Z,1736400946.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:46.254Z,1736400946.254 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=48.983284
2025-01-09T05:35:46.465Z,1736400946.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:46.504Z,1736400946.504 [DAT](INFO): DAT read: Rx Time:05:35:45.2200 

2025-01-09T05:35:46.504Z,1736400946.504 [DAT](INFO): Rx dataTimestamp_ set to:1736400946.504159
2025-01-09T05:35:46.506Z,1736400946.506 [DAT](INFO): DAT read: Range 10 to 50 :     8.0 m (trip time 5.3 ms) speed -0.4

2025-01-09T05:35:46.506Z,1736400946.506 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-01-09T05:35:46.507Z,1736400946.507 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.237312
2025-01-09T05:35:46.516Z,1736400946.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.502983 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:46.516Z,1736400946.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:46.758Z,1736400946.758 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.487633
2025-01-09T05:35:46.859Z,1736400946.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:46.869Z,1736400946.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:47.008Z,1736400947.008 [DAT](INFO): DAT read: Rx Time:05:35:45.7202 

2025-01-09T05:35:47.008Z,1736400947.008 [DAT](INFO): Rx dataTimestamp_ set to:1736400947.007876
2025-01-09T05:35:47.009Z,1736400947.009 [DAT](INFO): DAT read: Range 10 to 50 :     8.3 m (trip time 5.5 ms) speed -0.3

2025-01-09T05:35:47.010Z,1736400947.010 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-01-09T05:35:47.011Z,1736400947.011 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.741066
2025-01-09T05:35:47.260Z,1736400947.260 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.989845
2025-01-09T05:35:47.333Z,1736400947.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:47.372Z,1736400947.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.503717 s,
      deltaX: 0.300000 m,
      approachRate: 0.595573 m/s,
      rangeRepo size: 4

2025-01-09T05:35:47.373Z,1736400947.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:47.512Z,1736400947.512 [DAT](INFO): DAT read: Rx Time:05:35:46.2202 

2025-01-09T05:35:47.512Z,1736400947.512 [DAT](INFO): Rx dataTimestamp_ set to:1736400947.512009
2025-01-09T05:35:47.513Z,1736400947.513 [DAT](INFO): DAT read: Range 10 to 50 :     8.3 m (trip time 5.5 ms) speed -0.3

2025-01-09T05:35:47.514Z,1736400947.514 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-01-09T05:35:47.516Z,1736400947.516 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.246365
2025-01-09T05:35:47.767Z,1736400947.767 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.496292
2025-01-09T05:35:47.800Z,1736400947.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:47.809Z,1736400947.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.504133 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:47.810Z,1736400947.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:48.017Z,1736400948.017 [DAT](INFO): DAT read: Rx Time:05:35:46.7204 

2025-01-09T05:35:48.017Z,1736400948.017 [DAT](INFO): Rx dataTimestamp_ set to:1736400948.016939
2025-01-09T05:35:48.018Z,1736400948.018 [DAT](INFO): DAT read: Range 10 to 50 :     8.6 m (trip time 5.7 ms) speed -0.2

2025-01-09T05:35:48.019Z,1736400948.019 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-01-09T05:35:48.020Z,1736400948.020 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=50.750107
2025-01-09T05:35:48.181Z,1736400948.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:48.207Z,1736400948.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.504930 s,
      deltaX: 0.300000 m,
      approachRate: 0.594142 m/s,
      rangeRepo size: 4

2025-01-09T05:35:48.208Z,1736400948.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:48.272Z,1736400948.272 [DAT](INFO): DAT read: Rx Time:05:35:47.2204 

2025-01-09T05:35:48.274Z,1736400948.274 [DAT](INFO): Rx dataTimestamp_ set to:1736400948.272482
2025-01-09T05:35:48.276Z,1736400948.276 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.005539
2025-01-09T05:35:48.520Z,1736400948.520 [DAT](INFO): DAT read: Range 10 to 50 :     8.6 m (trip time 5.7 ms) speed -0.2

2025-01-09T05:35:48.521Z,1736400948.521 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-01-09T05:35:48.522Z,1736400948.522 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.251942
2025-01-09T05:35:48.591Z,1736400948.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:48.601Z,1736400948.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.502159 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:48.602Z,1736400948.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:48.776Z,1736400948.776 [DAT](INFO): DAT read: Rx Time:05:35:47.7206 

2025-01-09T05:35:48.778Z,1736400948.778 [DAT](INFO): Rx dataTimestamp_ set to:1736400948.776427
2025-01-09T05:35:48.780Z,1736400948.780 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.509621
2025-01-09T05:35:48.977Z,1736400948.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:48.987Z,1736400948.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:49.026Z,1736400949.026 [DAT](INFO): DAT read: Range 10 to 50 :     8.9 m (trip time 5.9 ms) speed -0.2

2025-01-09T05:35:49.030Z,1736400949.030 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-01-09T05:35:49.032Z,1736400949.032 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.761642
2025-01-09T05:35:49.279Z,1736400949.279 [DAT](INFO): DAT read: Rx Time:05:35:48.2207 

2025-01-09T05:35:49.281Z,1736400949.281 [DAT](INFO): Rx dataTimestamp_ set to:1736400949.280250
2025-01-09T05:35:49.282Z,1736400949.282 [DAT](INFO): DAT read: Range 10 to 50 :     9.0 m (trip time 6.0 ms) speed -0.1

2025-01-09T05:35:49.283Z,1736400949.283 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-01-09T05:35:49.284Z,1736400949.284 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.013680
2025-01-09T05:35:49.423Z,1736400949.423 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -65,  +282,   :5,  +282,   -13,       +20.46,      +1      +8.73,  0.00
2025-01-09T05:35:49.430Z,1736400949.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T05:35:49.430Z,1736400949.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:49.440Z,1736400949.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.761152 s,
      deltaX: 0.400000 m,
      approachRate: 0.525519 m/s,
      rangeRepo size: 4

2025-01-09T05:35:49.441Z,1736400949.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:49.528Z,1736400949.528 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.258038
2025-01-09T05:35:49.782Z,1736400949.782 [DAT](INFO): DAT read: Rx Time:05:35:48.7208 

2025-01-09T05:35:49.782Z,1736400949.782 [DAT](INFO): Rx dataTimestamp_ set to:1736400949.781914
2025-01-09T05:35:49.783Z,1736400949.783 [DAT](INFO): DAT read: Range 10 to 50 :     9.3 m (trip time 6.2 ms) speed -0.2

2025-01-09T05:35:49.784Z,1736400949.784 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-01-09T05:35:49.785Z,1736400949.785 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.515114
2025-01-09T05:35:49.858Z,1736400949.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T05:35:49.858Z,1736400949.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:49.884Z,1736400949.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.501664 s,
      deltaX: 0.300000 m,
      approachRate: 0.598010 m/s,
      rangeRepo size: 4

2025-01-09T05:35:49.885Z,1736400949.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:50.033Z,1736400950.033 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.762680
2025-01-09T05:35:50.214Z,1736400950.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:50.223Z,1736400950.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:50.287Z,1736400950.287 [DAT](INFO): DAT read: Rx Time:05:35:49.2208 

2025-01-09T05:35:50.288Z,1736400950.288 [DAT](INFO): Rx dataTimestamp_ set to:1736400950.287232
2025-01-09T05:35:50.289Z,1736400950.289 [DAT](INFO): DAT read: Range 10 to 50 :     9.3 m (trip time 6.2 ms) speed -0.2

2025-01-09T05:35:50.289Z,1736400950.289 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-01-09T05:35:50.290Z,1736400950.290 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.020283
2025-01-09T05:35:50.536Z,1736400950.536 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.265877
2025-01-09T05:35:50.625Z,1736400950.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:50.636Z,1736400950.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.505318 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:50.636Z,1736400950.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:50.788Z,1736400950.788 [DAT](INFO): DAT read: Rx Time:05:35:49.7210 

2025-01-09T05:35:50.788Z,1736400950.788 [DAT](INFO): Rx dataTimestamp_ set to:1736400950.788205
2025-01-09T05:35:50.790Z,1736400950.790 [DAT](INFO): DAT read: Range 10 to 50 :     9.6 m (trip time 6.4 ms) speed -0.2

2025-01-09T05:35:50.790Z,1736400950.790 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-01-09T05:35:50.791Z,1736400950.791 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.521362
2025-01-09T05:35:51.018Z,1736400951.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:51.040Z,1736400951.040 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.769768
2025-01-09T05:35:51.048Z,1736400951.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.500973 s,
      deltaX: 0.300000 m,
      approachRate: 0.598835 m/s,
      rangeRepo size: 4

2025-01-09T05:35:51.049Z,1736400951.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:51.295Z,1736400951.295 [DAT](INFO): DAT read: Rx Time:05:35:50.2209 

2025-01-09T05:35:51.295Z,1736400951.295 [DAT](INFO): Rx dataTimestamp_ set to:1736400951.294849
2025-01-09T05:35:51.296Z,1736400951.296 [DAT](INFO): DAT read: Range 10 to 50 :     9.5 m (trip time 6.3 ms) speed -0.2

2025-01-09T05:35:51.297Z,1736400951.297 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-01-09T05:35:51.298Z,1736400951.298 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.027905
2025-01-09T05:35:51.459Z,1736400951.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:51.497Z,1736400951.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.506644 s,
      deltaX: -0.100000 m,
      approachRate: -0.197378 m/s,
      rangeRepo size: 4

2025-01-09T05:35:51.497Z,1736400951.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:51.544Z,1736400951.544 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.273872
2025-01-09T05:35:51.796Z,1736400951.796 [DAT](INFO): DAT read: Rx Time:05:35:50.7211 

2025-01-09T05:35:51.796Z,1736400951.796 [DAT](INFO): Rx dataTimestamp_ set to:1736400951.795913
2025-01-09T05:35:51.797Z,1736400951.797 [DAT](INFO): DAT read: Range 10 to 50 :     9.8 m (trip time 6.5 ms) speed -0.2

2025-01-09T05:35:51.799Z,1736400951.799 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-01-09T05:35:51.800Z,1736400951.800 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.530136
2025-01-09T05:35:51.899Z,1736400951.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:51.925Z,1736400951.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.501064 s,
      deltaX: 0.300000 m,
      approachRate: 0.598726 m/s,
      rangeRepo size: 4

2025-01-09T05:35:51.926Z,1736400951.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:52.049Z,1736400952.049 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.778484
2025-01-09T05:35:52.303Z,1736400952.303 [DAT](INFO): DAT read: Rx Time:05:35:51.2211 

2025-01-09T05:35:52.304Z,1736400952.304 [DAT](INFO): Rx dataTimestamp_ set to:1736400952.303047
2025-01-09T05:35:52.306Z,1736400952.306 [DAT](INFO): DAT read: Range 10 to 50 :     9.8 m (trip time 6.5 ms) speed -0.3

2025-01-09T05:35:52.308Z,1736400952.308 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-01-09T05:35:52.310Z,1736400952.310 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.039665
2025-01-09T05:35:52.420Z,1736400952.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:52.443Z,1736400952.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.507134 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:52.444Z,1736400952.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:52.552Z,1736400952.552 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.281818
2025-01-09T05:35:52.804Z,1736400952.804 [DAT](INFO): DAT read: Rx Time:05:35:51.7212 

2025-01-09T05:35:52.804Z,1736400952.804 [DAT](INFO): Rx dataTimestamp_ set to:1736400952.804048
2025-01-09T05:35:52.805Z,1736400952.805 [DAT](INFO): DAT read: Range 10 to 50 :     9.9 m (trip time 6.6 ms) speed -0.3

2025-01-09T05:35:52.806Z,1736400952.806 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-01-09T05:35:52.807Z,1736400952.807 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.537212
2025-01-09T05:35:52.866Z,1736400952.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:52.888Z,1736400952.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.501001 s,
      deltaX: 0.099999 m,
      approachRate: 0.199599 m/s,
      rangeRepo size: 4

2025-01-09T05:35:52.888Z,1736400952.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:53.056Z,1736400953.056 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.785748
2025-01-09T05:35:53.301Z,1736400953.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:53.308Z,1736400953.308 [DAT](INFO): DAT read: Rx Time:05:35:52.2211 

2025-01-09T05:35:53.308Z,1736400953.308 [DAT](INFO): Rx dataTimestamp_ set to:1736400953.308063
2025-01-09T05:35:53.309Z,1736400953.309 [DAT](INFO): DAT read: Range 10 to 50 :     9.8 m (trip time 6.5 ms) speed -0.3

2025-01-09T05:35:53.310Z,1736400953.310 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-01-09T05:35:53.311Z,1736400953.311 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.041222
2025-01-09T05:35:53.317Z,1736400953.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.504015 s,
      deltaX: -0.099999 m,
      approachRate: -0.198406 m/s,
      rangeRepo size: 4

2025-01-09T05:35:53.318Z,1736400953.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:53.560Z,1736400953.560 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.289795
2025-01-09T05:35:53.634Z,1736400953.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:53.643Z,1736400953.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:53.812Z,1736400953.812 [DAT](INFO): DAT read: Rx Time:05:35:52.7212 

2025-01-09T05:35:53.812Z,1736400953.812 [DAT](INFO): Rx dataTimestamp_ set to:1736400953.811927
2025-01-09T05:35:53.813Z,1736400953.813 [DAT](INFO): DAT read: Range 10 to 50 :     9.9 m (trip time 6.6 ms) speed -0.1

2025-01-09T05:35:53.814Z,1736400953.814 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-01-09T05:35:53.816Z,1736400953.816 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:35:53.816Z,1736400953.816 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:35:53.816Z,1736400953.816 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:54.037Z,1736400954.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:54.052Z,1736400954.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.503864 s,
      deltaX: 0.099999 m,
      approachRate: 0.198465 m/s,
      rangeRepo size: 4

2025-01-09T05:35:54.052Z,1736400954.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:54.064Z,1736400954.064 [DAT](INFO): Reached modem response timeout
2025-01-09T05:35:54.064Z,1736400954.064 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:54.065Z,1736400954.065 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:54.316Z,1736400954.316 [DAT](INFO): DAT read: Rx Time:05:35:53.2212 

2025-01-09T05:35:54.316Z,1736400954.316 [DAT](INFO): Rx dataTimestamp_ set to:1736400954.315986
2025-01-09T05:35:54.317Z,1736400954.317 [DAT](INFO): DAT read: Range 10 to 50 :     9.9 m (trip time 6.6 ms) speed -0.4

2025-01-09T05:35:54.318Z,1736400954.318 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:35:54.319Z,1736400954.319 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:54.319Z,1736400954.319 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:54.494Z,1736400954.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:54.518Z,1736400954.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.504059 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:54.518Z,1736400954.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:54.567Z,1736400954.567 [DAT](INFO): Reached modem response timeout
2025-01-09T05:35:54.568Z,1736400954.568 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:54.568Z,1736400954.568 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:54.820Z,1736400954.820 [DAT](INFO): DAT read: Rx Time:05:35:53.7214 

2025-01-09T05:35:54.820Z,1736400954.820 [DAT](INFO): Rx dataTimestamp_ set to:1736400954.820008
2025-01-09T05:35:54.821Z,1736400954.821 [DAT](INFO): DAT read: Range 10 to 50 :    10.2 m (trip time 6.8 ms) speed -0.3

2025-01-09T05:35:54.822Z,1736400954.822 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:35:54.823Z,1736400954.823 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:54.823Z,1736400954.823 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:54.917Z,1736400954.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:54.928Z,1736400954.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.504022 s,
      deltaX: 0.300000 m,
      approachRate: 0.595213 m/s,
      rangeRepo size: 4

2025-01-09T05:35:54.928Z,1736400954.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.80 m.
2025-01-09T05:35:55.072Z,1736400955.072 [DAT](INFO): Reached modem response timeout
2025-01-09T05:35:55.072Z,1736400955.072 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:55.073Z,1736400955.073 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:55.326Z,1736400955.326 [DAT](INFO): DAT read: Rx Time:05:35:54.2215 

2025-01-09T05:35:55.327Z,1736400955.327 [DAT](INFO): Rx dataTimestamp_ set to:1736400955.326104
2025-01-09T05:35:55.328Z,1736400955.328 [DAT](INFO): DAT read: Bearing 199.5,  -2.9 (Local)

2025-01-09T05:35:55.328Z,1736400955.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.5,  -2.9 (Local)

2025-01-09T05:35:55.330Z,1736400955.330 [DAT](INFO): DAT read: Range 10 to 50 :    10.4 m (trip time 6.9 ms) speed -0.3

2025-01-09T05:35:55.335Z,1736400955.335 [DAT](INFO): DAT read: 05:35:54.2215 LVL= 32752, 32753, 25170, 32755, AGC= 54, IDX= 512, 0.24,-1.985, 0.221,-1.057,-0.836, PHS=-1.061, 1.105,-0.224, RAW= 307.5,   1.9, CAL= 310.5,   2.9, ROT= 199.5,  -2.9

2025-01-09T05:35:55.336Z,1736400955.336 [DAT](INFO): got valid direction response:
 05:35:54.2215 LVL= 32752, 32753, 25170, 32755, AGC= 54, IDX= 512, 0.24,-1.985, 0.221,-1.057,-0.836, PHS=-1.061, 1.105,-0.224, RAW= 307.5,   1.9, CAL= 310.5,   2.9, ROT= 199.5,  -2.9

2025-01-09T05:35:55.336Z,1736400955.336 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:35:55.337Z,1736400955.337 [DAT](INFO): direction in FSK: [-0.941434,-0.333379,0.050593]
2025-01-09T05:35:55.338Z,1736400955.338 [DAT](INFO): publishing direction and range info
2025-01-09T05:35:55.342Z,1736400955.342 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:55.342Z,1736400955.342 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:55.450Z,1736400955.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:55.510Z,1736400955.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.506096 s,
      deltaX: 0.200000 m,
      approachRate: 0.395182 m/s,
      rangeRepo size: 4

2025-01-09T05:35:55.517Z,1736400955.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.400000 m,
      bearing: 62.226321 deg,
      lat: 36.904002 deg,
      lon: -122.118936 deg,
      deltaT: 9.829806 s,
      deltaX: 2.599999 m,
      approachRate: 0.264502 m/s,
      posRepo size: 4

2025-01-09T05:35:55.518Z,1736400955.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:35:55.576Z,1736400955.576 [DAT](INFO): Reached modem response timeout
2025-01-09T05:35:55.576Z,1736400955.576 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:55.577Z,1736400955.577 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:55.797Z,1736400955.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:55.807Z,1736400955.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:35:55.828Z,1736400955.828 [DAT](INFO): DAT read: Rx Time:05:35:54.7218 

2025-01-09T05:35:55.828Z,1736400955.828 [DAT](INFO): Rx dataTimestamp_ set to:1736400955.828087
2025-01-09T05:35:55.831Z,1736400955.831 [DAT](INFO): DAT read: Range 10 to 50 :    10.8 m (trip time 7.2 ms) speed -0.4

2025-01-09T05:35:55.834Z,1736400955.834 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:35:55.836Z,1736400955.836 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:55.836Z,1736400955.836 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:56.079Z,1736400956.079 [DAT](INFO): Reached modem response timeout
2025-01-09T05:35:56.080Z,1736400956.080 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:56.080Z,1736400956.080 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:56.241Z,1736400956.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:56.264Z,1736400956.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.501983 s,
      deltaX: 0.400001 m,
      approachRate: 0.796841 m/s,
      rangeRepo size: 4

2025-01-09T05:35:56.266Z,1736400956.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:35:56.333Z,1736400956.333 [DAT](INFO): DAT read: Rx Time:05:35:55.2218 

2025-01-09T05:35:56.334Z,1736400956.334 [DAT](INFO): Rx dataTimestamp_ set to:1736400956.333127
2025-01-09T05:35:56.335Z,1736400956.335 [DAT](INFO): DAT read: Range 10 to 50 :    10.8 m (trip time 7.2 ms) speed -0.4

2025-01-09T05:35:56.336Z,1736400956.336 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:35:56.337Z,1736400956.337 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:56.338Z,1736400956.338 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:56.583Z,1736400956.583 [DAT](INFO): Reached modem response timeout
2025-01-09T05:35:56.584Z,1736400956.584 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:56.584Z,1736400956.584 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:56.651Z,1736400956.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:56.660Z,1736400956.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.505040 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:56.660Z,1736400956.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:35:56.836Z,1736400956.836 [DAT](INFO): DAT read: Rx Time:05:35:55.7220 

2025-01-09T05:35:56.836Z,1736400956.836 [DAT](INFO): Rx dataTimestamp_ set to:1736400956.836148
2025-01-09T05:35:56.838Z,1736400956.838 [DAT](INFO): DAT read: Range 10 to 50 :    11.1 m (trip time 7.4 ms) speed -0.4

2025-01-09T05:35:56.838Z,1736400956.838 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:35:56.839Z,1736400956.839 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:56.839Z,1736400956.839 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:57.008Z,1736400957.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:57.023Z,1736400957.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.503021 s,
      deltaX: 0.300000 m,
      approachRate: 0.596397 m/s,
      rangeRepo size: 4

2025-01-09T05:35:57.024Z,1736400957.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:35:57.088Z,1736400957.088 [DAT](INFO): Reached modem response timeout
2025-01-09T05:35:57.088Z,1736400957.088 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:57.088Z,1736400957.088 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:57.340Z,1736400957.340 [DAT](INFO): DAT read: Rx Time:05:35:56.2220 

2025-01-09T05:35:57.341Z,1736400957.341 [DAT](INFO): Rx dataTimestamp_ set to:1736400957.340405
2025-01-09T05:35:57.343Z,1736400957.343 [DAT](INFO): DAT read: Range 10 to 50 :    11.1 m (trip time 7.4 ms) speed -0.4

2025-01-09T05:35:57.344Z,1736400957.344 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:35:57.345Z,1736400957.345 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:57.345Z,1736400957.345 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:57.460Z,1736400957.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:57.485Z,1736400957.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.504257 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:57.486Z,1736400957.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:35:57.591Z,1736400957.591 [DAT](INFO): Reached modem response timeout
2025-01-09T05:35:57.591Z,1736400957.591 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:57.592Z,1736400957.592 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:57.844Z,1736400957.844 [DAT](INFO): DAT read: Rx Time:05:35:56.7222 

2025-01-09T05:35:57.844Z,1736400957.844 [DAT](INFO): Rx dataTimestamp_ set to:1736400957.843984
2025-01-09T05:35:57.845Z,1736400957.845 [DAT](INFO): DAT read: Range 10 to 50 :    11.4 m (trip time 7.6 ms) speed -0.6

2025-01-09T05:35:57.846Z,1736400957.846 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:35:57.847Z,1736400957.847 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:57.847Z,1736400957.847 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:57.929Z,1736400957.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:57.940Z,1736400957.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.503579 s,
      deltaX: 0.299999 m,
      approachRate: 0.595734 m/s,
      rangeRepo size: 4

2025-01-09T05:35:57.941Z,1736400957.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:35:58.096Z,1736400958.096 [DAT](INFO): Reached modem response timeout
2025-01-09T05:35:58.096Z,1736400958.096 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:58.097Z,1736400958.097 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:58.349Z,1736400958.349 [DAT](INFO): DAT read: Rx Time:05:35:57.2223 

2025-01-09T05:35:58.350Z,1736400958.350 [DAT](INFO): Rx dataTimestamp_ set to:1736400958.348993
2025-01-09T05:35:58.351Z,1736400958.351 [DAT](INFO): DAT read: Range 10 to 50 :    11.6 m (trip time 7.7 ms) speed -0.4

2025-01-09T05:35:58.352Z,1736400958.352 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:35:58.352Z,1736400958.352 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:58.353Z,1736400958.353 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:58.365Z,1736400958.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:58.374Z,1736400958.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.505009 s,
      deltaX: 0.200001 m,
      approachRate: 0.396034 m/s,
      rangeRepo size: 4

2025-01-09T05:35:58.374Z,1736400958.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:35:58.600Z,1736400958.600 [DAT](INFO): Reached modem response timeout
2025-01-09T05:35:58.600Z,1736400958.600 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:58.601Z,1736400958.601 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:58.727Z,1736400958.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:58.737Z,1736400958.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:35:58.852Z,1736400958.852 [DAT](INFO): DAT read: Rx Time:05:35:57.7225 

2025-01-09T05:35:58.853Z,1736400958.853 [DAT](INFO): Rx dataTimestamp_ set to:1736400958.852639
2025-01-09T05:35:58.855Z,1736400958.855 [DAT](INFO): DAT read: Range 10 to 50 :    11.9 m (trip time 7.9 ms) speed -0.2

2025-01-09T05:35:58.856Z,1736400958.856 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:35:58.858Z,1736400958.858 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:58.859Z,1736400958.859 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:59.103Z,1736400959.103 [DAT](INFO): Reached modem response timeout
2025-01-09T05:35:59.103Z,1736400959.103 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:59.104Z,1736400959.104 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:59.153Z,1736400959.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:59.162Z,1736400959.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.503646 s,
      deltaX: 0.299999 m,
      approachRate: 0.595655 m/s,
      rangeRepo size: 4

2025-01-09T05:35:59.163Z,1736400959.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:35:59.357Z,1736400959.357 [DAT](INFO): DAT read: Rx Time:05:35:58.2225 

2025-01-09T05:35:59.357Z,1736400959.357 [DAT](INFO): Rx dataTimestamp_ set to:1736400959.357023
2025-01-09T05:35:59.359Z,1736400959.359 [DAT](INFO): DAT read: Range 10 to 50 :    11.9 m (trip time 7.9 ms) speed -0.3

2025-01-09T05:35:59.360Z,1736400959.360 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:35:59.360Z,1736400959.360 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:59.361Z,1736400959.361 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:59.574Z,1736400959.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:59.585Z,1736400959.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.504384 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:35:59.585Z,1736400959.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:35:59.607Z,1736400959.607 [DAT](INFO): Reached modem response timeout
2025-01-09T05:35:59.608Z,1736400959.608 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:35:59.608Z,1736400959.608 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:35:59.655Z,1736400959.655 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:35:59.859Z,1736400959.859 [DAT](INFO): DAT read: user:124>

2025-01-09T05:35:59.860Z,1736400959.860 [DAT](INFO): DAT read: user:124>

2025-01-09T05:35:59.861Z,1736400959.861 [DAT](INFO): DAT read: Tx time:05:35:59.1233

2025-01-09T05:35:59.861Z,1736400959.861 [DAT](INFO): Ping request sent.
2025-01-09T05:35:59.861Z,1736400959.861 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:35:59.861Z,1736400959.861 [DAT](INFO): publishing transmit ping time
2025-01-09T05:35:59.862Z,1736400959.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000716
2025-01-09T05:35:59.943Z,1736400959.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:35:59.953Z,1736400959.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:00.113Z,1736400960.113 [DAT](INFO): DAT read: TxSync time:05:35:59.1225

2025-01-09T05:36:00.114Z,1736400960.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253003
2025-01-09T05:36:00.364Z,1736400960.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502796
2025-01-09T05:36:00.373Z,1736400960.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:00.382Z,1736400960.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:00.616Z,1736400960.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754922
2025-01-09T05:36:00.655Z,1736400960.655 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:36:00.783Z,1736400960.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:00.794Z,1736400960.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:00.868Z,1736400960.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006638
2025-01-09T05:36:01.121Z,1736400961.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259701
2025-01-09T05:36:01.188Z,1736400961.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:01.197Z,1736400961.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:01.372Z,1736400961.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510488
2025-01-09T05:36:01.620Z,1736400961.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:01.624Z,1736400961.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762581
2025-01-09T05:36:01.630Z,1736400961.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:01.876Z,1736400961.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014638
2025-01-09T05:36:02.004Z,1736400962.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:02.025Z,1736400962.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:02.128Z,1736400962.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266483
2025-01-09T05:36:02.380Z,1736400962.380 [DAT](INFO): DAT read: Rx Time:05:36:01.2683 

2025-01-09T05:36:02.380Z,1736400962.380 [DAT](INFO): Rx dataTimestamp_ set to:1736400962.380191
2025-01-09T05:36:02.387Z,1736400962.387 [DAT](INFO): DAT read: Range 10 to 50 :    12.0 m (trip time 8.0 ms) speed 0.0

2025-01-09T05:36:02.387Z,1736400962.387 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:36:02.388Z,1736400962.388 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.527092
2025-01-09T05:36:02.463Z,1736400962.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:02.472Z,1736400962.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 3.023168 s,
      deltaX: 0.100000 m,
      approachRate: 0.033078 m/s,
      rangeRepo size: 4

2025-01-09T05:36:02.472Z,1736400962.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:02.632Z,1736400962.632 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771137
2025-01-09T05:36:02.872Z,1736400962.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:02.880Z,1736400962.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:02.884Z,1736400962.884 [DAT](INFO): DAT read: Rx Time:05:36:01.7683 

2025-01-09T05:36:02.884Z,1736400962.884 [DAT](INFO): Rx dataTimestamp_ set to:1736400962.884082
2025-01-09T05:36:02.885Z,1736400962.885 [DAT](INFO): DAT read: Range 10 to 50 :    12.0 m (trip time 8.0 ms) speed 0.0

2025-01-09T05:36:02.886Z,1736400962.886 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-01-09T05:36:02.887Z,1736400962.887 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.025958
2025-01-09T05:36:03.136Z,1736400963.136 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274865
2025-01-09T05:36:03.269Z,1736400963.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:03.342Z,1736400963.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.503891 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:03.348Z,1736400963.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:03.389Z,1736400963.389 [DAT](INFO): DAT read: Rx Time:05:36:02.2683 

2025-01-09T05:36:03.390Z,1736400963.390 [DAT](INFO): Rx dataTimestamp_ set to:1736400963.389589
2025-01-09T05:36:03.392Z,1736400963.392 [DAT](INFO): DAT read: Range 10 to 50 :    12.0 m (trip time 8.0 ms) speed -0.1

2025-01-09T05:36:03.393Z,1736400963.393 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-01-09T05:36:03.395Z,1736400963.395 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.533006
2025-01-09T05:36:03.640Z,1736400963.640 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778445
2025-01-09T05:36:03.710Z,1736400963.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:03.720Z,1736400963.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.505507 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:03.720Z,1736400963.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:03.892Z,1736400963.892 [DAT](INFO): DAT read: Rx Time:05:36:02.7684 

2025-01-09T05:36:03.892Z,1736400963.892 [DAT](INFO): Rx dataTimestamp_ set to:1736400963.892121
2025-01-09T05:36:03.894Z,1736400963.894 [DAT](INFO): DAT read: Range 10 to 50 :    12.2 m (trip time 8.1 ms) speed -0.1

2025-01-09T05:36:03.894Z,1736400963.894 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-01-09T05:36:03.895Z,1736400963.895 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.034047
2025-01-09T05:36:04.072Z,1736400964.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:04.082Z,1736400964.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.502532 s,
      deltaX: 0.200000 m,
      approachRate: 0.397984 m/s,
      rangeRepo size: 4

2025-01-09T05:36:04.103Z,1736400964.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:04.144Z,1736400964.144 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.282993
2025-01-09T05:36:04.396Z,1736400964.396 [DAT](INFO): DAT read: Rx Time:05:36:03.2684 

2025-01-09T05:36:04.396Z,1736400964.396 [DAT](INFO): Rx dataTimestamp_ set to:1736400964.395952
2025-01-09T05:36:04.398Z,1736400964.398 [DAT](INFO): DAT read: Range 10 to 50 :    12.2 m (trip time 8.1 ms) speed -0.1

2025-01-09T05:36:04.399Z,1736400964.399 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-01-09T05:36:04.400Z,1736400964.400 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.538612
2025-01-09T05:36:04.509Z,1736400964.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:04.549Z,1736400964.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.503831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:04.550Z,1736400964.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:04.648Z,1736400964.648 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786884
2025-01-09T05:36:04.900Z,1736400964.900 [DAT](INFO): DAT read: Rx Time:05:36:03.7684 

2025-01-09T05:36:04.901Z,1736400964.901 [DAT](INFO): Rx dataTimestamp_ set to:1736400964.900561
2025-01-09T05:36:04.902Z,1736400964.902 [DAT](INFO): DAT read: Range 10 to 50 :    12.2 m (trip time 8.1 ms) speed 0.0

2025-01-09T05:36:04.903Z,1736400964.903 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-01-09T05:36:04.904Z,1736400964.904 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.042669
2025-01-09T05:36:04.966Z,1736400964.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:04.988Z,1736400964.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.504609 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:04.989Z,1736400964.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:05.152Z,1736400965.152 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.290554
2025-01-09T05:36:05.404Z,1736400965.404 [DAT](INFO): DAT read: Rx Time:05:36:04.2683 

2025-01-09T05:36:05.405Z,1736400965.405 [DAT](INFO): Rx dataTimestamp_ set to:1736400965.404444
2025-01-09T05:36:05.406Z,1736400965.406 [DAT](INFO): DAT read: Range 10 to 50 :    12.0 m (trip time 8.0 ms) speed 0.0

2025-01-09T05:36:05.407Z,1736400965.407 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-01-09T05:36:05.407Z,1736400965.407 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.546316
2025-01-09T05:36:05.458Z,1736400965.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:05.492Z,1736400965.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.503883 s,
      deltaX: -0.200000 m,
      approachRate: -0.396917 m/s,
      rangeRepo size: 4

2025-01-09T05:36:05.492Z,1736400965.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:05.657Z,1736400965.657 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795914
2025-01-09T05:36:05.752Z,1736400965.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:05.780Z,1736400965.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:05.908Z,1736400965.908 [DAT](INFO): DAT read: Rx Time:05:36:04.7684 

2025-01-09T05:36:05.908Z,1736400965.908 [DAT](INFO): Rx dataTimestamp_ set to:1736400965.908199
2025-01-09T05:36:05.910Z,1736400965.910 [DAT](INFO): DAT read: Range 10 to 50 :    12.2 m (trip time 8.1 ms) speed 0.0

2025-01-09T05:36:05.910Z,1736400965.910 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-01-09T05:36:05.911Z,1736400965.911 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.050136
2025-01-09T05:36:06.160Z,1736400966.160 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.298911
2025-01-09T05:36:06.161Z,1736400966.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:06.172Z,1736400966.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.503755 s,
      deltaX: 0.200000 m,
      approachRate: 0.397018 m/s,
      rangeRepo size: 4

2025-01-09T05:36:06.172Z,1736400966.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:06.412Z,1736400966.412 [DAT](INFO): DAT read: Rx Time:05:36:05.2683 

2025-01-09T05:36:06.412Z,1736400966.412 [DAT](INFO): Rx dataTimestamp_ set to:1736400966.411941
2025-01-09T05:36:06.413Z,1736400966.413 [DAT](INFO): DAT read: Range 10 to 50 :    12.0 m (trip time 8.0 ms) speed 0.0

2025-01-09T05:36:06.414Z,1736400966.414 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-01-09T05:36:06.416Z,1736400966.416 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.554550
2025-01-09T05:36:06.591Z,1736400966.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:06.601Z,1736400966.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.503742 s,
      deltaX: -0.200000 m,
      approachRate: -0.397028 m/s,
      rangeRepo size: 4

2025-01-09T05:36:06.602Z,1736400966.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:06.665Z,1736400966.665 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.803554
2025-01-09T05:36:06.916Z,1736400966.916 [DAT](INFO): DAT read: Rx Time:05:36:05.7685 

2025-01-09T05:36:06.917Z,1736400966.917 [DAT](INFO): Rx dataTimestamp_ set to:1736400966.916605
2025-01-09T05:36:06.918Z,1736400966.918 [DAT](INFO): DAT read: Range 10 to 50 :    12.3 m (trip time 8.2 ms) speed 0.0

2025-01-09T05:36:06.919Z,1736400966.919 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-01-09T05:36:06.920Z,1736400966.920 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.058505
2025-01-09T05:36:06.993Z,1736400966.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:07.004Z,1736400967.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504664 s,
      deltaX: 0.300000 m,
      approachRate: 0.594455 m/s,
      rangeRepo size: 4

2025-01-09T05:36:07.004Z,1736400967.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:07.168Z,1736400967.168 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.306892
2025-01-09T05:36:07.422Z,1736400967.422 [DAT](INFO): DAT read: Rx Time:05:36:06.2684 

2025-01-09T05:36:07.422Z,1736400967.422 [DAT](INFO): Rx dataTimestamp_ set to:1736400967.421753
2025-01-09T05:36:07.423Z,1736400967.423 [DAT](INFO): DAT read: Range 10 to 50 :    12.2 m (trip time 8.1 ms) speed 0.0

2025-01-09T05:36:07.424Z,1736400967.424 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-01-09T05:36:07.425Z,1736400967.425 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.563676
2025-01-09T05:36:07.435Z,1736400967.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:07.444Z,1736400967.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.505148 s,
      deltaX: -0.100000 m,
      approachRate: -0.197963 m/s,
      rangeRepo size: 4

2025-01-09T05:36:07.445Z,1736400967.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:07.675Z,1736400967.675 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.812955
2025-01-09T05:36:07.801Z,1736400967.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:07.870Z,1736400967.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:36:07.924Z,1736400967.924 [DAT](INFO): DAT read: Rx Time:05:36:06.7686 

2025-01-09T05:36:07.925Z,1736400967.925 [DAT](INFO): Rx dataTimestamp_ set to:1736400967.924544
2025-01-09T05:36:07.926Z,1736400967.926 [DAT](INFO): DAT read: Bearing 217.5,  -6.1 (Local)

2025-01-09T05:36:07.927Z,1736400967.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.5,  -6.1 (Local)

2025-01-09T05:36:07.929Z,1736400967.929 [DAT](INFO): DAT read: Range 10 to 50 :    12.5 m (trip time 8.3 ms) speed -0.2

2025-01-09T05:36:07.934Z,1736400967.934 [DAT](INFO): DAT read: 05:36:06.7686 LVL= 27888, 25201, 18402, 32755, AGC= 56, IDX= 513,-0.33,-2.394,-0.024,-0.759,-0.870, PHS=-1.436, 0.893, 0.108, RAW= 289.4,   4.3, CAL= 292.5,   6.1, ROT= 217.5,  -6.1

2025-01-09T05:36:07.935Z,1736400967.935 [DAT](INFO): got valid direction response:
 05:36:06.7686 LVL= 27888, 25201, 18402, 32755, AGC= 56, IDX= 513,-0.33,-2.394,-0.024,-0.759,-0.870, PHS=-1.436, 0.893, 0.108, RAW= 289.4,   4.3, CAL= 292.5,   6.1, ROT= 217.5,  -6.1

2025-01-09T05:36:07.936Z,1736400967.936 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-01-09T05:36:07.937Z,1736400967.937 [DAT](INFO): direction in FSK: [-0.788861,-0.605315,0.106264]
2025-01-09T05:36:07.937Z,1736400967.937 [DAT](INFO): publishing direction and range info
2025-01-09T05:36:07.943Z,1736400967.943 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.081542
2025-01-09T05:36:08.176Z,1736400968.176 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314411
2025-01-09T05:36:08.209Z,1736400968.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:08.244Z,1736400968.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.502791 s,
      deltaX: 0.300000 m,
      approachRate: 0.596670 m/s,
      rangeRepo size: 4

2025-01-09T05:36:08.245Z,1736400968.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.500000 m,
      bearing: 81.150753 deg,
      lat: 36.904002 deg,
      lon: -122.118936 deg,
      deltaT: 12.598440 s,
      deltaX: 2.100000 m,
      approachRate: 0.166687 m/s,
      posRepo size: 4

2025-01-09T05:36:08.246Z,1736400968.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:08.428Z,1736400968.428 [DAT](INFO): DAT read: Rx Time:05:36:07.2685 

2025-01-09T05:36:08.429Z,1736400968.429 [DAT](INFO): Rx dataTimestamp_ set to:1736400968.428306
2025-01-09T05:36:08.430Z,1736400968.430 [DAT](INFO): DAT read: Range 10 to 50 :    12.3 m (trip time 8.2 ms) speed 0.0

2025-01-09T05:36:08.430Z,1736400968.430 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-01-09T05:36:08.432Z,1736400968.432 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.570796
2025-01-09T05:36:08.623Z,1736400968.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:08.632Z,1736400968.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.503762 s,
      deltaX: -0.200000 m,
      approachRate: -0.397013 m/s,
      rangeRepo size: 4

2025-01-09T05:36:08.632Z,1736400968.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:08.682Z,1736400968.682 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.820656
2025-01-09T05:36:08.936Z,1736400968.936 [DAT](INFO): DAT read: Rx Time:05:36:07.7686 

2025-01-09T05:36:08.936Z,1736400968.936 [DAT](INFO): Rx dataTimestamp_ set to:1736400968.935969
2025-01-09T05:36:08.937Z,1736400968.937 [DAT](INFO): DAT read: Range 10 to 50 :    12.5 m (trip time 8.3 ms) speed -0.2

2025-01-09T05:36:08.938Z,1736400968.938 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-01-09T05:36:08.939Z,1736400968.939 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.078298
2025-01-09T05:36:09.030Z,1736400969.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:09.060Z,1736400969.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.507663 s,
      deltaX: 0.200000 m,
      approachRate: 0.393962 m/s,
      rangeRepo size: 4

2025-01-09T05:36:09.060Z,1736400969.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:09.189Z,1736400969.189 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.327427
2025-01-09T05:36:09.443Z,1736400969.443 [DAT](INFO): DAT read: Rx Time:05:36:08.2687 

2025-01-09T05:36:09.445Z,1736400969.445 [DAT](INFO): Rx dataTimestamp_ set to:1736400969.443941
2025-01-09T05:36:09.449Z,1736400969.449 [DAT](INFO): DAT read: Range 10 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-01-09T05:36:09.452Z,1736400969.452 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-01-09T05:36:09.452Z,1736400969.452 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.591365
2025-01-09T05:36:09.466Z,1736400969.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:09.500Z,1736400969.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.507972 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:09.500Z,1736400969.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:09.692Z,1736400969.692 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.830433
2025-01-09T05:36:09.833Z,1736400969.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:09.858Z,1736400969.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:09.952Z,1736400969.952 [DAT](INFO): DAT read: Rx Time:05:36:08.7688 

2025-01-09T05:36:09.952Z,1736400969.952 [DAT](INFO): Rx dataTimestamp_ set to:1736400969.952071
2025-01-09T05:36:09.954Z,1736400969.954 [DAT](INFO): DAT read: Range 10 to 50 :    12.6 m (trip time 8.4 ms) speed -0.1

2025-01-09T05:36:09.955Z,1736400969.955 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-01-09T05:36:09.956Z,1736400969.956 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.095238
2025-01-09T05:36:10.204Z,1736400970.204 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.342671
2025-01-09T05:36:10.222Z,1736400970.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:10.234Z,1736400970.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.508130 s,
      deltaX: 0.100000 m,
      approachRate: 0.196801 m/s,
      rangeRepo size: 4

2025-01-09T05:36:10.234Z,1736400970.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:10.456Z,1736400970.456 [DAT](INFO): DAT read: Rx Time:05:36:09.2688 

2025-01-09T05:36:10.456Z,1736400970.456 [DAT](INFO): Rx dataTimestamp_ set to:1736400970.455993
2025-01-09T05:36:10.457Z,1736400970.457 [DAT](INFO): DAT read: Range 10 to 50 :    12.6 m (trip time 8.4 ms) speed -0.3

2025-01-09T05:36:10.458Z,1736400970.458 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-01-09T05:36:10.459Z,1736400970.459 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.597945
2025-01-09T05:36:10.653Z,1736400970.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:10.663Z,1736400970.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.503922 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:10.663Z,1736400970.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:10.711Z,1736400970.711 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.849766
2025-01-09T05:36:10.960Z,1736400970.960 [DAT](INFO): DAT read: Rx Time:05:36:09.7690 

2025-01-09T05:36:10.960Z,1736400970.960 [DAT](INFO): Rx dataTimestamp_ set to:1736400970.959983
2025-01-09T05:36:10.961Z,1736400970.961 [DAT](INFO): DAT read: Range 10 to 50 :    12.9 m (trip time 8.6 ms) speed -0.3

2025-01-09T05:36:10.962Z,1736400970.962 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-01-09T05:36:10.963Z,1736400970.963 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.101943
2025-01-09T05:36:11.026Z,1736400971.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:11.045Z,1736400971.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503990 s,
      deltaX: 0.299999 m,
      approachRate: 0.595248 m/s,
      rangeRepo size: 4

2025-01-09T05:36:11.045Z,1736400971.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:11.212Z,1736400971.212 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.350579
2025-01-09T05:36:11.469Z,1736400971.469 [DAT](INFO): DAT read: Rx Time:05:36:10.2690 

2025-01-09T05:36:11.470Z,1736400971.470 [DAT](INFO): Rx dataTimestamp_ set to:1736400971.469210
2025-01-09T05:36:11.482Z,1736400971.482 [DAT](INFO): DAT read: Range 10 to 50 :    12.9 m (trip time 8.6 ms) speed -0.3

2025-01-09T05:36:11.483Z,1736400971.483 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-01-09T05:36:11.484Z,1736400971.484 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.622962
2025-01-09T05:36:11.485Z,1736400971.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:11.502Z,1736400971.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.509227 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:11.502Z,1736400971.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:11.718Z,1736400971.718 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.856666
2025-01-09T05:36:11.899Z,1736400971.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:11.907Z,1736400971.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:11.969Z,1736400971.969 [DAT](INFO): DAT read: Rx Time:05:36:10.7692 

2025-01-09T05:36:11.969Z,1736400971.969 [DAT](INFO): Rx dataTimestamp_ set to:1736400971.968986
2025-01-09T05:36:11.973Z,1736400971.973 [DAT](INFO): DAT read: Range 10 to 50 :    13.2 m (trip time 8.8 ms) speed -0.3

2025-01-09T05:36:11.974Z,1736400971.974 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-01-09T05:36:11.975Z,1736400971.975 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.113979
2025-01-09T05:36:12.220Z,1736400972.220 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.358742
2025-01-09T05:36:12.304Z,1736400972.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:12.327Z,1736400972.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.499776 s,
      deltaX: 0.300000 m,
      approachRate: 0.600269 m/s,
      rangeRepo size: 4

2025-01-09T05:36:12.327Z,1736400972.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:12.475Z,1736400972.475 [DAT](INFO): DAT read: Rx Time:05:36:11.2692 

2025-01-09T05:36:12.477Z,1736400972.477 [DAT](INFO): Rx dataTimestamp_ set to:1736400972.476145
2025-01-09T05:36:12.484Z,1736400972.484 [DAT](INFO): DAT read: Range 10 to 50 :    13.2 m (trip time 8.8 ms) speed -0.3

2025-01-09T05:36:12.484Z,1736400972.484 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-01-09T05:36:12.485Z,1736400972.485 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.624196
2025-01-09T05:36:12.724Z,1736400972.724 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.862592
2025-01-09T05:36:12.738Z,1736400972.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:12.783Z,1736400972.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.507159 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:12.784Z,1736400972.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:12.976Z,1736400972.976 [DAT](INFO): DAT read: Rx Time:05:36:11.7693 

2025-01-09T05:36:12.976Z,1736400972.976 [DAT](INFO): Rx dataTimestamp_ set to:1736400972.976060
2025-01-09T05:36:12.977Z,1736400972.977 [DAT](INFO): DAT read: Range 10 to 50 :    13.4 m (trip time 8.9 ms) speed -0.2

2025-01-09T05:36:12.978Z,1736400972.978 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-01-09T05:36:12.979Z,1736400972.979 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.118022
2025-01-09T05:36:13.091Z,1736400973.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:13.102Z,1736400973.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.499915 s,
      deltaX: 0.200000 m,
      approachRate: 0.400068 m/s,
      rangeRepo size: 4

2025-01-09T05:36:13.102Z,1736400973.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:13.229Z,1736400973.229 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.367422
2025-01-09T05:36:13.488Z,1736400973.488 [DAT](INFO): DAT read: Rx Time:05:36:12.2693 

2025-01-09T05:36:13.490Z,1736400973.490 [DAT](INFO): Rx dataTimestamp_ set to:1736400973.488898
2025-01-09T05:36:13.494Z,1736400973.494 [DAT](INFO): DAT read: Range 10 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-01-09T05:36:13.505Z,1736400973.505 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-01-09T05:36:13.509Z,1736400973.509 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.647306
2025-01-09T05:36:13.631Z,1736400973.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:13.640Z,1736400973.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.512838 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:13.641Z,1736400973.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:13.732Z,1736400973.732 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.871350
2025-01-09T05:36:13.907Z,1736400973.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:13.918Z,1736400973.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:13.984Z,1736400973.984 [DAT](INFO): DAT read: Rx Time:05:36:12.7695 

2025-01-09T05:36:13.985Z,1736400973.985 [DAT](INFO): Rx dataTimestamp_ set to:1736400973.984328
2025-01-09T05:36:13.986Z,1736400973.986 [DAT](INFO): DAT read: Range 10 to 50 :    13.7 m (trip time 9.1 ms) speed -0.1

2025-01-09T05:36:13.993Z,1736400973.993 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-01-09T05:36:13.994Z,1736400973.994 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.132539
2025-01-09T05:36:14.236Z,1736400974.236 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.374460
2025-01-09T05:36:14.304Z,1736400974.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:14.334Z,1736400974.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.495430 s,
      deltaX: 0.300000 m,
      approachRate: 0.605535 m/s,
      rangeRepo size: 4

2025-01-09T05:36:14.339Z,1736400974.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:14.500Z,1736400974.500 [DAT](INFO): DAT read: Rx Time:05:36:13.2695 

2025-01-09T05:36:14.501Z,1736400974.501 [DAT](INFO): Rx dataTimestamp_ set to:1736400974.500107
2025-01-09T05:36:14.509Z,1736400974.509 [DAT](INFO): DAT read: Range 10 to 50 :    13.7 m (trip time 9.1 ms) speed -0.2

2025-01-09T05:36:14.533Z,1736400974.533 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-01-09T05:36:14.534Z,1736400974.534 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.672615
2025-01-09T05:36:14.740Z,1736400974.740 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.879324
2025-01-09T05:36:14.751Z,1736400974.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:14.786Z,1736400974.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.515779 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:14.787Z,1736400974.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:14.992Z,1736400974.992 [DAT](INFO): DAT read: Rx Time:05:36:13.7696 

2025-01-09T05:36:14.992Z,1736400974.992 [DAT](INFO): Rx dataTimestamp_ set to:1736400974.991933
2025-01-09T05:36:14.993Z,1736400974.993 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed -0.1

2025-01-09T05:36:14.994Z,1736400974.994 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-01-09T05:36:14.997Z,1736400974.997 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.135571
2025-01-09T05:36:15.111Z,1736400975.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:15.122Z,1736400975.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.491826 s,
      deltaX: 0.100000 m,
      approachRate: 0.203325 m/s,
      rangeRepo size: 4

2025-01-09T05:36:15.122Z,1736400975.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:15.251Z,1736400975.251 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.389393
2025-01-09T05:36:15.511Z,1736400975.511 [DAT](INFO): DAT read: Rx Time:05:36:14.2695 

2025-01-09T05:36:15.513Z,1736400975.513 [DAT](INFO): Rx dataTimestamp_ set to:1736400975.511568
2025-01-09T05:36:15.517Z,1736400975.517 [DAT](INFO): DAT read: Range 10 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-01-09T05:36:15.533Z,1736400975.533 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-01-09T05:36:15.537Z,1736400975.537 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.674993
2025-01-09T05:36:15.627Z,1736400975.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:15.649Z,1736400975.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.519635 s,
      deltaX: -0.100000 m,
      approachRate: -0.192444 m/s,
      rangeRepo size: 4

2025-01-09T05:36:15.649Z,1736400975.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:15.761Z,1736400975.761 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.899545
2025-01-09T05:36:15.936Z,1736400975.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:15.945Z,1736400975.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:16.012Z,1736400976.012 [DAT](INFO): DAT read: Rx Time:05:36:14.7696 

2025-01-09T05:36:16.012Z,1736400976.012 [DAT](INFO): Rx dataTimestamp_ set to:1736400976.012076
2025-01-09T05:36:16.013Z,1736400976.013 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-01-09T05:36:16.014Z,1736400976.014 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-01-09T05:36:16.016Z,1736400976.016 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.154896
2025-01-09T05:36:16.264Z,1736400976.264 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.402567
2025-01-09T05:36:16.336Z,1736400976.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:16.368Z,1736400976.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.500508 s,
      deltaX: 0.100000 m,
      approachRate: 0.199798 m/s,
      rangeRepo size: 4

2025-01-09T05:36:16.368Z,1736400976.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:16.519Z,1736400976.519 [DAT](INFO): DAT read: Rx Time:05:36:15.2696 

2025-01-09T05:36:16.520Z,1736400976.520 [DAT](INFO): Rx dataTimestamp_ set to:1736400976.519696
2025-01-09T05:36:16.524Z,1736400976.524 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-01-09T05:36:16.527Z,1736400976.527 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-01-09T05:36:16.530Z,1736400976.530 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.668398
2025-01-09T05:36:16.770Z,1736400976.770 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.908342
2025-01-09T05:36:16.777Z,1736400976.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:16.789Z,1736400976.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.507620 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:16.790Z,1736400976.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:17.023Z,1736400977.023 [DAT](INFO): DAT read: Rx Time:05:36:15.7697 

2025-01-09T05:36:17.023Z,1736400977.023 [DAT](INFO): Rx dataTimestamp_ set to:1736400977.022778
2025-01-09T05:36:17.024Z,1736400977.024 [DAT](INFO): DAT read: Range 10 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-01-09T05:36:17.025Z,1736400977.025 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-01-09T05:36:17.026Z,1736400977.026 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.164545
2025-01-09T05:36:17.146Z,1736400977.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:17.159Z,1736400977.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.503082 s,
      deltaX: 0.200000 m,
      approachRate: 0.397549 m/s,
      rangeRepo size: 4

2025-01-09T05:36:17.159Z,1736400977.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:17.272Z,1736400977.272 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.410519
2025-01-09T05:36:17.528Z,1736400977.528 [DAT](INFO): DAT read: Rx Time:05:36:16.2696 

2025-01-09T05:36:17.530Z,1736400977.530 [DAT](INFO): Rx dataTimestamp_ set to:1736400977.529065
2025-01-09T05:36:17.534Z,1736400977.534 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-01-09T05:36:17.538Z,1736400977.538 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-01-09T05:36:17.564Z,1736400977.564 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.681229
2025-01-09T05:36:17.644Z,1736400977.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:17.671Z,1736400977.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.506287 s,
      deltaX: -0.200000 m,
      approachRate: -0.395032 m/s,
      rangeRepo size: 4

2025-01-09T05:36:17.671Z,1736400977.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:17.776Z,1736400977.776 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.915236
2025-01-09T05:36:17.959Z,1736400977.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:17.968Z,1736400977.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:18.029Z,1736400978.029 [DAT](INFO): DAT read: Rx Time:05:36:16.7697 

2025-01-09T05:36:18.030Z,1736400978.030 [DAT](INFO): Rx dataTimestamp_ set to:1736400978.029824
2025-01-09T05:36:18.032Z,1736400978.032 [DAT](INFO): DAT read: Range 10 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-01-09T05:36:18.033Z,1736400978.033 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-01-09T05:36:18.034Z,1736400978.034 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.173075
2025-01-09T05:36:18.280Z,1736400978.280 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.418785
2025-01-09T05:36:18.355Z,1736400978.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:18.365Z,1736400978.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.500759 s,
      deltaX: 0.200000 m,
      approachRate: 0.399393 m/s,
      rangeRepo size: 4

2025-01-09T05:36:18.366Z,1736400978.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:18.535Z,1736400978.535 [DAT](INFO): DAT read: Rx Time:05:36:17.2696 

2025-01-09T05:36:18.537Z,1736400978.537 [DAT](INFO): Rx dataTimestamp_ set to:1736400978.536063
2025-01-09T05:36:18.541Z,1736400978.541 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-01-09T05:36:18.545Z,1736400978.545 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-01-09T05:36:18.550Z,1736400978.550 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.687925
2025-01-09T05:36:18.784Z,1736400978.784 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.922562
2025-01-09T05:36:18.798Z,1736400978.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:18.852Z,1736400978.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.506239 s,
      deltaX: -0.200000 m,
      approachRate: -0.395070 m/s,
      rangeRepo size: 4

2025-01-09T05:36:18.852Z,1736400978.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:19.036Z,1736400979.036 [DAT](INFO): DAT read: Rx Time:05:36:17.7697 

2025-01-09T05:36:19.036Z,1736400979.036 [DAT](INFO): Rx dataTimestamp_ set to:1736400979.035923
2025-01-09T05:36:19.037Z,1736400979.037 [DAT](INFO): DAT read: Range 10 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-01-09T05:36:19.038Z,1736400979.038 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-01-09T05:36:19.039Z,1736400979.039 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.177807
2025-01-09T05:36:19.159Z,1736400979.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:19.174Z,1736400979.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.499860 s,
      deltaX: 0.200000 m,
      approachRate: 0.400112 m/s,
      rangeRepo size: 4

2025-01-09T05:36:19.176Z,1736400979.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:19.288Z,1736400979.288 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.426760
2025-01-09T05:36:19.542Z,1736400979.542 [DAT](INFO): DAT read: Rx Time:05:36:18.2696 

2025-01-09T05:36:19.544Z,1736400979.544 [DAT](INFO): Rx dataTimestamp_ set to:1736400979.542986
2025-01-09T05:36:19.547Z,1736400979.547 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-01-09T05:36:19.550Z,1736400979.550 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-01-09T05:36:19.555Z,1736400979.555 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.692772
2025-01-09T05:36:19.691Z,1736400979.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:19.713Z,1736400979.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.507063 s,
      deltaX: -0.200000 m,
      approachRate: -0.394428 m/s,
      rangeRepo size: 4

2025-01-09T05:36:19.713Z,1736400979.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:19.792Z,1736400979.792 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.930773
2025-01-09T05:36:19.972Z,1736400979.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:19.981Z,1736400979.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:20.045Z,1736400980.045 [DAT](INFO): DAT read: Rx Time:05:36:18.7696 

2025-01-09T05:36:20.046Z,1736400980.046 [DAT](INFO): Rx dataTimestamp_ set to:1736400980.045293
2025-01-09T05:36:20.048Z,1736400980.048 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-01-09T05:36:20.049Z,1736400980.049 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-01-09T05:36:20.050Z,1736400980.050 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.188848
2025-01-09T05:36:20.296Z,1736400980.296 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.434822
2025-01-09T05:36:20.369Z,1736400980.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:20.378Z,1736400980.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.502307 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:20.395Z,1736400980.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:20.555Z,1736400980.555 [DAT](INFO): DAT read: Rx Time:05:36:19.2695 

2025-01-09T05:36:20.557Z,1736400980.557 [DAT](INFO): Rx dataTimestamp_ set to:1736400980.555883
2025-01-09T05:36:20.561Z,1736400980.561 [DAT](INFO): DAT read: Range 10 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-01-09T05:36:20.564Z,1736400980.564 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-01-09T05:36:20.572Z,1736400980.572 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.710415
2025-01-09T05:36:20.802Z,1736400980.802 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.940351
2025-01-09T05:36:20.843Z,1736400980.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:20.852Z,1736400980.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.510590 s,
      deltaX: -0.100000 m,
      approachRate: -0.195853 m/s,
      rangeRepo size: 4

2025-01-09T05:36:20.853Z,1736400980.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:21.053Z,1736400981.053 [DAT](INFO): DAT read: Rx Time:05:36:19.7697 

2025-01-09T05:36:21.053Z,1736400981.053 [DAT](INFO): Rx dataTimestamp_ set to:1736400981.052882
2025-01-09T05:36:21.055Z,1736400981.055 [DAT](INFO): DAT read: Range 10 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-01-09T05:36:21.056Z,1736400981.056 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-01-09T05:36:21.057Z,1736400981.057 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.196093
2025-01-09T05:36:21.273Z,1736400981.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:21.285Z,1736400981.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.496999 s,
      deltaX: 0.300000 m,
      approachRate: 0.603623 m/s,
      rangeRepo size: 4

2025-01-09T05:36:21.285Z,1736400981.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:21.304Z,1736400981.304 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.442619
2025-01-09T05:36:21.556Z,1736400981.556 [DAT](INFO): DAT read: Rx Time:05:36:20.2696 

2025-01-09T05:36:21.557Z,1736400981.557 [DAT](INFO): Rx dataTimestamp_ set to:1736400981.556236
2025-01-09T05:36:21.558Z,1736400981.558 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-01-09T05:36:21.558Z,1736400981.558 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-01-09T05:36:21.559Z,1736400981.559 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.698128
2025-01-09T05:36:21.719Z,1736400981.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:21.728Z,1736400981.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.503354 s,
      deltaX: -0.200000 m,
      approachRate: -0.397334 m/s,
      rangeRepo size: 4

2025-01-09T05:36:21.729Z,1736400981.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:21.812Z,1736400981.812 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.949829
2025-01-09T05:36:22.060Z,1736400982.060 [DAT](INFO): DAT read: Rx Time:05:36:20.7697 

2025-01-09T05:36:22.061Z,1736400982.061 [DAT](INFO): Rx dataTimestamp_ set to:1736400982.060312
2025-01-09T05:36:22.062Z,1736400982.062 [DAT](INFO): DAT read: Range 10 to 50 :    14.0 m (trip time 9.3 ms) speed -0.1

2025-01-09T05:36:22.062Z,1736400982.062 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-01-09T05:36:22.063Z,1736400982.063 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.202246
2025-01-09T05:36:22.124Z,1736400982.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:22.155Z,1736400982.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.504076 s,
      deltaX: 0.200000 m,
      approachRate: 0.396765 m/s,
      rangeRepo size: 4

2025-01-09T05:36:22.155Z,1736400982.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:22.315Z,1736400982.315 [DAT](INFO): DAT read: Rx Time:05:36:21.2697 

2025-01-09T05:36:22.317Z,1736400982.317 [DAT](INFO): Rx dataTimestamp_ set to:1736400982.316017
2025-01-09T05:36:22.320Z,1736400982.320 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.457994
2025-01-09T05:36:22.489Z,1736400982.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:22.498Z,1736400982.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:22.571Z,1736400982.571 [DAT](INFO): DAT read: Range 10 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-01-09T05:36:22.574Z,1736400982.574 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-01-09T05:36:22.578Z,1736400982.578 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.716204
2025-01-09T05:36:22.819Z,1736400982.819 [DAT](INFO): DAT read: Rx Time:05:36:21.7699 

2025-01-09T05:36:22.821Z,1736400982.821 [DAT](INFO): Rx dataTimestamp_ set to:1736400982.820023
2025-01-09T05:36:22.823Z,1736400982.823 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.961172
2025-01-09T05:36:22.922Z,1736400982.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:22.944Z,1736400982.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.505548 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:22.945Z,1736400982.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:23.072Z,1736400983.072 [DAT](INFO): DAT read: Range 10 to 50 :    14.3 m (trip time 9.5 ms) speed -0.1

2025-01-09T05:36:23.072Z,1736400983.072 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-01-09T05:36:23.073Z,1736400983.073 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.212107
2025-01-09T05:36:23.323Z,1736400983.323 [DAT](INFO): DAT read: Rx Time:05:36:22.2698 

2025-01-09T05:36:23.323Z,1736400983.323 [DAT](INFO): Rx dataTimestamp_ set to:1736400983.323176
2025-01-09T05:36:23.325Z,1736400983.325 [DAT](INFO): DAT read: Range 10 to 50 :    14.1 m (trip time 9.4 ms) speed -0.1

2025-01-09T05:36:23.325Z,1736400983.325 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-01-09T05:36:23.326Z,1736400983.326 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.464993
2025-01-09T05:36:23.396Z,1736400983.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:23.407Z,1736400983.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.757316 s,
      deltaX: 0.100000 m,
      approachRate: 0.132046 m/s,
      rangeRepo size: 4

2025-01-09T05:36:23.408Z,1736400983.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:23.572Z,1736400983.572 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.710543
2025-01-09T05:36:23.824Z,1736400983.824 [DAT](INFO): DAT read: Rx Time:05:36:22.7699 

2025-01-09T05:36:23.825Z,1736400983.825 [DAT](INFO): Rx dataTimestamp_ set to:1736400983.824367
2025-01-09T05:36:23.826Z,1736400983.826 [DAT](INFO): DAT read: Range 10 to 50 :    14.3 m (trip time 9.5 ms) speed -0.2

2025-01-09T05:36:23.827Z,1736400983.827 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-01-09T05:36:23.827Z,1736400983.827 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.966318
2025-01-09T05:36:23.837Z,1736400983.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:23.862Z,1736400983.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.501191 s,
      deltaX: 0.200000 m,
      approachRate: 0.399049 m/s,
      rangeRepo size: 4

2025-01-09T05:36:23.867Z,1736400983.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:24.076Z,1736400984.076 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.214689
2025-01-09T05:36:24.158Z,1736400984.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:24.175Z,1736400984.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:24.328Z,1736400984.328 [DAT](INFO): DAT read: Rx Time:05:36:23.2698 

2025-01-09T05:36:24.328Z,1736400984.328 [DAT](INFO): Rx dataTimestamp_ set to:1736400984.327962
2025-01-09T05:36:24.329Z,1736400984.329 [DAT](INFO): DAT read: Range 10 to 50 :    14.1 m (trip time 9.4 ms) speed -0.2

2025-01-09T05:36:24.330Z,1736400984.330 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-01-09T05:36:24.332Z,1736400984.332 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.470196
2025-01-09T05:36:24.549Z,1736400984.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:24.558Z,1736400984.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.503595 s,
      deltaX: -0.200000 m,
      approachRate: -0.397144 m/s,
      rangeRepo size: 4

2025-01-09T05:36:24.580Z,1736400984.580 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.718704
2025-01-09T05:36:24.558Z,1736400984.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:24.835Z,1736400984.835 [DAT](INFO): DAT read: Rx Time:05:36:23.7699 

2025-01-09T05:36:24.836Z,1736400984.836 [DAT](INFO): Rx dataTimestamp_ set to:1736400984.835632
2025-01-09T05:36:24.838Z,1736400984.838 [DAT](INFO): DAT read: Range 10 to 50 :    14.3 m (trip time 9.5 ms) speed 0.0

2025-01-09T05:36:24.843Z,1736400984.843 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-01-09T05:36:24.845Z,1736400984.845 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.983145
2025-01-09T05:36:24.985Z,1736400984.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:24.994Z,1736400984.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.507670 s,
      deltaX: 0.200000 m,
      approachRate: 0.393956 m/s,
      rangeRepo size: 4

2025-01-09T05:36:25.015Z,1736400985.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:25.084Z,1736400985.084 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.223160
2025-01-09T05:36:25.336Z,1736400985.336 [DAT](INFO): DAT read: Rx Time:05:36:24.2699 

2025-01-09T05:36:25.336Z,1736400985.336 [DAT](INFO): Rx dataTimestamp_ set to:1736400985.336135
2025-01-09T05:36:25.338Z,1736400985.338 [DAT](INFO): DAT read: Range 10 to 50 :    14.3 m (trip time 9.5 ms) speed -0.1

2025-01-09T05:36:25.338Z,1736400985.338 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-01-09T05:36:25.339Z,1736400985.339 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.478193
2025-01-09T05:36:25.369Z,1736400985.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:25.411Z,1736400985.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.500503 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:25.412Z,1736400985.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:25.588Z,1736400985.588 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.726460
2025-01-09T05:36:25.796Z,1736400985.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:25.831Z,1736400985.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:25.840Z,1736400985.840 [DAT](INFO): DAT read: Rx Time:05:36:24.7700 

2025-01-09T05:36:25.840Z,1736400985.840 [DAT](INFO): Rx dataTimestamp_ set to:1736400985.840070
2025-01-09T05:36:25.841Z,1736400985.841 [DAT](INFO): DAT read: Range 10 to 50 :    14.4 m (trip time 9.6 ms) speed -0.2

2025-01-09T05:36:25.842Z,1736400985.842 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-01-09T05:36:25.843Z,1736400985.843 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.982019
2025-01-09T05:36:26.092Z,1736400986.092 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.230577
2025-01-09T05:36:26.168Z,1736400986.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:26.197Z,1736400986.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.503935 s,
      deltaX: 0.099999 m,
      approachRate: 0.198437 m/s,
      rangeRepo size: 4

2025-01-09T05:36:26.198Z,1736400986.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:26.344Z,1736400986.344 [DAT](INFO): DAT read: Rx Time:05:36:25.2700 

2025-01-09T05:36:26.345Z,1736400986.345 [DAT](INFO): Rx dataTimestamp_ set to:1736400986.344577
2025-01-09T05:36:26.346Z,1736400986.346 [DAT](INFO): DAT read: Range 10 to 50 :    14.4 m (trip time 9.6 ms) speed 0.0

2025-01-09T05:36:26.347Z,1736400986.347 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-01-09T05:36:26.348Z,1736400986.348 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.487232
2025-01-09T05:36:26.569Z,1736400986.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:26.579Z,1736400986.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.504507 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:26.580Z,1736400986.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:26.596Z,1736400986.596 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.734564
2025-01-09T05:36:26.848Z,1736400986.848 [DAT](INFO): DAT read: Rx Time:05:36:25.7701 

2025-01-09T05:36:26.848Z,1736400986.848 [DAT](INFO): Rx dataTimestamp_ set to:1736400986.848084
2025-01-09T05:36:26.849Z,1736400986.849 [DAT](INFO): DAT read: Range 10 to 50 :    14.6 m (trip time 9.7 ms) speed -0.1

2025-01-09T05:36:26.850Z,1736400986.850 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-01-09T05:36:26.852Z,1736400986.852 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.990765
2025-01-09T05:36:27.022Z,1736400987.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:27.048Z,1736400987.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.503507 s,
      deltaX: 0.200001 m,
      approachRate: 0.397215 m/s,
      rangeRepo size: 4

2025-01-09T05:36:27.049Z,1736400987.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:27.100Z,1736400987.100 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.239155
2025-01-09T05:36:27.352Z,1736400987.352 [DAT](INFO): DAT read: Rx Time:05:36:26.2700 

2025-01-09T05:36:27.352Z,1736400987.352 [DAT](INFO): Rx dataTimestamp_ set to:1736400987.351921
2025-01-09T05:36:27.353Z,1736400987.353 [DAT](INFO): DAT read: Range 10 to 50 :    14.4 m (trip time 9.6 ms) speed -0.1

2025-01-09T05:36:27.354Z,1736400987.354 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-01-09T05:36:27.355Z,1736400987.355 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.493879
2025-01-09T05:36:27.427Z,1736400987.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:27.444Z,1736400987.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.503837 s,
      deltaX: -0.200001 m,
      approachRate: -0.396955 m/s,
      rangeRepo size: 4

2025-01-09T05:36:27.445Z,1736400987.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:27.604Z,1736400987.604 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.742596
2025-01-09T05:36:27.849Z,1736400987.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:27.856Z,1736400987.856 [DAT](INFO): DAT read: Rx Time:05:36:26.7702 

2025-01-09T05:36:27.856Z,1736400987.856 [DAT](INFO): Rx dataTimestamp_ set to:1736400987.856043
2025-01-09T05:36:27.857Z,1736400987.857 [DAT](INFO): DAT read: Range 10 to 50 :    14.7 m (trip time 9.8 ms) speed 0.0

2025-01-09T05:36:27.858Z,1736400987.858 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-01-09T05:36:27.860Z,1736400987.860 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.998793
2025-01-09T05:36:27.878Z,1736400987.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.504122 s,
      deltaX: 0.300000 m,
      approachRate: 0.595094 m/s,
      rangeRepo size: 4

2025-01-09T05:36:27.878Z,1736400987.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:28.108Z,1736400988.108 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.246832
2025-01-09T05:36:28.208Z,1736400988.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:28.239Z,1736400988.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:28.360Z,1736400988.360 [DAT](INFO): DAT read: Rx Time:05:36:27.2701 

2025-01-09T05:36:28.360Z,1736400988.360 [DAT](INFO): Rx dataTimestamp_ set to:1736400988.360020
2025-01-09T05:36:28.362Z,1736400988.362 [DAT](INFO): DAT read: Range 10 to 50 :    14.6 m (trip time 9.7 ms) speed -0.1

2025-01-09T05:36:28.363Z,1736400988.363 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-01-09T05:36:28.365Z,1736400988.365 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.503265
2025-01-09T05:36:28.595Z,1736400988.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:28.607Z,1736400988.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.503977 s,
      deltaX: -0.099999 m,
      approachRate: -0.198421 m/s,
      rangeRepo size: 4

2025-01-09T05:36:28.608Z,1736400988.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:28.612Z,1736400988.612 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.750648
2025-01-09T05:36:28.864Z,1736400988.864 [DAT](INFO): DAT read: Rx Time:05:36:27.7703 

2025-01-09T05:36:28.864Z,1736400988.864 [DAT](INFO): Rx dataTimestamp_ set to:1736400988.863952
2025-01-09T05:36:28.865Z,1736400988.865 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-01-09T05:36:28.866Z,1736400988.866 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-01-09T05:36:28.867Z,1736400988.867 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.005861
2025-01-09T05:36:29.057Z,1736400989.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:29.068Z,1736400989.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.503932 s,
      deltaX: 0.299999 m,
      approachRate: 0.595317 m/s,
      rangeRepo size: 4

2025-01-09T05:36:29.068Z,1736400989.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:29.116Z,1736400989.116 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.255297
2025-01-09T05:36:29.368Z,1736400989.368 [DAT](INFO): DAT read: Rx Time:05:36:28.2703 

2025-01-09T05:36:29.368Z,1736400989.368 [DAT](INFO): Rx dataTimestamp_ set to:1736400989.367954
2025-01-09T05:36:29.369Z,1736400989.369 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-01-09T05:36:29.370Z,1736400989.370 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-01-09T05:36:29.371Z,1736400989.371 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.509857
2025-01-09T05:36:29.477Z,1736400989.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:29.488Z,1736400989.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.504002 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:29.489Z,1736400989.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:29.620Z,1736400989.620 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.758745
2025-01-09T05:36:29.872Z,1736400989.872 [DAT](INFO): DAT read: Rx Time:05:36:28.7704 

2025-01-09T05:36:29.872Z,1736400989.872 [DAT](INFO): Rx dataTimestamp_ set to:1736400989.872160
2025-01-09T05:36:29.874Z,1736400989.874 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.1

2025-01-09T05:36:29.874Z,1736400989.874 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-01-09T05:36:29.875Z,1736400989.875 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.014105
2025-01-09T05:36:29.969Z,1736400989.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:29.979Z,1736400989.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504206 s,
      deltaX: 0.100000 m,
      approachRate: 0.198332 m/s,
      rangeRepo size: 4

2025-01-09T05:36:29.980Z,1736400989.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:30.124Z,1736400990.124 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.262552
2025-01-09T05:36:30.376Z,1736400990.376 [DAT](INFO): DAT read: Rx Time:05:36:29.2703 

2025-01-09T05:36:30.376Z,1736400990.376 [DAT](INFO): Rx dataTimestamp_ set to:1736400990.376031
2025-01-09T05:36:30.377Z,1736400990.377 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed -0.1

2025-01-09T05:36:30.378Z,1736400990.378 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-01-09T05:36:30.379Z,1736400990.379 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.517963
2025-01-09T05:36:30.393Z,1736400990.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:30.404Z,1736400990.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.503871 s,
      deltaX: -0.100000 m,
      approachRate: -0.198464 m/s,
      rangeRepo size: 4

2025-01-09T05:36:30.405Z,1736400990.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:30.628Z,1736400990.628 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.766611
2025-01-09T05:36:30.792Z,1736400990.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:36:30.837Z,1736400990.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:30.864Z,1736400990.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:30.880Z,1736400990.880 [DAT](INFO): DAT read: Rx Time:05:36:29.7703 

2025-01-09T05:36:30.880Z,1736400990.880 [DAT](INFO): Rx dataTimestamp_ set to:1736400990.880070
2025-01-09T05:36:30.883Z,1736400990.883 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-01-09T05:36:30.883Z,1736400990.883 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-01-09T05:36:30.884Z,1736400990.884 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.023121
2025-01-09T05:36:31.133Z,1736400991.133 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.271692
2025-01-09T05:36:31.191Z,1736400991.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:31.202Z,1736400991.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.504039 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:31.227Z,1736400991.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:31.384Z,1736400991.384 [DAT](INFO): DAT read: Rx Time:05:36:30.2703 

2025-01-09T05:36:31.384Z,1736400991.384 [DAT](INFO): Rx dataTimestamp_ set to:1736400991.384183
2025-01-09T05:36:31.386Z,1736400991.386 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-01-09T05:36:31.386Z,1736400991.386 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-01-09T05:36:31.387Z,1736400991.387 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.526285
2025-01-09T05:36:31.624Z,1736400991.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:31.634Z,1736400991.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.504113 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:31.649Z,1736400991.649 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.787458
2025-01-09T05:36:31.663Z,1736400991.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:31.796Z,1736400991.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:36:31.901Z,1736400991.901 [DAT](INFO): DAT read: Rx Time:05:36:30.7704 

2025-01-09T05:36:31.901Z,1736400991.901 [DAT](INFO): Rx dataTimestamp_ set to:1736400991.900787
2025-01-09T05:36:31.902Z,1736400991.902 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed -0.1

2025-01-09T05:36:31.903Z,1736400991.903 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-01-09T05:36:31.904Z,1736400991.904 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.042728
2025-01-09T05:36:32.052Z,1736400992.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:32.061Z,1736400992.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.516604 s,
      deltaX: 0.100000 m,
      approachRate: 0.193573 m/s,
      rangeRepo size: 4

2025-01-09T05:36:32.062Z,1736400992.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:32.152Z,1736400992.152 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.290691
2025-01-09T05:36:32.404Z,1736400992.404 [DAT](INFO): DAT read: Rx Time:05:36:31.2704 

2025-01-09T05:36:32.404Z,1736400992.404 [DAT](INFO): Rx dataTimestamp_ set to:1736400992.403856
2025-01-09T05:36:32.405Z,1736400992.405 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed -0.1

2025-01-09T05:36:32.406Z,1736400992.406 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-01-09T05:36:32.407Z,1736400992.407 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.545780
2025-01-09T05:36:32.464Z,1736400992.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:32.474Z,1736400992.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503069 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:32.475Z,1736400992.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:32.657Z,1736400992.657 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.795708
2025-01-09T05:36:32.857Z,1736400992.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:32.867Z,1736400992.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:32.909Z,1736400992.909 [DAT](INFO): DAT read: Rx Time:05:36:31.7705 

2025-01-09T05:36:32.910Z,1736400992.910 [DAT](INFO): Rx dataTimestamp_ set to:1736400992.909333
2025-01-09T05:36:32.911Z,1736400992.911 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed -0.2

2025-01-09T05:36:32.911Z,1736400992.911 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-01-09T05:36:32.912Z,1736400992.912 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.051292
2025-01-09T05:36:33.160Z,1736400993.160 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.298576
2025-01-09T05:36:33.265Z,1736400993.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:33.275Z,1736400993.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.505477 s,
      deltaX: 0.200000 m,
      approachRate: 0.395665 m/s,
      rangeRepo size: 4

2025-01-09T05:36:33.276Z,1736400993.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:33.413Z,1736400993.413 [DAT](INFO): DAT read: Rx Time:05:36:32.2704 

2025-01-09T05:36:33.413Z,1736400993.413 [DAT](INFO): Rx dataTimestamp_ set to:1736400993.413117
2025-01-09T05:36:33.417Z,1736400993.417 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed -0.4

2025-01-09T05:36:33.418Z,1736400993.418 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-01-09T05:36:33.419Z,1736400993.419 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.557392
2025-01-09T05:36:33.664Z,1736400993.664 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.802666
2025-01-09T05:36:33.693Z,1736400993.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:33.704Z,1736400993.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503784 s,
      deltaX: -0.200000 m,
      approachRate: -0.396995 m/s,
      rangeRepo size: 4

2025-01-09T05:36:33.704Z,1736400993.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:33.917Z,1736400993.917 [DAT](INFO): DAT read: Rx Time:05:36:32.77d -0.1

2025-01-09T05:36:33.917Z,1736400993.917 [DAT](INFO): Rx dataTimestamp_ set to:1736400993.916808
2025-01-09T05:36:33.918Z,1736400993.918 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=34.056561
2025-01-09T05:36:34.102Z,1736400994.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:34.134Z,1736400994.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:34.168Z,1736400994.168 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=34.306637
2025-01-09T05:36:34.420Z,1736400994.420 [DAT](INFO): DAT read: Rx Time:05:36:33.2704 

2025-01-09T05:36:34.420Z,1736400994.420 [DAT](INFO): Rx dataTimestamp_ set to:1736400994.419994
2025-01-09T05:36:34.421Z,1736400994.421 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-01-09T05:36:34.422Z,1736400994.422 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-01-09T05:36:34.423Z,1736400994.423 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.561928
2025-01-09T05:36:34.545Z,1736400994.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:34.556Z,1736400994.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 1.006877 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:34.556Z,1736400994.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-01-09T05:36:34.672Z,1736400994.672 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.810471
2025-01-09T05:36:34.924Z,1736400994.924 [DAT](INFO): DAT read: Rx Time:05:36:33.7705 

2025-01-09T05:36:34.925Z,1736400994.925 [DAT](INFO): Rx dataTimestamp_ set to:1736400994.924471
2025-01-09T05:36:34.926Z,1736400994.926 [DAT](INFO): DAT read: Bearing 195.4,  -6.3 (Local)

2025-01-09T05:36:34.926Z,1736400994.926 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.4,  -6.3 (Local)

2025-01-09T05:36:34.928Z,1736400994.928 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed -0.1

2025-01-09T05:36:34.934Z,1736400994.934 [DAT](INFO): DAT read: 05:36:33.7705 LVL= 27600, 24529, 17490, 32707, AGC= 56, IDX= 512,-0.12,-2.554,-0.043,-1.666,-1.226, PHS=-1.240, 1.230,-0.444, RAW= 311.6,   4.2, CAL= 314.6,   6.3, ROT= 195.4,  -6.3

2025-01-09T05:36:34.936Z,1736400994.936 [DAT](INFO): got valid direction response:
 05:36:33.7705 LVL= 27600, 24529, 17490, 32707, AGC= 56, IDX= 512,-0.12,-2.554,-0.043,-1.666,-1.226, PHS=-1.240, 1.230,-0.444, RAW= 311.6,   4.2, CAL= 314.6,   6.3, ROT= 195.4,  -6.3

2025-01-09T05:36:34.936Z,1736400994.936 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-01-09T05:36:34.937Z,1736400994.937 [DAT](INFO): direction in FSK: [-0.958273,-0.263952,0.109734]
2025-01-09T05:36:34.938Z,1736400994.938 [DAT](INFO): publishing direction and range info
2025-01-09T05:36:34.964Z,1736400994.964 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=35.102985
2025-01-09T05:36:35.063Z,1736400995.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:35.096Z,1736400995.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504477 s,
      deltaX: 0.200000 m,
      approachRate: 0.396450 m/s,
      rangeRepo size: 4

2025-01-09T05:36:35.098Z,1736400995.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.200000 m,
      bearing: 60.832335 deg,
      lat: 36.903992 deg,
      lon: -122.118936 deg,
      deltaT: 26.999927 s,
      deltaX: 2.700000 m,
      approachRate: 0.100000 m/s,
      posRepo size: 4

2025-01-09T05:36:35.103Z,1736400995.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:35.176Z,1736400995.176 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=35.314884
2025-01-09T05:36:35.410Z,1736400995.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:35.420Z,1736400995.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:35.428Z,1736400995.428 [DAT](INFO): DAT read: Rx Time:05:36:34.2704 

2025-01-09T05:36:35.428Z,1736400995.428 [DAT](INFO): Rx dataTimestamp_ set to:1736400995.428044
2025-01-09T05:36:35.429Z,1736400995.429 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed -0.1

2025-01-09T05:36:35.430Z,1736400995.430 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-01-09T05:36:35.432Z,1736400995.432 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.570671
2025-01-09T05:36:35.680Z,1736400995.680 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.818569
2025-01-09T05:36:35.889Z,1736400995.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:35.900Z,1736400995.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503573 s,
      deltaX: -0.200000 m,
      approachRate: -0.397162 m/s,
      rangeRepo size: 4

2025-01-09T05:36:35.901Z,1736400995.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:35.933Z,1736400995.933 [DAT](INFO): DAT read: Rx Time:05:36:34.7705 

2025-01-09T05:36:35.934Z,1736400995.934 [DAT](INFO): Rx dataTimestamp_ set to:1736400995.933429
2025-01-09T05:36:35.936Z,1736400995.936 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-01-09T05:36:35.937Z,1736400995.937 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-01-09T05:36:35.938Z,1736400995.938 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=36.076519
2025-01-09T05:36:36.184Z,1736400996.184 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=36.322620
2025-01-09T05:36:36.292Z,1736400996.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:36.319Z,1736400996.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.505385 s,
      deltaX: 0.200000 m,
      approachRate: 0.395738 m/s,
      rangeRepo size: 4

2025-01-09T05:36:36.321Z,1736400996.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:36.436Z,1736400996.436 [DAT](INFO): DAT read: Rx Time:05:36:35.2705 

2025-01-09T05:36:36.436Z,1736400996.436 [DAT](INFO): Rx dataTimestamp_ set to:1736400996.435900
2025-01-09T05:36:36.437Z,1736400996.437 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-01-09T05:36:36.438Z,1736400996.438 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-01-09T05:36:36.439Z,1736400996.439 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.577824
2025-01-09T05:36:36.688Z,1736400996.688 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.826603
2025-01-09T05:36:36.699Z,1736400996.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:36.709Z,1736400996.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.502471 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:36.709Z,1736400996.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:36.940Z,1736400996.940 [DAT](INFO): DAT read: Rx Time:05:36:35.7706 

2025-01-09T05:36:36.941Z,1736400996.941 [DAT](INFO): Rx dataTimestamp_ set to:1736400996.940584
2025-01-09T05:36:36.943Z,1736400996.943 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-01-09T05:36:36.944Z,1736400996.944 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-01-09T05:36:36.945Z,1736400996.945 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=37.083508
2025-01-09T05:36:37.130Z,1736400997.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:37.141Z,1736400997.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504684 s,
      deltaX: 0.100000 m,
      approachRate: 0.198145 m/s,
      rangeRepo size: 4

2025-01-09T05:36:37.141Z,1736400997.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:37.192Z,1736400997.192 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=37.331264
2025-01-09T05:36:37.444Z,1736400997.444 [DAT](INFO): DAT read: Rx Time:05:36:36.2705 

2025-01-09T05:36:37.444Z,1736400997.444 [DAT](INFO): Rx dataTimestamp_ set to:1736400997.443938
2025-01-09T05:36:37.445Z,1736400997.445 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-01-09T05:36:37.446Z,1736400997.446 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-01-09T05:36:37.447Z,1736400997.447 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.585869
2025-01-09T05:36:37.536Z,1736400997.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:37.558Z,1736400997.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503354 s,
      deltaX: -0.100000 m,
      approachRate: -0.198668 m/s,
      rangeRepo size: 4

2025-01-09T05:36:37.558Z,1736400997.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:37.696Z,1736400997.696 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.835136
2025-01-09T05:36:37.932Z,1736400997.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:37.941Z,1736400997.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:37.949Z,1736400997.949 [DAT](INFO): DAT read: Rx Time:05:36:36.7705 

2025-01-09T05:36:37.949Z,1736400997.949 [DAT](INFO): Rx dataTimestamp_ set to:1736400997.948745
2025-01-09T05:36:37.950Z,1736400997.950 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-01-09T05:36:37.951Z,1736400997.951 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-01-09T05:36:37.952Z,1736400997.952 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=38.090668
2025-01-09T05:36:38.200Z,1736400998.200 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=38.338573
2025-01-09T05:36:38.335Z,1736400998.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:38.345Z,1736400998.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504807 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:38.345Z,1736400998.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:38.452Z,1736400998.452 [DAT](INFO): DAT read: Rx Time:05:36:37.2705 

2025-01-09T05:36:38.452Z,1736400998.452 [DAT](INFO): Rx dataTimestamp_ set to:1736400998.452008
2025-01-09T05:36:38.453Z,1736400998.453 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-01-09T05:36:38.454Z,1736400998.454 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-01-09T05:36:38.455Z,1736400998.455 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.593945
2025-01-09T05:36:38.704Z,1736400998.704 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.842583
2025-01-09T05:36:38.723Z,1736400998.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:38.734Z,1736400998.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503263 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:38.734Z,1736400998.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:38.956Z,1736400998.956 [DAT](INFO): DAT read: Rx Time:05:36:37.7706 

2025-01-09T05:36:38.956Z,1736400998.956 [DAT](INFO): Rx dataTimestamp_ set to:1736400998.955946
2025-01-09T05:36:38.957Z,1736400998.957 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-01-09T05:36:38.958Z,1736400998.958 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-01-09T05:36:38.959Z,1736400998.959 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=39.097931
2025-01-09T05:36:39.156Z,1736400999.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:39.168Z,1736400999.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:36:39.171Z,1736400999.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503938 s,
      deltaX: 0.100000 m,
      approachRate: 0.198438 m/s,
      rangeRepo size: 4

2025-01-09T05:36:39.171Z,1736400999.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:39.210Z,1736400999.210 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=39.348427
2025-01-09T05:36:39.460Z,1736400999.460 [DAT](INFO): DAT read: Rx Time:05:36:38.2705 

2025-01-09T05:36:39.460Z,1736400999.460 [DAT](INFO): Rx dataTimestamp_ set to:1736400999.459983
2025-01-09T05:36:39.461Z,1736400999.461 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-01-09T05:36:39.462Z,1736400999.462 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-01-09T05:36:39.463Z,1736400999.463 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.601925
2025-01-09T05:36:39.565Z,1736400999.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:39.592Z,1736400999.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504037 s,
      deltaX: -0.100000 m,
      approachRate: -0.198399 m/s,
      rangeRepo size: 4

2025-01-09T05:36:39.593Z,1736400999.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:39.713Z,1736400999.713 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.851646
2025-01-09T05:36:39.965Z,1736400999.965 [DAT](INFO): DAT read: Rx Time:05:36:38.7706 

2025-01-09T05:36:39.965Z,1736400999.965 [DAT](INFO): Rx dataTimestamp_ set to:1736400999.964803
2025-01-09T05:36:39.967Z,1736400999.967 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-01-09T05:36:39.967Z,1736400999.967 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-01-09T05:36:39.968Z,1736400999.968 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=40.107395
2025-01-09T05:36:39.976Z,1736400999.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:39.987Z,1736400999.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504820 s,
      deltaX: 0.100000 m,
      approachRate: 0.198091 m/s,
      rangeRepo size: 4

2025-01-09T05:36:39.988Z,1736400999.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:40.218Z,1736401000.218 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=40.356087
2025-01-09T05:36:40.363Z,1736401000.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:40.372Z,1736401000.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:40.469Z,1736401000.469 [DAT](INFO): DAT read: Rx Time:05:36:39.2705 

2025-01-09T05:36:40.469Z,1736401000.469 [DAT](INFO): Rx dataTimestamp_ set to:1736401000.468752
2025-01-09T05:36:40.471Z,1736401000.471 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-01-09T05:36:40.472Z,1736401000.472 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-01-09T05:36:40.473Z,1736401000.473 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.612007
2025-01-09T05:36:40.720Z,1736401000.720 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.858589
2025-01-09T05:36:40.767Z,1736401000.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:40.786Z,1736401000.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503949 s,
      deltaX: -0.100000 m,
      approachRate: -0.198434 m/s,
      rangeRepo size: 4

2025-01-09T05:36:40.791Z,1736401000.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:40.972Z,1736401000.972 [DAT](INFO): DAT read: Rx Time:05:36:39.7706 

2025-01-09T05:36:40.973Z,1736401000.973 [DAT](INFO): Rx dataTimestamp_ set to:1736401000.972279
2025-01-09T05:36:40.974Z,1736401000.974 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-01-09T05:36:40.974Z,1736401000.974 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-01-09T05:36:40.975Z,1736401000.975 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=41.114243
2025-01-09T05:36:41.181Z,1736401001.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:41.204Z,1736401001.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503527 s,
      deltaX: 0.100000 m,
      approachRate: 0.198600 m/s,
      rangeRepo size: 4

2025-01-09T05:36:41.204Z,1736401001.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:41.228Z,1736401001.228 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=41.366661
2025-01-09T05:36:41.476Z,1736401001.476 [DAT](INFO): DAT read: Rx Time:05:36:40.2705 

2025-01-09T05:36:41.477Z,1736401001.477 [DAT](INFO): Rx dataTimestamp_ set to:1736401001.476509
2025-01-09T05:36:41.478Z,1736401001.478 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-01-09T05:36:41.479Z,1736401001.479 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-01-09T05:36:41.480Z,1736401001.480 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.618439
2025-01-09T05:36:41.638Z,1736401001.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:41.649Z,1736401001.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504230 s,
      deltaX: -0.100000 m,
      approachRate: -0.198323 m/s,
      rangeRepo size: 4

2025-01-09T05:36:41.649Z,1736401001.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:41.728Z,1736401001.728 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.866863
2025-01-09T05:36:41.980Z,1736401001.980 [DAT](INFO): DAT read: Rx Time:05:36:40.7705 

2025-01-09T05:36:41.981Z,1736401001.981 [DAT](INFO): Rx dataTimestamp_ set to:1736401001.980288
2025-01-09T05:36:41.982Z,1736401001.982 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-01-09T05:36:41.983Z,1736401001.983 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-01-09T05:36:41.984Z,1736401001.984 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=42.122787
2025-01-09T05:36:42.092Z,1736401002.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:42.109Z,1736401002.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503779 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:42.110Z,1736401002.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:42.232Z,1736401002.232 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=42.370556
2025-01-09T05:36:42.432Z,1736401002.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:42.440Z,1736401002.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:42.485Z,1736401002.485 [DAT](INFO): DAT read: Rx Time:05:36:41.2704 

2025-01-09T05:36:42.485Z,1736401002.485 [DAT](INFO): Rx dataTimestamp_ set to:1736401002.484776
2025-01-09T05:36:42.486Z,1736401002.486 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed -0.1

2025-01-09T05:36:42.487Z,1736401002.487 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-01-09T05:36:42.489Z,1736401002.489 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.627438
2025-01-09T05:36:42.736Z,1736401002.736 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.874695
2025-01-09T05:36:42.850Z,1736401002.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:42.863Z,1736401002.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504488 s,
      deltaX: -0.200000 m,
      approachRate: -0.396441 m/s,
      rangeRepo size: 4

2025-01-09T05:36:42.865Z,1736401002.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:42.988Z,1736401002.988 [DAT](INFO): DAT read: Rx Time:05:36:41.7706 

2025-01-09T05:36:42.989Z,1736401002.989 [DAT](INFO): Rx dataTimestamp_ set to:1736401002.988302
2025-01-09T05:36:42.990Z,1736401002.990 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-01-09T05:36:42.991Z,1736401002.991 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-01-09T05:36:42.993Z,1736401002.993 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=43.131691
2025-01-09T05:36:43.240Z,1736401003.240 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=43.378876
2025-01-09T05:36:43.295Z,1736401003.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:43.331Z,1736401003.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503526 s,
      deltaX: 0.300000 m,
      approachRate: 0.595799 m/s,
      rangeRepo size: 4

2025-01-09T05:36:43.332Z,1736401003.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:43.492Z,1736401003.492 [DAT](INFO): DAT read: Rx Time:05:36:42.2705 

2025-01-09T05:36:43.492Z,1736401003.492 [DAT](INFO): Rx dataTimestamp_ set to:1736401003.492100
2025-01-09T05:36:43.493Z,1736401003.493 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-01-09T05:36:43.494Z,1736401003.494 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-01-09T05:36:43.496Z,1736401003.496 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.634758
2025-01-09T05:36:43.744Z,1736401003.744 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.883186
2025-01-09T05:36:43.750Z,1736401003.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:43.766Z,1736401003.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503798 s,
      deltaX: -0.100000 m,
      approachRate: -0.198493 m/s,
      rangeRepo size: 4

2025-01-09T05:36:43.767Z,1736401003.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:43.998Z,1736401003.998 [DAT](INFO): DAT read: Rx Time:05:36:42.7706 

2025-01-09T05:36:43.999Z,1736401003.999 [DAT](INFO): Rx dataTimestamp_ set to:1736401003.998693
2025-01-09T05:36:44.001Z,1736401004.001 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.1

2025-01-09T05:36:44.002Z,1736401004.002 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-01-09T05:36:44.004Z,1736401004.004 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=44.142879
2025-01-09T05:36:44.206Z,1736401004.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:44.228Z,1736401004.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.506593 s,
      deltaX: 0.100000 m,
      approachRate: 0.197398 m/s,
      rangeRepo size: 4

2025-01-09T05:36:44.228Z,1736401004.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:44.248Z,1736401004.248 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=44.386677
2025-01-09T05:36:44.500Z,1736401004.500 [DAT](INFO): DAT read: Rx Time:05:36:43.2706 

2025-01-09T05:36:44.500Z,1736401004.500 [DAT](INFO): Rx dataTimestamp_ set to:1736401004.500111
2025-01-09T05:36:44.502Z,1736401004.502 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.1

2025-01-09T05:36:44.502Z,1736401004.502 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-01-09T05:36:44.503Z,1736401004.503 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.642044
2025-01-09T05:36:44.592Z,1736401004.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:44.602Z,1736401004.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.501418 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:44.603Z,1736401004.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:44.753Z,1736401004.753 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.892174
2025-01-09T05:36:45.004Z,1736401005.004 [DAT](INFO): DAT read: Rx Time:05:36:43.7708 

2025-01-09T05:36:45.004Z,1736401005.004 [DAT](INFO): Rx dataTimestamp_ set to:1736401005.004107
2025-01-09T05:36:45.006Z,1736401005.006 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed -0.1

2025-01-09T05:36:45.006Z,1736401005.006 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-01-09T05:36:45.008Z,1736401005.008 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=45.146461
2025-01-09T05:36:45.019Z,1736401005.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:45.028Z,1736401005.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.503996 s,
      deltaX: 0.300000 m,
      approachRate: 0.595243 m/s,
      rangeRepo size: 4

2025-01-09T05:36:45.029Z,1736401005.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:45.261Z,1736401005.261 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=45.399677
2025-01-09T05:36:45.401Z,1736401005.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:45.410Z,1736401005.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-01-09T05:36:45.512Z,1736401005.512 [DAT](INFO): DAT read: Rx Time:05:36:44.2707 

2025-01-09T05:36:45.513Z,1736401005.513 [DAT](INFO): Rx dataTimestamp_ set to:1736401005.512452
2025-01-09T05:36:45.514Z,1736401005.514 [DAT](INFO): DAT read: Bearing 347.1, -36.3 (Local)

2025-01-09T05:36:45.518Z,1736401005.518 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.1, -36.3 (Local)

2025-01-09T05:36:45.520Z,1736401005.520 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-01-09T05:36:45.544Z,1736401005.544 [DAT](INFO): DAT read: 05:36:44.2707 LVL= 32176, 27105, 17682, 32755, AGC= 58, IDX= 512,-0.02,-3.006, 1.482,-2.711,-2.416, PHS=-0.502,-2.339,-0.298, RAW= 155.2,  29.7, CAL= 162.9,  36.3, ROT= 347.1, -36.3

2025-01-09T05:36:45.545Z,1736401005.545 [DAT](INFO): got valid direction response:
 05:36:44.2707 LVL= 32176, 27105, 17682, 32755, AGC= 58, IDX= 512,-0.02,-3.006, 1.482,-2.711,-2.416, PHS=-0.502,-2.339,-0.298, RAW= 155.2,  29.7, CAL= 162.9,  36.3, ROT= 347.1, -36.3

2025-01-09T05:36:45.545Z,1736401005.545 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-01-09T05:36:45.546Z,1736401005.546 [DAT](INFO): direction in FSK: [0.785588,-0.179924,0.592013]
2025-01-09T05:36:45.546Z,1736401005.546 [DAT](INFO): publishing direction and range info
2025-01-09T05:36:45.583Z,1736401005.583 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.713192
2025-01-09T05:36:45.765Z,1736401005.765 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.903194
2025-01-09T05:36:45.819Z,1736401005.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:45.837Z,1736401005.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.508345 s,
      deltaX: -0.100000 m,
      approachRate: -0.196718 m/s,
      rangeRepo size: 4

2025-01-09T05:36:45.841Z,1736401005.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500000 m,
      bearing: 205.255939 deg,
      lat: 36.903990 deg,
      lon: -122.118936 deg,
      deltaT: 10.587981 s,
      deltaX: 0.300000 m,
      approachRate: 0.028334 m/s,
      posRepo size: 4

2025-01-09T05:36:45.841Z,1736401005.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:46.018Z,1736401006.018 [DAT](INFO): DAT read: Rx Time:05:36:44.7708 

2025-01-09T05:36:46.018Z,1736401006.018 [DAT](INFO): Rx dataTimestamp_ set to:1736401006.017857
2025-01-09T05:36:46.020Z,1736401006.020 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-01-09T05:36:46.020Z,1736401006.020 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-01-09T05:36:46.021Z,1736401006.021 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=46.160191
2025-01-09T05:36:46.244Z,1736401006.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:46.261Z,1736401006.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.505405 s,
      deltaX: 0.100000 m,
      approachRate: 0.197862 m/s,
      rangeRepo size: 4

2025-01-09T05:36:46.262Z,1736401006.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:46.295Z,1736401006.295 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=46.434307
2025-01-09T05:36:46.539Z,1736401006.539 [DAT](INFO): DAT read: Rx Time:05:36:45.2707 

2025-01-09T05:36:46.539Z,1736401006.539 [DAT](INFO): Rx dataTimestamp_ set to:1736401006.539229
2025-01-09T05:36:46.541Z,1736401006.541 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed -0.1

2025-01-09T05:36:46.541Z,1736401006.541 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-01-09T05:36:46.542Z,1736401006.542 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.681061
2025-01-09T05:36:46.628Z,1736401006.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:46.639Z,1736401006.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.521372 s,
      deltaX: -0.100000 m,
      approachRate: -0.191802 m/s,
      rangeRepo size: 4

2025-01-09T05:36:46.639Z,1736401006.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:46.788Z,1736401006.788 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.926517
2025-01-09T05:36:47.040Z,1736401007.040 [DAT](INFO): DAT read: Rx Time:05:36:45.7708 

2025-01-09T05:36:47.041Z,1736401007.041 [DAT](INFO): Rx dataTimestamp_ set to:1736401007.040347
2025-01-09T05:36:47.042Z,1736401007.042 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed -0.1

2025-01-09T05:36:47.043Z,1736401007.043 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-01-09T05:36:47.044Z,1736401007.044 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=47.182438
2025-01-09T05:36:47.045Z,1736401007.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:47.056Z,1736401007.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.501118 s,
      deltaX: 0.300000 m,
      approachRate: 0.598662 m/s,
      rangeRepo size: 4

2025-01-09T05:36:47.056Z,1736401007.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:47.293Z,1736401007.293 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=47.431751
2025-01-09T05:36:47.417Z,1736401007.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:47.426Z,1736401007.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:47.545Z,1736401007.545 [DAT](INFO): DAT read: Rx Time:05:36:46.2708 

2025-01-09T05:36:47.545Z,1736401007.545 [DAT](INFO): Rx dataTimestamp_ set to:1736401007.544705
2025-01-09T05:36:47.546Z,1736401007.546 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-01-09T05:36:47.547Z,1736401007.547 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-01-09T05:36:47.549Z,1736401007.549 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.687538
2025-01-09T05:36:47.796Z,1736401007.796 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.934410
2025-01-09T05:36:47.835Z,1736401007.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:47.850Z,1736401007.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.504358 s,
      deltaX: -0.200000 m,
      approachRate: -0.396543 m/s,
      rangeRepo size: 4

2025-01-09T05:36:47.850Z,1736401007.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:48.049Z,1736401008.049 [DAT](INFO): DAT read: Rx Time:05:36:46.7708 

2025-01-09T05:36:48.050Z,1736401008.050 [DAT](INFO): Rx dataTimestamp_ set to:1736401008.049151
2025-01-09T05:36:48.051Z,1736401008.051 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed -0.1

2025-01-09T05:36:48.052Z,1736401008.052 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-01-09T05:36:48.053Z,1736401008.053 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=48.191441
2025-01-09T05:36:48.260Z,1736401008.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:48.269Z,1736401008.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.504446 s,
      deltaX: 0.200000 m,
      approachRate: 0.396474 m/s,
      rangeRepo size: 4

2025-01-09T05:36:48.270Z,1736401008.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:48.300Z,1736401008.300 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=48.438416
2025-01-09T05:36:48.552Z,1736401008.552 [DAT](INFO): DAT read: Rx Time:05:36:47.2708 

2025-01-09T05:36:48.552Z,1736401008.552 [DAT](INFO): Rx dataTimestamp_ set to:1736401008.552018
2025-01-09T05:36:48.553Z,1736401008.553 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed -0.1

2025-01-09T05:36:48.554Z,1736401008.554 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-01-09T05:36:48.555Z,1736401008.555 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.693977
2025-01-09T05:36:48.643Z,1736401008.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:48.654Z,1736401008.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.502867 s,
      deltaX: -0.200000 m,
      approachRate: -0.397719 m/s,
      rangeRepo size: 4

2025-01-09T05:36:48.654Z,1736401008.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:48.805Z,1736401008.805 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.943409
2025-01-09T05:36:49.056Z,1736401009.056 [DAT](INFO): DAT read: Rx Time:05:36:47.7708 

2025-01-09T05:36:49.056Z,1736401009.056 [DAT](INFO): Rx dataTimestamp_ set to:1736401009.056014
2025-01-09T05:36:49.057Z,1736401009.057 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed -0.1

2025-01-09T05:36:49.058Z,1736401009.058 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-01-09T05:36:49.059Z,1736401009.059 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=49.197975
2025-01-09T05:36:49.104Z,1736401009.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:49.129Z,1736401009.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.503996 s,
      deltaX: 0.200000 m,
      approachRate: 0.396828 m/s,
      rangeRepo size: 4

2025-01-09T05:36:49.130Z,1736401009.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:49.312Z,1736401009.312 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=49.450447
2025-01-09T05:36:49.444Z,1736401009.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:49.453Z,1736401009.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:49.560Z,1736401009.560 [DAT](INFO): DAT read: Rx Time:05:36:48.2708 

2025-01-09T05:36:49.560Z,1736401009.560 [DAT](INFO): Rx dataTimestamp_ set to:1736401009.560002
2025-01-09T05:36:49.562Z,1736401009.562 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed -0.2

2025-01-09T05:36:49.563Z,1736401009.563 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-01-09T05:36:49.565Z,1736401009.565 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.703220
2025-01-09T05:36:49.824Z,1736401009.824 [DAT](INFO): DAT read: Rx Time:05:36:48.7708 

2025-01-09T05:36:49.824Z,1736401009.824 [DAT](INFO): Rx dataTimestamp_ set to:1736401009.823908
2025-01-09T05:36:49.825Z,1736401009.825 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-01-09T05:36:49.826Z,1736401009.826 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-01-09T05:36:49.827Z,1736401009.827 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.965858
2025-01-09T05:36:49.876Z,1736401009.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:49.898Z,1736401009.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.767894 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:49.903Z,1736401009.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:50.064Z,1736401010.064 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=50.202576
2025-01-09T05:36:50.279Z,1736401010.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:50.299Z,1736401010.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:50.320Z,1736401010.320 [DAT](INFO): DAT read: Rx Time:05:36:49.2708 

2025-01-09T05:36:50.321Z,1736401010.321 [DAT](INFO): Rx dataTimestamp_ set to:1736401010.320355
2025-01-09T05:36:50.324Z,1736401010.324 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=50.462173
2025-01-09T05:36:50.568Z,1736401010.568 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-01-09T05:36:50.569Z,1736401010.569 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-01-09T05:36:50.571Z,1736401010.571 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.709278
2025-01-09T05:36:50.725Z,1736401010.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:50.744Z,1736401010.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.743193 s,
      deltaX: -0.200000 m,
      approachRate: -0.269109 m/s,
      rangeRepo size: 4

2025-01-09T05:36:50.745Z,1736401010.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:50.824Z,1736401010.824 [DAT](INFO): DAT read: Rx Time:05:36:49.7708 

2025-01-09T05:36:50.824Z,1736401010.824 [DAT](INFO): Rx dataTimestamp_ set to:1736401010.824176
2025-01-09T05:36:50.826Z,1736401010.826 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-01-09T05:36:50.826Z,1736401010.826 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-01-09T05:36:50.828Z,1736401010.828 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.966930
2025-01-09T05:36:51.072Z,1736401011.072 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=51.210571
2025-01-09T05:36:51.205Z,1736401011.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:51.216Z,1736401011.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.257075 s,
      deltaX: 0.200000 m,
      approachRate: 0.777982 m/s,
      rangeRepo size: 4

2025-01-09T05:36:51.216Z,1736401011.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:51.325Z,1736401011.325 [DAT](INFO): DAT read: Rx Time:05:36:50.2708 

2025-01-09T05:36:51.326Z,1736401011.326 [DAT](INFO): Rx dataTimestamp_ set to:1736401011.325328
2025-01-09T05:36:51.327Z,1736401011.327 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-01-09T05:36:51.327Z,1736401011.327 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-01-09T05:36:51.328Z,1736401011.328 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.467274
2025-01-09T05:36:51.576Z,1736401011.576 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.714386
2025-01-09T05:36:51.592Z,1736401011.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:51.602Z,1736401011.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.501152 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:51.602Z,1736401011.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:51.828Z,1736401011.828 [DAT](INFO): DAT read: Rx Time:05:36:50.7709 

2025-01-09T05:36:51.828Z,1736401011.828 [DAT](INFO): Rx dataTimestamp_ set to:1736401011.828021
2025-01-09T05:36:51.829Z,1736401011.829 [DAT](INFO): DAT read: Range 10 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-01-09T05:36:51.830Z,1736401011.830 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-01-09T05:36:51.832Z,1736401011.832 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.970470
2025-01-09T05:36:52.002Z,1736401012.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:52.070Z,1736401012.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.502693 s,
      deltaX: 0.099999 m,
      approachRate: 0.198927 m/s,
      rangeRepo size: 4

2025-01-09T05:36:52.076Z,1736401012.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:52.082Z,1736401012.082 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=52.220631
2025-01-09T05:36:52.333Z,1736401012.333 [DAT](INFO): DAT read: Rx Time:05:36:51.2708 

2025-01-09T05:36:52.333Z,1736401012.333 [DAT](INFO): Rx dataTimestamp_ set to:1736401012.332739
2025-01-09T05:36:52.335Z,1736401012.335 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-01-09T05:36:52.336Z,1736401012.336 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-01-09T05:36:52.336Z,1736401012.336 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.475304
2025-01-09T05:36:52.456Z,1736401012.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:52.467Z,1736401012.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.504718 s,
      deltaX: -0.099999 m,
      approachRate: -0.198129 m/s,
      rangeRepo size: 4

2025-01-09T05:36:52.468Z,1736401012.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:52.584Z,1736401012.584 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.722549
2025-01-09T05:36:52.840Z,1736401012.840 [DAT](INFO): DAT read: Rx Time:05:36:51.7708 

2025-01-09T05:36:52.842Z,1736401012.842 [DAT](INFO): Rx dataTimestamp_ set to:1736401012.840914
2025-01-09T05:36:52.846Z,1736401012.846 [DAT](INFO): DAT read: Bearing 198.0,   4.4 (Local)

2025-01-09T05:36:52.847Z,1736401012.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.0,   4.4 (Local)

2025-01-09T05:36:52.858Z,1736401012.858 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-01-09T05:36:52.862Z,1736401012.862 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-01-09T05:36:52.869Z,1736401012.869 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=53.007915
2025-01-09T05:36:52.952Z,1736401012.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:52.961Z,1736401012.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.508175 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:52.961Z,1736401012.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-01-09T05:36:53.092Z,1736401013.092 [DAT](INFO): DAT read: 05:36:51.7708 LVL= 32752, 23537, 19570, 32755, AGC= 52, IDX= 513, 0.15, 1.038, 3.041, 1.854, 1.933, PHS=-0.807, 1.155,-0.081, RAW= 308.5,  -3.1, CAL= 312.0,  -4.4, ROT= 198.0,   4.4

2025-01-09T05:36:53.093Z,1736401013.093 [DAT](INFO): got valid direction response:
 05:36:51.7708 LVL= 32752, 23537, 19570, 32755, AGC= 52, IDX= 513, 0.15, 1.038, 3.041, 1.854, 1.933, PHS=-0.807, 1.155,-0.081, RAW= 308.5,  -3.1, CAL= 312.0,  -4.4, ROT= 198.0,   4.4

2025-01-09T05:36:53.093Z,1736401013.093 [DAT](INFO): #Rx 102: Read direction message, but no range.
2025-01-09T05:36:53.094Z,1736401013.094 [DAT](INFO): direction in FSK: [-0.948254,-0.308106,-0.076719]
2025-01-09T05:36:53.101Z,1736401013.101 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.238697
2025-01-09T05:36:53.343Z,1736401013.343 [DAT](INFO): DAT read: Rx Time:05:36:52.2708 

2025-01-09T05:36:53.345Z,1736401013.345 [DAT](INFO): Rx dataTimestamp_ set to:1736401013.343785
2025-01-09T05:36:53.349Z,1736401013.349 [DAT](INFO): DAT read: Bearing 218.5, -12.7 (Local)

2025-01-09T05:36:53.350Z,1736401013.350 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.5, -12.7 (Local)

2025-01-09T05:36:53.357Z,1736401013.357 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-01-09T05:36:53.369Z,1736401013.369 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-01-09T05:36:53.374Z,1736401013.374 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.509251
2025-01-09T05:36:53.512Z,1736401013.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:53.527Z,1736401013.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.502871 s,
      deltaX: -0.200000 m,
      approachRate: -0.397716 m/s,
      rangeRepo size: 4

2025-01-09T05:36:53.529Z,1736401013.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.600000 m,
      bearing: 59.544909 deg,
      lat: 36.903990 deg,
      lon: -122.118940 deg,
      deltaT: 7.831333 s,
      deltaX: 0.100000 m,
      approachRate: 0.012769 m/s,
      posRepo size: 4

2025-01-09T05:36:53.529Z,1736401013.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:53.599Z,1736401013.599 [DAT](INFO): DAT read: 05:36:52.2708 LVL= 32752, 23409, 16690, 32755, AGC= 51, IDX= 512, 0.08,-1.209, 0.569, 0.080, 0.067, PHS=-1.187, 0.549, 0.011, RAW= 287.6,   8.2, CAL= 291.5,  12.7, ROT= 218.5, -12.7

2025-01-09T05:36:53.601Z,1736401013.601 [DAT](INFO): got valid direction response:
 05:36:52.2708 LVL= 32752, 23409, 16690, 32755, AGC= 51, IDX= 512, 0.08,-1.209, 0.569, 0.080, 0.067, PHS=-1.187, 0.549, 0.011, RAW= 287.6,   8.2, CAL= 291.5,  12.7, ROT= 218.5, -12.7

2025-01-09T05:36:53.601Z,1736401013.601 [DAT](INFO): #Rx 104: Read direction message, but no range.
2025-01-09T05:36:53.604Z,1736401013.604 [DAT](INFO): direction in FSK: [-0.763461,-0.607285,0.219846]
2025-01-09T05:36:53.612Z,1736401013.612 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.750847
2025-01-09T05:36:53.832Z,1736401013.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:53.841Z,1736401013.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:53.844Z,1736401013.844 [DAT](INFO): DAT read: Rx Time:05:36:52.7708 

2025-01-09T05:36:53.845Z,1736401013.845 [DAT](INFO): Rx dataTimestamp_ set to:1736401013.844257
2025-01-09T05:36:53.846Z,1736401013.846 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-01-09T05:36:53.846Z,1736401013.846 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-01-09T05:36:53.848Z,1736401013.848 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=53.986191
2025-01-09T05:36:54.100Z,1736401014.100 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.237858
2025-01-09T05:36:54.264Z,1736401014.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:54.292Z,1736401014.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.500472 s,
      deltaX: 0.200000 m,
      approachRate: 0.399622 m/s,
      rangeRepo size: 4

2025-01-09T05:36:54.293Z,1736401014.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:54.353Z,1736401014.353 [DAT](INFO): DAT read: Rx Time:05:36:53.2708 

2025-01-09T05:36:54.355Z,1736401014.355 [DAT](INFO): Rx dataTimestamp_ set to:1736401014.353711
2025-01-09T05:36:54.361Z,1736401014.361 [DAT](INFO): DAT read: Bearing 218.3, -21.7 (Local)

2025-01-09T05:36:54.363Z,1736401014.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.3, -21.7 (Local)

2025-01-09T05:36:54.400Z,1736401014.400 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-01-09T05:36:54.424Z,1736401014.424 [DAT](INFO): DAT read: 05:36:53.2708 LVL= 30496, 22353, 16370, 32755, AGC= 51, IDX= 512,-0.15,-1.771,-0.296,-0.663,-0.550, PHS=-1.132, 0.301,-0.116, RAW= 286.4,  14.7, CAL= 291.7,  21.7, ROT= 218.3, -21.7

2025-01-09T05:36:54.426Z,1736401014.426 [DAT](INFO): got valid direction response:
 05:36:53.2708 LVL= 30496, 22353, 16370, 32755, AGC= 51, IDX= 512,-0.15,-1.771,-0.296,-0.663,-0.550, PHS=-1.132, 0.301,-0.116, RAW= 286.4,  14.7, CAL= 291.7,  21.7, ROT= 218.3, -21.7

2025-01-09T05:36:54.426Z,1736401014.426 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-01-09T05:36:54.432Z,1736401014.432 [DAT](INFO): direction in FSK: [-0.729161,-0.575857,0.369747]
2025-01-09T05:36:54.432Z,1736401014.432 [DAT](INFO): publishing direction and range info
2025-01-09T05:36:54.441Z,1736401014.441 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.579395
2025-01-09T05:36:54.600Z,1736401014.600 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.738644
2025-01-09T05:36:54.781Z,1736401014.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:54.796Z,1736401014.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.509454 s,
      deltaX: -0.200000 m,
      approachRate: -0.392577 m/s,
      rangeRepo size: 4

2025-01-09T05:36:54.799Z,1736401014.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.600000 m,
      bearing: 83.867383 deg,
      lat: 36.903951 deg,
      lon: -122.118940 deg,
      deltaT: 1.009926 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T05:36:54.800Z,1736401014.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:54.853Z,1736401014.853 [DAT](INFO): DAT read: Rx Time:05:36:53.7708 

2025-01-09T05:36:54.853Z,1736401014.853 [DAT](INFO): Rx dataTimestamp_ set to:1736401014.852954
2025-01-09T05:36:54.856Z,1736401014.856 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-01-09T05:36:54.857Z,1736401014.857 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-01-09T05:36:54.858Z,1736401014.858 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.996716
2025-01-09T05:36:55.107Z,1736401015.107 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.244865
2025-01-09T05:36:55.216Z,1736401015.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:55.234Z,1736401015.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.499243 s,
      deltaX: 0.200000 m,
      approachRate: 0.400606 m/s,
      rangeRepo size: 4

2025-01-09T05:36:55.234Z,1736401015.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:55.361Z,1736401015.361 [DAT](INFO): DAT read: Rx Time:05:36:54.2708 

2025-01-09T05:36:55.364Z,1736401015.364 [DAT](INFO): Rx dataTimestamp_ set to:1736401015.361728
2025-01-09T05:36:55.368Z,1736401015.368 [DAT](INFO): DAT read: Bearing 199.7, -20.9 (Local)

2025-01-09T05:36:55.369Z,1736401015.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.7, -20.9 (Local)

2025-01-09T05:36:55.372Z,1736401015.372 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-01-09T05:36:55.389Z,1736401015.389 [DAT](INFO): DAT read: 05:36:54.2708 LVL= 32752, 22849, 18498, 32755, AGC= 50, IDX= 512,-0.37,-2.543,-0.953,-1.828,-1.421, PHS=-1.034, 0.515,-0.410, RAW= 306.4,  13.7, CAL= 310.3,  20.9, ROT= 199.7, -20.9

2025-01-09T05:36:55.390Z,1736401015.390 [DAT](INFO): got valid direction response:
 05:36:54.2708 LVL= 32752, 22849, 18498, 32755, AGC= 50, IDX= 512,-0.37,-2.543,-0.953,-1.828,-1.421, PHS=-1.034, 0.515,-0.410, RAW= 306.4,  13.7, CAL= 310.3,  20.9, ROT= 199.7, -20.9

2025-01-09T05:36:55.390Z,1736401015.390 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-01-09T05:36:55.400Z,1736401015.400 [DAT](INFO): direction in FSK: [-0.879526,-0.314916,0.356738]
2025-01-09T05:36:55.401Z,1736401015.401 [DAT](INFO): publishing direction and range info
2025-01-09T05:36:55.424Z,1736401015.424 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.562370
2025-01-09T05:36:55.608Z,1736401015.608 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.746670
2025-01-09T05:36:55.625Z,1736401015.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:55.639Z,1736401015.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.508774 s,
      deltaX: -0.200000 m,
      approachRate: -0.393101 m/s,
      rangeRepo size: 4

2025-01-09T05:36:55.641Z,1736401015.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.600000 m,
      bearing: 65.477835 deg,
      lat: 36.903990 deg,
      lon: -122.118949 deg,
      deltaT: 1.008017 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T05:36:55.642Z,1736401015.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:55.860Z,1736401015.860 [DAT](INFO): DAT read: Rx Time:05:36:54.7708 

2025-01-09T05:36:55.860Z,1736401015.860 [DAT](INFO): Rx dataTimestamp_ set to:1736401015.859881
2025-01-09T05:36:55.861Z,1736401015.861 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-01-09T05:36:55.862Z,1736401015.862 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-01-09T05:36:55.863Z,1736401015.863 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.001831
2025-01-09T05:36:56.024Z,1736401016.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:56.056Z,1736401016.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.498153 s,
      deltaX: 0.200000 m,
      approachRate: 0.401483 m/s,
      rangeRepo size: 4

2025-01-09T05:36:56.057Z,1736401016.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:56.117Z,1736401016.117 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.255684
2025-01-09T05:36:56.366Z,1736401016.366 [DAT](INFO): DAT read: Rx Time:05:36:55.2707 

2025-01-09T05:36:56.367Z,1736401016.367 [DAT](INFO): Rx dataTimestamp_ set to:1736401016.365982
2025-01-09T05:36:56.369Z,1736401016.369 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-01-09T05:36:56.371Z,1736401016.371 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-01-09T05:36:56.373Z,1736401016.373 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.511536
2025-01-09T05:36:56.584Z,1736401016.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:56.602Z,1736401016.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.506101 s,
      deltaX: -0.300000 m,
      approachRate: -0.592767 m/s,
      rangeRepo size: 4

2025-01-09T05:36:56.602Z,1736401016.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:56.617Z,1736401016.617 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.755203
2025-01-09T05:36:56.868Z,1736401016.868 [DAT](INFO): DAT read: Rx Time:05:36:55.7707 

2025-01-09T05:36:56.868Z,1736401016.868 [DAT](INFO): Rx dataTimestamp_ set to:1736401016.868196
2025-01-09T05:36:56.870Z,1736401016.870 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-01-09T05:36:56.870Z,1736401016.870 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-01-09T05:36:56.871Z,1736401016.871 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.010136
2025-01-09T05:36:56.999Z,1736401016.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:57.009Z,1736401017.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.502214 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:57.009Z,1736401017.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:57.124Z,1736401017.124 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.262409
2025-01-09T05:36:57.372Z,1736401017.372 [DAT](INFO): DAT read: Rx Time:05:36:56.2706 

2025-01-09T05:36:57.372Z,1736401017.372 [DAT](INFO): Rx dataTimestamp_ set to:1736401017.372014
2025-01-09T05:36:57.373Z,1736401017.373 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-01-09T05:36:57.374Z,1736401017.374 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-01-09T05:36:57.375Z,1736401017.375 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.514000
2025-01-09T05:36:57.458Z,1736401017.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:57.481Z,1736401017.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503818 s,
      deltaX: -0.200000 m,
      approachRate: -0.396968 m/s,
      rangeRepo size: 4

2025-01-09T05:36:57.482Z,1736401017.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:57.624Z,1736401017.624 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.762527
2025-01-09T05:36:57.876Z,1736401017.876 [DAT](INFO): DAT read: Rx Time:05:36:56.7708 

2025-01-09T05:36:57.876Z,1736401017.876 [DAT](INFO): Rx dataTimestamp_ set to:1736401017.876027
2025-01-09T05:36:57.877Z,1736401017.877 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-01-09T05:36:57.878Z,1736401017.878 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-01-09T05:36:57.879Z,1736401017.879 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.018051
2025-01-09T05:36:57.922Z,1736401017.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:57.956Z,1736401017.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.504013 s,
      deltaX: 0.300000 m,
      approachRate: 0.595223 m/s,
      rangeRepo size: 4

2025-01-09T05:36:57.956Z,1736401017.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:58.132Z,1736401018.132 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.269905
2025-01-09T05:36:58.346Z,1736401018.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:58.354Z,1736401018.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:58.380Z,1736401018.380 [DAT](INFO): DAT read: Rx Time:05:36:57.2708 

2025-01-09T05:36:58.380Z,1736401018.380 [DAT](INFO): Rx dataTimestamp_ set to:1736401018.379934
2025-01-09T05:36:58.381Z,1736401018.381 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed -0.1

2025-01-09T05:36:58.382Z,1736401018.382 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-01-09T05:36:58.383Z,1736401018.383 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.521893
2025-01-09T05:36:58.632Z,1736401018.632 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.771198
2025-01-09T05:36:58.703Z,1736401018.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:58.712Z,1736401018.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.503907 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:36:58.713Z,1736401018.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-01-09T05:36:58.885Z,1736401018.885 [DAT](INFO): DAT read: Rx Time:05:36:57.7708 

2025-01-09T05:36:58.886Z,1736401018.886 [DAT](INFO): Rx dataTimestamp_ set to:1736401018.885216
2025-01-09T05:36:58.888Z,1736401018.888 [DAT](INFO): DAT read: Bearing 210.6,   0.6 (Local)

2025-01-09T05:36:58.888Z,1736401018.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.6,   0.6 (Local)

2025-01-09T05:36:58.891Z,1736401018.891 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed -0.1

2025-01-09T05:36:58.897Z,1736401018.897 [DAT](INFO): DAT read: 05:36:57.7708 LVL= 29584, 32049, 18354, 32755, AGC= 55, IDX= 512, 0.49,-1.408, 1.038, 0.000,-0.084, PHS=-1.235, 1.170, 0.081, RAW= 296.9,  -0.1, CAL= 299.4,  -0.6, ROT= 210.6,   0.6

2025-01-09T05:36:58.903Z,1736401018.903 [DAT](INFO): got valid direction response:
 05:36:57.7708 LVL= 29584, 32049, 18354, 32755, AGC= 55, IDX= 512, 0.49,-1.408, 1.038, 0.000,-0.084, PHS=-1.235, 1.170, 0.081, RAW= 296.9,  -0.1, CAL= 299.4,  -0.6, ROT= 210.6,   0.6

2025-01-09T05:36:58.904Z,1736401018.904 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-01-09T05:36:58.905Z,1736401018.905 [DAT](INFO): direction in FSK: [-0.860695,-0.509014,-0.010472]
2025-01-09T05:36:58.905Z,1736401018.905 [DAT](INFO): publishing direction and range info
2025-01-09T05:36:58.932Z,1736401018.932 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.071064
2025-01-09T05:36:59.095Z,1736401019.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:59.139Z,1736401019.139 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.277306
2025-01-09T05:36:59.180Z,1736401019.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.505282 s,
      deltaX: 0.200000 m,
      approachRate: 0.395818 m/s,
      rangeRepo size: 4

2025-01-09T05:36:59.187Z,1736401019.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.800000 m,
      bearing: 71.048518 deg,
      lat: 36.903983 deg,
      lon: -122.118949 deg,
      deltaT: 3.523488 s,
      deltaX: 0.200000 m,
      approachRate: 0.056762 m/s,
      posRepo size: 4

2025-01-09T05:36:59.188Z,1736401019.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-01-09T05:36:59.389Z,1736401019.389 [DAT](INFO): DAT read: Rx Time:05:36:58.2708 

2025-01-09T05:36:59.389Z,1736401019.389 [DAT](INFO): Rx dataTimestamp_ set to:1736401019.388813
2025-01-09T05:36:59.391Z,1736401019.391 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-01-09T05:36:59.392Z,1736401019.392 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-01-09T05:36:59.394Z,1736401019.394 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.532108
2025-01-09T05:36:59.604Z,1736401019.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:36:59.613Z,1736401019.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.503597 s,
      deltaX: -0.200000 m,
      approachRate: -0.397143 m/s,
      rangeRepo size: 4

2025-01-09T05:36:59.614Z,1736401019.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-01-09T05:36:59.640Z,1736401019.640 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.778454
2025-01-09T05:36:59.892Z,1736401019.892 [DAT](INFO): DAT read: Rx Time:05:36:58.7709 

2025-01-09T05:36:59.893Z,1736401019.893 [DAT](INFO): Rx dataTimestamp_ set to:1736401019.892321
2025-01-09T05:36:59.894Z,1736401019.894 [DAT](INFO): DAT read: Bearing 195.6,   2.7 (Local)

2025-01-09T05:36:59.894Z,1736401019.894 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.6,   2.7 (Local)

2025-01-09T05:36:59.896Z,1736401019.896 [DAT](INFO): DAT read: Range 10 to 50 :    15.9 m (trip time 10.6 ms) speed -0.1

2025-01-09T05:36:59.902Z,1736401019.902 [DAT](INFO): DAT read: 05:36:58.7709 LVL= 32752, 32753, 22706, 32755, AGC= 57, IDX= 513, 0.08,-1.950, 0.535,-1.056,-0.845, PHS=-1.016, 1.427,-0.213, RAW= 311.2,  -1.9, CAL= 314.4,  -2.7, ROT= 195.6,   2.7

2025-01-09T05:36:59.903Z,1736401019.903 [DAT](INFO): got valid direction response:
 05:36:58.7709 LVL= 32752, 32753, 22706, 32755, AGC= 57, IDX= 513, 0.08,-1.950, 0.535,-1.056,-0.845, PHS=-1.016, 1.427,-0.213, RAW= 311.2,  -1.9, CAL= 314.4,  -2.7, ROT= 195.6,   2.7

2025-01-09T05:36:59.903Z,1736401019.903 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-01-09T05:36:59.904Z,1736401019.904 [DAT](INFO): direction in FSK: [-0.962093,-0.268621,-0.047106]
2025-01-09T05:36:59.904Z,1736401019.904 [DAT](INFO): publishing direction and range info
2025-01-09T05:36:59.913Z,1736401019.913 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.051670
2025-01-09T05:37:00.026Z,1736401020.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:00.059Z,1736401020.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.503508 s,
      deltaX: 0.299999 m,
      approachRate: 0.595818 m/s,
      rangeRepo size: 4

2025-01-09T05:37:00.062Z,1736401020.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.900000 m,
      bearing: 55.643135 deg,
      lat: 36.903990 deg,
      lon: -122.118949 deg,
      deltaT: 1.007105 s,
      deltaX: 0.099999 m,
      approachRate: 0.099294 m/s,
      posRepo size: 4

2025-01-09T05:37:00.062Z,1736401020.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:00.147Z,1736401020.147 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.284973
2025-01-09T05:37:00.396Z,1736401020.396 [DAT](INFO): DAT read: Rx Time:05:36:59.2708 

2025-01-09T05:37:00.397Z,1736401020.397 [DAT](INFO): Rx dataTimestamp_ set to:1736401020.396251
2025-01-09T05:37:00.398Z,1736401020.398 [DAT](INFO): DAT read: Bearing 193.6,   7.8 (Local)

2025-01-09T05:37:00.398Z,1736401020.398 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.6,   7.8 (Local)

2025-01-09T05:37:00.401Z,1736401020.401 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed -0.1

2025-01-09T05:37:00.407Z,1736401020.407 [DAT](INFO): DAT read: 05:36:59.2708 LVL= 25776, 30785, 14882, 29971, AGC= 54, IDX= 512, 0.32,-1.604, 0.893,-0.760,-0.650, PHS=-0.866, 1.590,-0.113, RAW= 312.6,  -5.7, CAL= 316.4,  -7.8, ROT= 193.6,   7.8

2025-01-09T05:37:00.408Z,1736401020.408 [DAT](INFO): got valid direction response:
 05:36:59.2708 LVL= 25776, 30785, 14882, 29971, AGC= 54, IDX= 512, 0.32,-1.604, 0.893,-0.760,-0.650, PHS=-0.866, 1.590,-0.113, RAW= 312.6,  -5.7, CAL= 316.4,  -7.8, ROT= 193.6,   7.8

2025-01-09T05:37:00.408Z,1736401020.408 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-01-09T05:37:00.409Z,1736401020.409 [DAT](INFO): direction in FSK: [-0.962968,-0.232967,-0.135716]
2025-01-09T05:37:00.409Z,1736401020.409 [DAT](INFO): publishing direction and range info
2025-01-09T05:37:00.413Z,1736401020.413 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.551922
2025-01-09T05:37:00.579Z,1736401020.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:00.610Z,1736401020.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.503930 s,
      deltaX: -0.099999 m,
      approachRate: -0.198439 m/s,
      rangeRepo size: 4

2025-01-09T05:37:00.617Z,1736401020.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.800000 m,
      bearing: 52.748023 deg,
      lat: 36.903990 deg,
      lon: -122.118950 deg,
      deltaT: 0.503930 s,
      deltaX: -0.099999 m,
      approachRate: -0.198439 m/s,
      posRepo size: 4

2025-01-09T05:37:00.617Z,1736401020.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-01-09T05:37:00.649Z,1736401020.649 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.787888
2025-01-09T05:37:00.900Z,1736401020.900 [DAT](INFO): DAT read: Rx Time:05:36:59.7708 

2025-01-09T05:37:00.900Z,1736401020.900 [DAT](INFO): Rx dataTimestamp_ set to:1736401020.900070
2025-01-09T05:37:00.901Z,1736401020.901 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed -0.1

2025-01-09T05:37:00.902Z,1736401020.902 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-01-09T05:37:00.903Z,1736401020.903 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.042057
2025-01-09T05:37:01.028Z,1736401021.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:01.045Z,1736401021.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.503819 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:37:01.046Z,1736401021.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-01-09T05:37:01.155Z,1736401021.155 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.293144
2025-01-09T05:37:01.404Z,1736401021.404 [DAT](INFO): DAT read: Rx Time:05:37:00.2708 

2025-01-09T05:37:01.404Z,1736401021.404 [DAT](INFO): Rx dataTimestamp_ set to:1736401021.403993
2025-01-09T05:37:01.405Z,1736401021.405 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed -0.1

2025-01-09T05:37:01.406Z,1736401021.406 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-01-09T05:37:01.407Z,1736401021.407 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:37:01.407Z,1736401021.407 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:37:01.407Z,1736401021.407 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:37:01.462Z,1736401021.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:01.490Z,1736401021.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.503923 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:37:01.495Z,1736401021.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-01-09T05:37:01.655Z,1736401021.655 [DAT](INFO): Reached modem response timeout
2025-01-09T05:37:01.656Z,1736401021.656 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:37:01.656Z,1736401021.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:37:01.872Z,1736401021.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:01.890Z,1736401021.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-01-09T05:37:01.908Z,1736401021.908 [DAT](INFO): DAT read: Rx Time:05:37:00.7709 

2025-01-09T05:37:01.909Z,1736401021.909 [DAT](INFO): Rx dataTimestamp_ set to:1736401021.908461
2025-01-09T05:37:01.910Z,1736401021.910 [DAT](INFO): DAT read: Bearing 199.6,   6.6 (Local)

2025-01-09T05:37:01.910Z,1736401021.910 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.6,   6.6 (Local)

2025-01-09T05:37:01.913Z,1736401021.913 [DAT](INFO): DAT read: Range 10 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-01-09T05:37:01.919Z,1736401021.919 [DAT](INFO): DAT read: 05:37:00.7709 LVL= 24560, 32753, 13746, 27747, AGC= 52, IDX= 514,-0.43,-1.355, 0.830,-0.406,-0.412, PHS=-0.855, 1.289, 0.003, RAW= 306.6,  -4.7, CAL= 310.4,  -6.6, ROT= 199.6,   6.6

2025-01-09T05:37:01.920Z,1736401021.920 [DAT](INFO): got valid direction response:
 05:37:00.7709 LVL= 24560, 32753, 13746, 27747, AGC= 52, IDX= 514,-0.43,-1.355, 0.830,-0.406,-0.412, PHS=-0.855, 1.289, 0.003, RAW= 306.6,  -4.7, CAL= 310.4,  -6.6, ROT= 199.6,   6.6

2025-01-09T05:37:01.920Z,1736401021.920 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:37:01.921Z,1736401021.921 [DAT](INFO): direction in FSK: [-0.935814,-0.333229,-0.114937]
2025-01-09T05:37:01.922Z,1736401021.922 [DAT](INFO): publishing direction and range info
2025-01-09T05:37:01.925Z,1736401021.925 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:37:01.925Z,1736401021.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:37:01.927Z,1736401021.927 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:37:02.160Z,1736401022.160 [DAT](INFO): Reached modem response timeout
2025-01-09T05:37:02.161Z,1736401022.161 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:37:02.161Z,1736401022.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:37:02.310Z,1736401022.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:02.325Z,1736401022.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.504468 s,
      deltaX: 0.099999 m,
      approachRate: 0.198227 m/s,
      rangeRepo size: 4

2025-01-09T05:37:02.328Z,1736401022.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.900000 m,
      bearing: 58.085758 deg,
      lat: 36.904013 deg,
      lon: -122.118957 deg,
      deltaT: 1.512210 s,
      deltaX: 0.099999 m,
      approachRate: 0.066128 m/s,
      posRepo size: 4

2025-01-09T05:37:02.328Z,1736401022.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:02.412Z,1736401022.412 [DAT](INFO): DAT read: user:125>

2025-01-09T05:37:02.412Z,1736401022.412 [DAT](INFO): Reached modem response timeout
2025-01-09T05:37:02.412Z,1736401022.412 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:37:02.413Z,1736401022.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:37:02.664Z,1736401022.664 [DAT](INFO): DAT read: Command 'r50' not found

2025-01-09T05:37:02.665Z,1736401022.665 [DAT](INFO): unknown deviceResponse_: Command 'r50' not found

2025-01-09T05:37:02.665Z,1736401022.665 [DAT](INFO): DAT read: Error

2025-01-09T05:37:02.666Z,1736401022.666 [DAT](INFO): unknown deviceResponse_: Error

2025-01-09T05:37:02.666Z,1736401022.666 [DAT](INFO): DAT read: user:126>

2025-01-09T05:37:02.667Z,1736401022.667 [DAT](INFO): DAT read: Tx time:05:37:01.7742

2025-01-09T05:37:02.667Z,1736401022.667 [DAT](INFO): Ping request sent.
2025-01-09T05:37:02.667Z,1736401022.667 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:37:02.668Z,1736401022.668 [DAT](INFO): DAT read: TxSync time:05:37:01.7734

2025-01-09T05:37:02.668Z,1736401022.668 [DAT](INFO): publishing transmit ping time
2025-01-09T05:37:02.669Z,1736401022.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001500
2025-01-09T05:37:02.742Z,1736401022.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:02.780Z,1736401022.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:02.916Z,1736401022.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248556
2025-01-09T05:37:02.933Z,1736401022.933 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:37:03.172Z,1736401023.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503897
2025-01-09T05:37:03.269Z,1736401023.269 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010821380830,35.0, +10.9,   0.0,149
2025-01-09T05:37:03.277Z,1736401023.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T05:37:03.277Z,1736401023.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:03.287Z,1736401023.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:03.420Z,1736401023.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752090
2025-01-09T05:37:03.582Z,1736401023.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:37:03.582Z,1736401023.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:03.593Z,1736401023.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:03.672Z,1736401023.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004107
2025-01-09T05:37:03.927Z,1736401023.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259314
2025-01-09T05:37:03.974Z,1736401023.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:37:03.974Z,1736401023.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:03.985Z,1736401023.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:04.178Z,1736401024.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510464
2025-01-09T05:37:04.428Z,1736401024.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760533
2025-01-09T05:37:04.429Z,1736401024.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:04.440Z,1736401024.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:04.680Z,1736401024.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012638
2025-01-09T05:37:04.796Z,1736401024.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:04.806Z,1736401024.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:04.933Z,1736401024.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265502
2025-01-09T05:37:05.184Z,1736401025.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516138
2025-01-09T05:37:05.291Z,1736401025.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:05.313Z,1736401025.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:05.438Z,1736401025.438 [DAT](INFO): DAT read: Rx Time:05:37:04.2000

2025-01-09T05:37:05.439Z,1736401025.439 [DAT](INFO): Rx dataTimestamp_ set to:1736401025.437869
2025-01-09T05:37:05.440Z,1736401025.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772236
2025-01-09T05:37:05.688Z,1736401025.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020193
2025-01-09T05:37:05.694Z,1736401025.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:05.708Z,1736401025.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:05.943Z,1736401025.943 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m  (Round-trip  21.6 ms) speed  0.0 m/s

2025-01-09T05:37:05.944Z,1736401025.944 [DAT](INFO): DAT read: user:127>

2025-01-09T05:37:05.945Z,1736401025.945 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:37:06.128Z,1736401026.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:06.163Z,1736401026.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 4.032354 s,
      deltaX: 0.300001 m,
      approachRate: 0.074399 m/s,
      rangeRepo size: 4

2025-01-09T05:37:06.164Z,1736401026.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:06.193Z,1736401026.193 [DAT](INFO): DAT read: Tx time:05:37:05.2742

2025-01-09T05:37:06.194Z,1736401026.194 [DAT](INFO): Ping request sent.
2025-01-09T05:37:06.194Z,1736401026.194 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:37:06.195Z,1736401026.195 [DAT](INFO): DAT read: TxSync time:05:37:05.2735

2025-01-09T05:37:06.195Z,1736401026.195 [DAT](INFO): publishing transmit ping time
2025-01-09T05:37:06.562Z,1736401026.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:06.606Z,1736401026.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:06.000Z,1736401027.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:07.008Z,1736401027.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:07.423Z,1736401027.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:07.433Z,1736401027.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:07.805Z,1736401027.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:07.813Z,1736401027.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:08.251Z,1736401028.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:08.311Z,1736401028.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:08.735Z,1736401028.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:08.748Z,1736401028.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:08.965Z,1736401028.965 [DAT](INFO): DAT read: Rx Time:05:37:07.7001

2025-01-09T05:37:08.966Z,1736401028.966 [DAT](INFO): Rx dataTimestamp_ set to:1736401028.965289
2025-01-09T05:37:09.060Z,1736401029.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:09.077Z,1736401029.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:09.469Z,1736401029.469 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m  (Round-trip  21.7 ms) speed  0.0 m/s

2025-01-09T05:37:09.469Z,1736401029.469 [DAT](INFO): DAT read: user:128>

2025-01-09T05:37:09.470Z,1736401029.470 [DAT](INFO): DAT read: Tx time:05:37:08.7743

2025-01-09T05:37:09.470Z,1736401029.470 [DAT](INFO): Ping request sent.
2025-01-09T05:37:09.470Z,1736401029.470 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:37:09.471Z,1736401029.471 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-01-09T05:37:09.471Z,1736401029.471 [DAT](INFO): publishing transmit ping time
2025-01-09T05:37:09.472Z,1736401029.472 [DAT](INFO): publishing transmit ping time
2025-01-09T05:37:09.539Z,1736401029.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:09.557Z,1736401029.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 3.526357 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:37:09.557Z,1736401029.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:09.720Z,1736401029.720 [DAT](INFO): DAT read: TxSync time:05:37:08.7735

2025-01-09T05:37:09.842Z,1736401029.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:09.871Z,1736401029.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:10.249Z,1736401030.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:10.257Z,1736401030.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:10.769Z,1736401030.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:10.779Z,1736401030.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:11.125Z,1736401031.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:11.135Z,1736401031.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:11.546Z,1736401031.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:11.564Z,1736401031.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:11.967Z,1736401031.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:11.976Z,1736401031.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:12.447Z,1736401032.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:12.473Z,1736401032.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:12.492Z,1736401032.492 [DAT](INFO): DAT read: Rx Time:05:37:11.1997

2025-01-09T05:37:12.492Z,1736401032.492 [DAT](INFO): Rx dataTimestamp_ set to:1736401032.491925
2025-01-09T05:37:12.803Z,1736401032.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:12.813Z,1736401032.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:12.996Z,1736401032.996 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m  (Round-trip  21.2 ms) speed  0.0 m/s

2025-01-09T05:37:12.998Z,1736401032.998 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-01-09T05:37:13.221Z,1736401033.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:13.230Z,1736401033.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 3.527920 s,
      deltaX: -0.300001 m,
      approachRate: -0.085036 m/s,
      rangeRepo size: 4

2025-01-09T05:37:13.231Z,1736401033.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:13.734Z,1736401033.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:13.747Z,1736401033.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:14.152Z,1736401034.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:14.161Z,1736401034.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:14.591Z,1736401034.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:14.601Z,1736401034.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:14.956Z,1736401034.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:14.966Z,1736401034.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:15.449Z,1736401035.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:15.457Z,1736401035.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:15.844Z,1736401035.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:15.853Z,1736401035.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:16.251Z,1736401036.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:16.259Z,1736401036.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:16.677Z,1736401036.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:37:16.677Z,1736401036.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:16.686Z,1736401036.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:17.127Z,1736401037.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T05:37:17.128Z,1736401037.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:17.137Z,1736401037.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:17.556Z,1736401037.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:17.574Z,1736401037.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:17.970Z,1736401037.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:17.979Z,1736401037.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:18.374Z,1736401038.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:18.389Z,1736401038.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:18.817Z,1736401038.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:18.826Z,1736401038.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:19.183Z,1736401039.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:19.191Z,1736401039.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:19.612Z,1736401039.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:19.622Z,1736401039.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:20.016Z,1736401040.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:20.025Z,1736401040.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:20.404Z,1736401040.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:20.416Z,1736401040.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:20.838Z,1736401040.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:20.846Z,1736401040.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:21.260Z,1736401041.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:21.288Z,1736401041.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:21.715Z,1736401041.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:21.724Z,1736401041.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:22.126Z,1736401042.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:22.136Z,1736401042.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:22.584Z,1736401042.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:22.592Z,1736401042.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:22.969Z,1736401042.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:22.978Z,1736401042.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:23.360Z,1736401043.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:23.390Z,1736401043.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:23.804Z,1736401043.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:23.812Z,1736401043.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:24.208Z,1736401044.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:24.217Z,1736401044.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:24.637Z,1736401044.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:24.661Z,1736401044.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:25.068Z,1736401045.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:25.100Z,1736401045.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:25.490Z,1736401045.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:25.568Z,1736401045.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:25.907Z,1736401045.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:25.915Z,1736401045.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:26.271Z,1736401046.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:26.280Z,1736401046.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:26.732Z,1736401046.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:26.770Z,1736401046.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:27.159Z,1736401047.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:27.169Z,1736401047.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:27.629Z,1736401047.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:27.655Z,1736401047.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:28.063Z,1736401048.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:28.074Z,1736401048.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:28.461Z,1736401048.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:28.490Z,1736401048.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:28.904Z,1736401048.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:28.921Z,1736401048.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:29.322Z,1736401049.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:29.333Z,1736401049.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:29.753Z,1736401049.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:29.767Z,1736401049.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:30.152Z,1736401050.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:30.161Z,1736401050.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:30.542Z,1736401050.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:30.553Z,1736401050.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:31.023Z,1736401051.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:31.032Z,1736401051.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:31.425Z,1736401051.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:31.434Z,1736401051.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:31.836Z,1736401051.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:31.845Z,1736401051.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:32.211Z,1736401052.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:32.221Z,1736401052.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:32.650Z,1736401052.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:32.694Z,1736401052.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:33.071Z,1736401053.071 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:37:33.135Z,1736401053.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:33.148Z,1736401053.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:33.553Z,1736401053.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:33.563Z,1736401053.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:33.979Z,1736401053.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:33.987Z,1736401053.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:34.080Z,1736401054.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:37:34.352Z,1736401054.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:34.365Z,1736401054.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:34.822Z,1736401054.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:34.832Z,1736401054.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:35.220Z,1736401055.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:35.228Z,1736401055.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:35.612Z,1736401055.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:35.639Z,1736401055.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:36.112Z,1736401056.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:36.120Z,1736401056.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:36.521Z,1736401056.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:36.538Z,1736401056.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:36.925Z,1736401056.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:36.961Z,1736401056.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:37.304Z,1736401057.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:37.312Z,1736401057.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:37.783Z,1736401057.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:37.812Z,1736401057.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:38.239Z,1736401058.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:38.247Z,1736401058.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:38.650Z,1736401058.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:38.659Z,1736401058.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:39.074Z,1736401059.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:39.083Z,1736401059.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:39.473Z,1736401059.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:39.480Z,1736401059.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:37:39.483Z,1736401059.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:39.725Z,1736401059.725 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:37:39.727Z,1736401059.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:37:39.892Z,1736401059.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:39.902Z,1736401059.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:39.975Z,1736401059.975 [DAT](INFO): DAT read: user:129>

2025-01-09T05:37:39.976Z,1736401059.976 [DAT](INFO): DAT read: Tx time:05:37:39.1246

2025-01-09T05:37:39.977Z,1736401059.977 [DAT](INFO): Ping request sent.
2025-01-09T05:37:39.977Z,1736401059.977 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:37:39.977Z,1736401059.977 [DAT](INFO): publishing transmit ping time
2025-01-09T05:37:39.977Z,1736401059.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-01-09T05:37:40.229Z,1736401060.229 [DAT](INFO): DAT read: TxSync time:05:37:39.1238

2025-01-09T05:37:40.230Z,1736401060.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253040
2025-01-09T05:37:40.297Z,1736401060.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:40.318Z,1736401060.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:40.480Z,1736401060.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502856
2025-01-09T05:37:40.696Z,1736401060.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:40.705Z,1736401060.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:40.736Z,1736401060.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758680
2025-01-09T05:37:40.984Z,1736401060.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007099
2025-01-09T05:37:41.173Z,1736401061.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:41.186Z,1736401061.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:41.236Z,1736401061.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259478
2025-01-09T05:37:41.488Z,1736401061.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510928
2025-01-09T05:37:41.549Z,1736401061.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:41.578Z,1736401061.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:41.743Z,1736401061.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765769
2025-01-09T05:37:41.984Z,1736401061.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:41.992Z,1736401061.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015027
2025-01-09T05:37:41.994Z,1736401061.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:42.244Z,1736401062.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266876
2025-01-09T05:37:42.356Z,1736401062.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:42.385Z,1736401062.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:42.496Z,1736401062.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519066
2025-01-09T05:37:42.749Z,1736401062.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772290
2025-01-09T05:37:42.836Z,1736401062.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:42.850Z,1736401062.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:43.000Z,1736401063.000 [DAT](INFO): DAT read: Rx Time:05:37:41.5504

2025-01-09T05:37:43.001Z,1736401063.001 [DAT](INFO): Rx dataTimestamp_ set to:1736401063.000568
2025-01-09T05:37:43.001Z,1736401063.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024718
2025-01-09T05:37:43.260Z,1736401063.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283309
2025-01-09T05:37:43.329Z,1736401063.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:43.339Z,1736401063.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:43.512Z,1736401063.512 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m  (Round-trip  21.6 ms) speed  0.1 m/s

2025-01-09T05:37:43.513Z,1736401063.513 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:37:43.649Z,1736401063.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:43.661Z,1736401063.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 30.515907 s,
      deltaX: 0.300001 m,
      approachRate: 0.009831 m/s,
      rangeRepo size: 4

2025-01-09T05:37:43.662Z,1736401063.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:44.077Z,1736401064.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:44.087Z,1736401064.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:44.464Z,1736401064.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:44.492Z,1736401064.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:44.924Z,1736401064.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:44.941Z,1736401064.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:45.370Z,1736401065.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:45.386Z,1736401065.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:45.781Z,1736401065.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:45.826Z,1736401065.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:46.279Z,1736401066.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:46.296Z,1736401066.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:46.673Z,1736401066.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:46.701Z,1736401066.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:47.118Z,1736401067.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:47.126Z,1736401067.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:47.530Z,1736401067.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:47.550Z,1736401067.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:47.967Z,1736401067.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:47.976Z,1736401067.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:48.388Z,1736401068.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:48.427Z,1736401068.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:48.812Z,1736401068.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:48.844Z,1736401068.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:49.233Z,1736401069.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:49.244Z,1736401069.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:49.612Z,1736401069.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:49.622Z,1736401069.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:50.068Z,1736401070.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:50.076Z,1736401070.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:50.477Z,1736401070.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:50.487Z,1736401070.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:50.955Z,1736401070.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:50.973Z,1736401070.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:51.397Z,1736401071.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:51.431Z,1736401071.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:51.834Z,1736401071.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:51.843Z,1736401071.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:52.254Z,1736401072.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:52.263Z,1736401072.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:52.637Z,1736401072.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:52.646Z,1736401072.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:53.110Z,1736401073.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:53.120Z,1736401073.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:53.769Z,1736401073.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:53.820Z,1736401073.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:54.258Z,1736401074.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:54.269Z,1736401074.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:54.617Z,1736401074.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:54.625Z,1736401074.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:55.074Z,1736401075.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:55.088Z,1736401075.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:55.439Z,1736401075.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:55.453Z,1736401075.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:55.820Z,1736401075.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:55.834Z,1736401075.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:56.258Z,1736401076.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:56.287Z,1736401076.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:56.670Z,1736401076.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:56.695Z,1736401076.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:57.112Z,1736401077.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:57.122Z,1736401077.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:57.478Z,1736401077.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:57.490Z,1736401077.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:57.885Z,1736401077.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:57.894Z,1736401077.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:58.369Z,1736401078.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:58.378Z,1736401078.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:58.700Z,1736401078.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:58.724Z,1736401078.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:59.152Z,1736401079.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:59.161Z,1736401079.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:59.513Z,1736401079.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:59.525Z,1736401079.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:37:59.912Z,1736401079.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:37:59.922Z,1736401079.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:00.336Z,1736401080.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:00.366Z,1736401080.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:00.776Z,1736401080.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:00.785Z,1736401080.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:01.189Z,1736401081.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:01.199Z,1736401081.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:01.571Z,1736401081.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:01.584Z,1736401081.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:02.002Z,1736401082.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:02.037Z,1736401082.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:02.499Z,1736401082.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:02.517Z,1736401082.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:02.925Z,1736401082.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:02.938Z,1736401082.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:03.323Z,1736401083.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:03.357Z,1736401083.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:03.773Z,1736401083.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:03.783Z,1736401083.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:04.205Z,1736401084.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:04.211Z,1736401084.211 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:38:04.232Z,1736401084.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:04.614Z,1736401084.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:04.627Z,1736401084.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:05.035Z,1736401085.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:05.044Z,1736401085.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:05.215Z,1736401085.215 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:38:05.492Z,1736401085.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:05.507Z,1736401085.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:05.877Z,1736401085.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:05.915Z,1736401085.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:06.329Z,1736401086.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:06.339Z,1736401086.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:06.708Z,1736401086.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:06.717Z,1736401086.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:07.108Z,1736401087.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:07.117Z,1736401087.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:07.595Z,1736401087.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:07.635Z,1736401087.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:08.039Z,1736401088.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:08.049Z,1736401088.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:08.474Z,1736401088.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:08.484Z,1736401088.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:08.849Z,1736401088.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:08.862Z,1736401088.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:09.277Z,1736401089.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:09.311Z,1736401089.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:09.719Z,1736401089.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:09.728Z,1736401089.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:10.102Z,1736401090.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:10.111Z,1736401090.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:10.532Z,1736401090.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:10.541Z,1736401090.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:10.919Z,1736401090.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:10.944Z,1736401090.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:11.368Z,1736401091.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:11.377Z,1736401091.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:11.745Z,1736401091.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:11.759Z,1736401091.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:12.152Z,1736401092.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:12.161Z,1736401092.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:12.580Z,1736401092.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:12.589Z,1736401092.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:13.005Z,1736401093.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:13.029Z,1736401093.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:13.423Z,1736401093.423 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-01-09T05:38:13.423Z,1736401093.423 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-01-09T05:38:13.423Z,1736401093.423 [RDI_Pathfinder](ERROR): Communications Fault
2025-01-09T05:38:13.454Z,1736401093.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:38:13.454Z,1736401093.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:13.463Z,1736401093.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:13.659Z,1736401093.659 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-01-09T05:38:13.871Z,1736401093.871 [RDI_Pathfinder](INFO): Powering down
2025-01-09T05:38:13.885Z,1736401093.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T05:38:13.885Z,1736401093.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:13.894Z,1736401093.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:14.200Z,1736401094.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:38:14.200Z,1736401094.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:14.209Z,1736401094.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:14.603Z,1736401094.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-09T05:38:14.603Z,1736401094.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:14.612Z,1736401094.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:14.943Z,1736401094.943 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-01-09T05:38:14.943Z,1736401094.943 [RDI_Pathfinder] No Fault, FailCount= 1
2025-01-09T05:38:15.006Z,1736401095.006 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-01-09T05:38:15.014Z,1736401095.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-09T05:38:15.016Z,1736401095.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:15.024Z,1736401095.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:15.427Z,1736401095.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-09T05:38:15.427Z,1736401095.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:15.436Z,1736401095.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:15.814Z,1736401095.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-09T05:38:15.815Z,1736401095.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:15.832Z,1736401095.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:16.216Z,1736401096.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-09T05:38:16.216Z,1736401096.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:16.225Z,1736401096.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:16.625Z,1736401096.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-09T05:38:16.625Z,1736401096.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:16.636Z,1736401096.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:17.029Z,1736401097.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-09T05:38:17.029Z,1736401097.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:17.040Z,1736401097.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:17.427Z,1736401097.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.4 s old, using for 20.0 s.
2025-01-09T05:38:17.427Z,1736401097.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:17.453Z,1736401097.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:17.833Z,1736401097.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-09T05:38:17.833Z,1736401097.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:17.845Z,1736401097.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:18.237Z,1736401098.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-09T05:38:18.237Z,1736401098.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:18.270Z,1736401098.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:18.651Z,1736401098.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s.
2025-01-09T05:38:18.652Z,1736401098.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:18.660Z,1736401098.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:19.042Z,1736401099.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s.
2025-01-09T05:38:19.042Z,1736401099.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:19.069Z,1736401099.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:19.451Z,1736401099.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.4 s old, using for 20.0 s.
2025-01-09T05:38:19.452Z,1736401099.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:19.460Z,1736401099.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:19.867Z,1736401099.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-09T05:38:19.867Z,1736401099.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:19.879Z,1736401099.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:20.260Z,1736401100.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.3 s old, using for 20.0 s.
2025-01-09T05:38:20.260Z,1736401100.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:20.271Z,1736401100.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:20.675Z,1736401100.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.7 s old, using for 20.0 s.
2025-01-09T05:38:20.675Z,1736401100.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:20.689Z,1736401100.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:21.100Z,1736401101.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.1 s old, using for 20.0 s.
2025-01-09T05:38:21.101Z,1736401101.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:21.109Z,1736401101.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:21.485Z,1736401101.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-09T05:38:21.486Z,1736401101.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:21.511Z,1736401101.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:21.897Z,1736401101.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-09T05:38:21.898Z,1736401101.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:21.906Z,1736401101.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:22.299Z,1736401102.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-09T05:38:22.300Z,1736401102.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:22.308Z,1736401102.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:22.711Z,1736401102.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-09T05:38:22.711Z,1736401102.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:22.721Z,1736401102.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:23.101Z,1736401103.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-09T05:38:23.101Z,1736401103.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:23.110Z,1736401103.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:23.507Z,1736401103.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s.
2025-01-09T05:38:23.508Z,1736401103.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:23.517Z,1736401103.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:23.911Z,1736401103.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.9 s old, using for 20.0 s.
2025-01-09T05:38:23.911Z,1736401103.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:23.924Z,1736401103.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:24.332Z,1736401104.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.3 s old, using for 20.0 s.
2025-01-09T05:38:24.332Z,1736401104.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:24.342Z,1736401104.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:24.743Z,1736401104.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.7 s old, using for 20.0 s.
2025-01-09T05:38:24.743Z,1736401104.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:24.757Z,1736401104.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:25.120Z,1736401105.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.1 s old, using for 20.0 s.
2025-01-09T05:38:25.121Z,1736401105.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:25.129Z,1736401105.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:25.524Z,1736401105.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.5 s old, using for 20.0 s.
2025-01-09T05:38:25.525Z,1736401105.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:25.534Z,1736401105.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:25.940Z,1736401105.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 12.9 s old, using for 20.0 s.
2025-01-09T05:38:25.940Z,1736401105.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:25.949Z,1736401105.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:26.353Z,1736401106.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.3 s old, using for 20.0 s.
2025-01-09T05:38:26.354Z,1736401106.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:26.365Z,1736401106.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:26.741Z,1736401106.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 13.7 s old, using for 20.0 s.
2025-01-09T05:38:26.742Z,1736401106.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:26.756Z,1736401106.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:27.141Z,1736401107.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.1 s old, using for 20.0 s.
2025-01-09T05:38:27.141Z,1736401107.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:27.152Z,1736401107.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:27.553Z,1736401107.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 14.5 s old, using for 20.0 s.
2025-01-09T05:38:27.553Z,1736401107.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:27.578Z,1736401107.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:27.959Z,1736401107.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.0 s old, using for 20.0 s.
2025-01-09T05:38:27.960Z,1736401107.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:27.969Z,1736401107.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:28.348Z,1736401108.348 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250108235.0, +10.9,   01,  0
2025-01-09T05:38:28.355Z,1736401108.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.3 s old, using for 20.0 s.
2025-01-09T05:38:28.355Z,1736401108.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:28.366Z,1736401108.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:28.780Z,1736401108.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 15.8 s old, using for 20.0 s.
2025-01-09T05:38:28.781Z,1736401108.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:28.790Z,1736401108.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:29.157Z,1736401109.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 16.2 s old, using for 20.0 s.
2025-01-09T05:38:29.157Z,1736401109.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:29.167Z,1736401109.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:29.579Z,1736401109.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:29.609Z,1736401109.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:30.001Z,1736401110.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:30.033Z,1736401110.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:30.421Z,1736401110.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:30.454Z,1736401110.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:30.812Z,1736401110.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:30.821Z,1736401110.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:31.227Z,1736401111.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:31.238Z,1736401111.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:31.641Z,1736401111.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:31.653Z,1736401111.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:32.024Z,1736401112.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:32.032Z,1736401112.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:32.444Z,1736401112.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:32.453Z,1736401112.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:32.838Z,1736401112.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:32.847Z,1736401112.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:33.227Z,1736401113.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:33.236Z,1736401113.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:33.677Z,1736401113.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:33.686Z,1736401113.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:34.038Z,1736401114.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:34.067Z,1736401114.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:34.481Z,1736401114.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:34.490Z,1736401114.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:34.859Z,1736401114.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:34.869Z,1736401114.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:35.272Z,1736401115.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:35.282Z,1736401115.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:35.349Z,1736401115.349 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:38:35.721Z,1736401115.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:35.759Z,1736401115.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:36.092Z,1736401116.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:36.122Z,1736401116.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:36.351Z,1736401116.351 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:38:36.512Z,1736401116.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:36.522Z,1736401116.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:36.902Z,1736401116.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:36.911Z,1736401116.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:37.295Z,1736401117.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:37.305Z,1736401117.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:37.720Z,1736401117.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:37.756Z,1736401117.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:38.097Z,1736401118.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:38.128Z,1736401118.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:38.541Z,1736401118.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:38.552Z,1736401118.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:38.908Z,1736401118.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:38.917Z,1736401118.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:39.328Z,1736401119.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:39.337Z,1736401119.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:39.743Z,1736401119.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:39.770Z,1736401119.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:38:39.776Z,1736401119.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:39.972Z,1736401119.972 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:38:39.972Z,1736401119.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:38:40.179Z,1736401120.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:40.187Z,1736401120.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:40.225Z,1736401120.225 [DAT](INFO): DAT read: user:130>

2025-01-09T05:38:40.235Z,1736401120.235 [DAT](INFO): DAT read: Tx time:05:38:39.3753

2025-01-09T05:38:40.235Z,1736401120.235 [DAT](INFO): Ping request sent.
2025-01-09T05:38:40.236Z,1736401120.236 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:38:40.236Z,1736401120.236 [DAT](INFO): publishing transmit ping time
2025-01-09T05:38:40.237Z,1736401120.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001096
2025-01-09T05:38:40.481Z,1736401120.481 [DAT](INFO): DAT read: TxSync time:05:38:39.3746

2025-01-09T05:38:40.500Z,1736401120.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.264586
2025-01-09T05:38:40.606Z,1736401120.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:40.616Z,1736401120.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:40.728Z,1736401120.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.492112
2025-01-09T05:38:40.980Z,1736401120.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744046
2025-01-09T05:38:40.996Z,1736401120.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:41.021Z,1736401121.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:41.232Z,1736401121.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995964
2025-01-09T05:38:41.401Z,1736401121.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:41.409Z,1736401121.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:41.487Z,1736401121.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250498
2025-01-09T05:38:41.736Z,1736401121.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500254
2025-01-09T05:38:41.844Z,1736401121.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:41.866Z,1736401121.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:41.988Z,1736401121.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752233
2025-01-09T05:38:42.240Z,1736401122.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004137
2025-01-09T05:38:42.263Z,1736401122.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:42.307Z,1736401122.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:42.495Z,1736401122.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258731
2025-01-09T05:38:42.728Z,1736401122.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:42.745Z,1736401122.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508586
2025-01-09T05:38:42.760Z,1736401122.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:42.996Z,1736401122.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760364
2025-01-09T05:38:43.152Z,1736401123.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:43.162Z,1736401123.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:43.248Z,1736401123.248 [DAT](INFO): DAT read: Rx Time:05:38:41.8012

2025-01-09T05:38:43.249Z,1736401123.249 [DAT](INFO): Rx dataTimestamp_ set to:1736401123.248745
2025-01-09T05:38:43.251Z,1736401123.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014603
2025-01-09T05:38:43.503Z,1736401123.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266122
2025-01-09T05:38:43.621Z,1736401123.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:43.643Z,1736401123.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:43.754Z,1736401123.754 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m  (Round-trip  21.7 ms) speed  0.0 m/s

2025-01-09T05:38:43.755Z,1736401123.755 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:38:43.957Z,1736401123.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:43.985Z,1736401123.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 60.241167 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:38:43.986Z,1736401123.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:44.371Z,1736401124.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:44.385Z,1736401124.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:44.807Z,1736401124.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:44.844Z,1736401124.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:45.216Z,1736401125.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:45.224Z,1736401125.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:45.642Z,1736401125.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:45.675Z,1736401125.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:46.036Z,1736401126.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:46.045Z,1736401126.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:46.427Z,1736401126.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:46.449Z,1736401126.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:46.868Z,1736401126.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:46.877Z,1736401126.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:47.242Z,1736401127.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:47.251Z,1736401127.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:47.693Z,1736401127.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:47.703Z,1736401127.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:48.055Z,1736401128.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:48.065Z,1736401128.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:48.491Z,1736401128.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:48.500Z,1736401128.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:48.874Z,1736401128.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:48.902Z,1736401128.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:49.272Z,1736401129.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:49.282Z,1736401129.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:49.689Z,1736401129.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:49.698Z,1736401129.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:50.067Z,1736401130.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:50.095Z,1736401130.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:50.476Z,1736401130.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:50.485Z,1736401130.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:50.920Z,1736401130.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:50.937Z,1736401130.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:51.279Z,1736401131.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:51.292Z,1736401131.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:51.715Z,1736401131.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:51.724Z,1736401131.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:52.085Z,1736401132.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:52.094Z,1736401132.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:52.500Z,1736401132.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:52.508Z,1736401132.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:52.949Z,1736401132.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:52.959Z,1736401132.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:53.321Z,1736401133.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:53.330Z,1736401133.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:53.737Z,1736401133.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:53.751Z,1736401133.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:54.111Z,1736401134.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:54.120Z,1736401134.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:54.527Z,1736401134.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:54.536Z,1736401134.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:54.960Z,1736401134.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:54.969Z,1736401134.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:55.321Z,1736401135.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:55.329Z,1736401135.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:55.783Z,1736401135.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:55.792Z,1736401135.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:56.135Z,1736401136.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:56.144Z,1736401136.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:56.555Z,1736401136.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:56.577Z,1736401136.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:56.985Z,1736401136.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:56.994Z,1736401136.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:57.350Z,1736401137.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:57.359Z,1736401137.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:57.799Z,1736401137.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:57.828Z,1736401137.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:58.149Z,1736401138.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:58.158Z,1736401138.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:58.554Z,1736401138.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:58.567Z,1736401138.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:58.988Z,1736401138.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:58.996Z,1736401138.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:59.364Z,1736401139.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:59.394Z,1736401139.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:38:59.816Z,1736401139.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:38:59.824Z,1736401139.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:00.189Z,1736401140.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:00.199Z,1736401140.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:00.586Z,1736401140.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:00.599Z,1736401140.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:01.017Z,1736401141.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:01.026Z,1736401141.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:01.407Z,1736401141.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:01.417Z,1736401141.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:01.852Z,1736401141.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:01.861Z,1736401141.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:02.197Z,1736401142.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:02.206Z,1736401142.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:02.591Z,1736401142.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:02.615Z,1736401142.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:03.033Z,1736401143.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:03.042Z,1736401143.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:03.407Z,1736401143.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:03.417Z,1736401143.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:03.865Z,1736401143.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:03.873Z,1736401143.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:04.209Z,1736401144.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:04.233Z,1736401144.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:04.616Z,1736401144.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:04.625Z,1736401144.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:05.038Z,1736401145.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:05.076Z,1736401145.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:05.455Z,1736401145.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:05.484Z,1736401145.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:05.909Z,1736401145.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:05.919Z,1736401145.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:06.309Z,1736401146.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:06.319Z,1736401146.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:06.481Z,1736401146.481 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:39:06.742Z,1736401146.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:06.758Z,1736401146.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:07.201Z,1736401147.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:07.218Z,1736401147.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:07.483Z,1736401147.483 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:39:07.613Z,1736401147.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:07.629Z,1736401147.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:08.053Z,1736401148.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:08.089Z,1736401148.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:08.465Z,1736401148.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:08.475Z,1736401148.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:08.840Z,1736401148.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:08.884Z,1736401148.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:09.269Z,1736401149.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:09.278Z,1736401149.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:09.717Z,1736401149.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:09.748Z,1736401149.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:10.195Z,1736401150.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:10.207Z,1736401150.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:10.582Z,1736401150.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:10.603Z,1736401150.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:11.006Z,1736401151.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:11.047Z,1736401151.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:11.389Z,1736401151.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:11.400Z,1736401151.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:11.801Z,1736401151.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:11.818Z,1736401151.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:12.233Z,1736401152.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:12.243Z,1736401152.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:12.604Z,1736401152.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:12.612Z,1736401152.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:13.036Z,1736401153.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:13.045Z,1736401153.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:13.412Z,1736401153.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:13.510Z,1736401153.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:13.817Z,1736401153.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:13.826Z,1736401153.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:14.259Z,1736401154.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:14.269Z,1736401154.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:14.648Z,1736401154.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:14.657Z,1736401154.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:15.078Z,1736401155.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:15.111Z,1736401155.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:15.458Z,1736401155.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:15.468Z,1736401155.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:15.862Z,1736401155.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:15.904Z,1736401155.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:16.355Z,1736401156.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:16.366Z,1736401156.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:16.767Z,1736401156.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:16.777Z,1736401156.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:17.177Z,1736401157.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:17.187Z,1736401157.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:17.570Z,1736401157.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:17.595Z,1736401157.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:18.051Z,1736401158.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:18.064Z,1736401158.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:18.484Z,1736401158.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:18.493Z,1736401158.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:18.870Z,1736401158.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:18.895Z,1736401158.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:19.292Z,1736401159.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:19.319Z,1736401159.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:19.684Z,1736401159.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:19.692Z,1736401159.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:20.111Z,1736401160.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:20.121Z,1736401160.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:20.517Z,1736401160.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:20.526Z,1736401160.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:20.929Z,1736401160.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:20.938Z,1736401160.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:21.349Z,1736401161.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:21.358Z,1736401161.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:21.737Z,1736401161.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:21.767Z,1736401161.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:22.157Z,1736401162.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:22.186Z,1736401162.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:22.552Z,1736401162.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:22.561Z,1736401162.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:22.968Z,1736401162.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:22.976Z,1736401162.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:23.396Z,1736401163.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:23.406Z,1736401163.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:23.817Z,1736401163.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:23.826Z,1736401163.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:24.250Z,1736401164.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:24.261Z,1736401164.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:24.693Z,1736401164.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:24.704Z,1736401164.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:25.070Z,1736401165.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:25.084Z,1736401165.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:25.511Z,1736401165.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:25.537Z,1736401165.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:25.920Z,1736401165.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:25.929Z,1736401165.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:26.380Z,1736401166.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:26.390Z,1736401166.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:26.787Z,1736401166.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:26.796Z,1736401166.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:27.232Z,1736401167.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:27.241Z,1736401167.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:27.596Z,1736401167.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:27.605Z,1736401167.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:28.009Z,1736401168.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:28.021Z,1736401168.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:28.428Z,1736401168.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:28.438Z,1736401168.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:28.840Z,1736401168.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:28.849Z,1736401168.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:29.278Z,1736401169.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:29.308Z,1736401169.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:29.689Z,1736401169.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:29.698Z,1736401169.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:30.096Z,1736401170.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:30.105Z,1736401170.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:30.531Z,1736401170.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:30.562Z,1736401170.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:30.939Z,1736401170.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:30.949Z,1736401170.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:31.401Z,1736401171.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:31.409Z,1736401171.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:31.780Z,1736401171.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:31.789Z,1736401171.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:32.195Z,1736401172.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:32.252Z,1736401172.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:32.656Z,1736401172.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:32.667Z,1736401172.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:33.039Z,1736401173.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:33.050Z,1736401173.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:33.498Z,1736401173.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:33.507Z,1736401173.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:33.901Z,1736401173.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:33.910Z,1736401173.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:34.327Z,1736401174.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:34.337Z,1736401174.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:34.704Z,1736401174.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:34.712Z,1736401174.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:35.125Z,1736401175.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:35.152Z,1736401175.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:35.572Z,1736401175.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:35.582Z,1736401175.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:35.955Z,1736401175.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:35.965Z,1736401175.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:36.369Z,1736401176.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:36.378Z,1736401176.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:36.753Z,1736401176.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:36.788Z,1736401176.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:37.151Z,1736401177.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:37.159Z,1736401177.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:37.587Z,1736401177.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:37.603Z,1736401177.603 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:39:37.614Z,1736401177.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:37.992Z,1736401177.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:38.001Z,1736401178.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:38.421Z,1736401178.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:39:38.421Z,1736401178.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:38.431Z,1736401178.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:38.608Z,1736401178.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:39:38.821Z,1736401178.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:39:38.821Z,1736401178.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:38.832Z,1736401178.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:39.247Z,1736401179.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s.
2025-01-09T05:39:39.247Z,1736401179.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:39.256Z,1736401179.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:39.693Z,1736401179.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:39.726Z,1736401179.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:40.131Z,1736401180.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:40.138Z,1736401180.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:39:40.140Z,1736401180.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:40.222Z,1736401180.222 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:39:40.222Z,1736401180.222 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:39:40.472Z,1736401180.472 [DAT](INFO): DAT read: user:131>

2025-01-09T05:39:40.472Z,1736401180.472 [DAT](INFO): DAT read: Tx time:05:39:39.6261

2025-01-09T05:39:40.473Z,1736401180.473 [DAT](INFO): Ping request sent.
2025-01-09T05:39:40.473Z,1736401180.473 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:39:40.473Z,1736401180.473 [DAT](INFO): publishing transmit ping time
2025-01-09T05:39:40.473Z,1736401180.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-01-09T05:39:40.572Z,1736401180.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:40.582Z,1736401180.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:40.724Z,1736401180.724 [DAT](INFO): DAT read: TxSync time:05:39:39.6253

2025-01-09T05:39:40.725Z,1736401180.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251794
2025-01-09T05:39:40.927Z,1736401180.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:40.937Z,1736401180.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:40.976Z,1736401180.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503004
2025-01-09T05:39:41.228Z,1736401181.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754932
2025-01-09T05:39:41.400Z,1736401181.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:41.416Z,1736401181.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:41.480Z,1736401181.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007141
2025-01-09T05:39:41.732Z,1736401181.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259244
2025-01-09T05:39:41.819Z,1736401181.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:41.828Z,1736401181.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:41.984Z,1736401181.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510947
2025-01-09T05:39:42.237Z,1736401182.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764569
2025-01-09T05:39:42.240Z,1736401182.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:42.248Z,1736401182.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:42.488Z,1736401182.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014897
2025-01-09T05:39:42.672Z,1736401182.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:42.681Z,1736401182.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:42.741Z,1736401182.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268352
2025-01-09T05:39:42.991Z,1736401182.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518756
2025-01-09T05:39:43.119Z,1736401183.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:43.128Z,1736401183.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:43.244Z,1736401183.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771164
2025-01-09T05:39:43.496Z,1736401183.496 [DAT](INFO): DAT read: Rx Time:05:39:42.0541

2025-01-09T05:39:43.497Z,1736401183.497 [DAT](INFO): Rx dataTimestamp_ set to:1736401183.496212
2025-01-09T05:39:43.498Z,1736401183.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024964
2025-01-09T05:39:43.564Z,1736401183.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:43.572Z,1736401183.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:43.749Z,1736401183.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275821
2025-01-09T05:39:43.960Z,1736401183.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:43.970Z,1736401183.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:44.000Z,1736401184.000 [DAT](INFO): DAT read: Range 10 to 50 : 17.8 m  (Round-trip  23.8 ms) speed  0.0 m/s

2025-01-09T05:39:44.001Z,1736401184.001 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:39:44.410Z,1736401184.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:44.448Z,1736401184.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.799999 m,
      deltaT: 60.246841 s,
      deltaX: 1.599998 m,
      approachRate: 0.026557 m/s,
      rangeRepo size: 4

2025-01-09T05:39:44.449Z,1736401184.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:44.803Z,1736401184.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:44.828Z,1736401184.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:45.181Z,1736401185.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:45.192Z,1736401185.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:45.609Z,1736401185.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:45.619Z,1736401185.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:45.986Z,1736401185.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:45.995Z,1736401185.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:46.464Z,1736401186.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:46.486Z,1736401186.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:46.878Z,1736401186.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:46.916Z,1736401186.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:47.255Z,1736401187.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:47.292Z,1736401187.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:47.696Z,1736401187.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:47.705Z,1736401187.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:48.069Z,1736401188.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:48.077Z,1736401188.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:48.543Z,1736401188.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:48.552Z,1736401188.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:48.965Z,1736401188.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:48.987Z,1736401188.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:49.343Z,1736401189.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:49.352Z,1736401189.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:49.779Z,1736401189.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:49.788Z,1736401189.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:50.142Z,1736401190.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:50.152Z,1736401190.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:50.566Z,1736401190.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:50.595Z,1736401190.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:50.954Z,1736401190.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:50.964Z,1736401190.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:51.373Z,1736401191.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:51.381Z,1736401191.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:51.798Z,1736401191.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:51.808Z,1736401191.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:52.165Z,1736401192.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:52.173Z,1736401192.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:52.594Z,1736401192.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:52.624Z,1736401192.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:53.002Z,1736401193.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:53.011Z,1736401193.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:53.481Z,1736401193.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:53.588Z,1736401193.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:53.864Z,1736401193.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:53.893Z,1736401193.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:54.253Z,1736401194.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:54.262Z,1736401194.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:54.676Z,1736401194.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:54.686Z,1736401194.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:55.086Z,1736401195.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:55.100Z,1736401195.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:55.497Z,1736401195.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:55.506Z,1736401195.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:55.916Z,1736401195.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:55.925Z,1736401195.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:56.311Z,1736401196.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:56.336Z,1736401196.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:56.724Z,1736401196.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:56.760Z,1736401196.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:57.120Z,1736401197.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:57.129Z,1736401197.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:57.506Z,1736401197.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:57.515Z,1736401197.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:57.941Z,1736401197.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:57.951Z,1736401197.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:58.352Z,1736401198.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:58.376Z,1736401198.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:58.767Z,1736401198.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:58.777Z,1736401198.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:59.132Z,1736401199.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:59.140Z,1736401199.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:59.524Z,1736401199.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:59.548Z,1736401199.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:39:59.970Z,1736401199.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:39:59.979Z,1736401199.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:00.344Z,1736401200.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:00.361Z,1736401200.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:00.776Z,1736401200.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:00.807Z,1736401200.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:01.141Z,1736401201.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:01.172Z,1736401201.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:01.554Z,1736401201.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:01.563Z,1736401201.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:01.970Z,1736401201.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:01.979Z,1736401201.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:02.370Z,1736401202.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:02.378Z,1736401202.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:02.806Z,1736401202.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:02.816Z,1736401202.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:03.208Z,1736401203.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:03.218Z,1736401203.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:03.617Z,1736401203.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:03.629Z,1736401203.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:04.095Z,1736401204.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:04.105Z,1736401204.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:04.485Z,1736401204.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:04.510Z,1736401204.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:04.950Z,1736401204.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:04.959Z,1736401204.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:05.321Z,1736401205.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:05.345Z,1736401205.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:05.793Z,1736401205.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:05.827Z,1736401205.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:06.136Z,1736401206.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:06.145Z,1736401206.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:06.540Z,1736401206.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:06.548Z,1736401206.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:06.967Z,1736401206.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:06.976Z,1736401206.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:07.340Z,1736401207.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:07.351Z,1736401207.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:07.818Z,1736401207.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:07.842Z,1736401207.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:08.152Z,1736401208.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:08.161Z,1736401208.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:08.572Z,1736401208.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:08.585Z,1736401208.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:08.728Z,1736401208.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:40:08.993Z,1736401208.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:09.003Z,1736401209.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:09.367Z,1736401209.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:09.382Z,1736401209.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:09.733Z,1736401209.733 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:40:09.853Z,1736401209.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:09.861Z,1736401209.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:10.190Z,1736401210.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:10.200Z,1736401210.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:10.584Z,1736401210.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:10.608Z,1736401210.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:11.034Z,1736401211.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:11.043Z,1736401211.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:11.408Z,1736401211.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:11.417Z,1736401211.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:11.880Z,1736401211.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:11.889Z,1736401211.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:12.229Z,1736401212.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:12.240Z,1736401212.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:12.620Z,1736401212.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:12.655Z,1736401212.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:13.038Z,1736401213.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:13.073Z,1736401213.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:13.424Z,1736401213.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:13.434Z,1736401213.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:13.888Z,1736401213.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:13.911Z,1736401213.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:14.261Z,1736401214.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:14.273Z,1736401214.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:14.634Z,1736401214.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:14.643Z,1736401214.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:15.069Z,1736401215.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:15.101Z,1736401215.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:15.445Z,1736401215.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:15.456Z,1736401215.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:15.911Z,1736401215.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:15.934Z,1736401215.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:16.289Z,1736401216.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:16.300Z,1736401216.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:16.684Z,1736401216.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:16.720Z,1736401216.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:17.079Z,1736401217.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:17.088Z,1736401217.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:17.479Z,1736401217.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:17.488Z,1736401217.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:17.874Z,1736401217.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:17.940Z,1736401217.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:18.306Z,1736401218.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:18.334Z,1736401218.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:18.761Z,1736401218.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:18.793Z,1736401218.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:19.178Z,1736401219.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:19.216Z,1736401219.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:19.575Z,1736401219.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:19.585Z,1736401219.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:20.011Z,1736401220.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:20.021Z,1736401220.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:20.367Z,1736401220.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:20.375Z,1736401220.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:20.780Z,1736401220.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:20.805Z,1736401220.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:21.201Z,1736401221.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:21.235Z,1736401221.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:21.578Z,1736401221.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:21.588Z,1736401221.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:22.053Z,1736401222.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:22.062Z,1736401222.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:22.385Z,1736401222.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:22.393Z,1736401222.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:22.798Z,1736401222.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:22.809Z,1736401222.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:23.235Z,1736401223.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:23.260Z,1736401223.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:23.598Z,1736401223.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:23.606Z,1736401223.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:24.097Z,1736401224.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:24.106Z,1736401224.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:24.415Z,1736401224.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:24.423Z,1736401224.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:24.838Z,1736401224.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:24.848Z,1736401224.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:25.270Z,1736401225.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:25.282Z,1736401225.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:25.623Z,1736401225.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:25.633Z,1736401225.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:26.095Z,1736401226.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:26.107Z,1736401226.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:26.442Z,1736401226.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:26.452Z,1736401226.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:26.843Z,1736401226.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:26.874Z,1736401226.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:27.292Z,1736401227.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:27.302Z,1736401227.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:27.655Z,1736401227.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:27.664Z,1736401227.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:28.140Z,1736401228.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:28.172Z,1736401228.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:28.523Z,1736401228.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:28.603Z,1736401228.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:28.891Z,1736401228.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:28.901Z,1736401228.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:29.318Z,1736401229.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:29.326Z,1736401229.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:29.706Z,1736401229.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:29.729Z,1736401229.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:30.161Z,1736401230.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:30.171Z,1736401230.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:30.507Z,1736401230.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:30.516Z,1736401230.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:30.916Z,1736401230.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:30.924Z,1736401230.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:31.335Z,1736401231.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:31.351Z,1736401231.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:31.726Z,1736401231.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:31.754Z,1736401231.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:32.221Z,1736401232.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:32.232Z,1736401232.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:32.538Z,1736401232.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:32.548Z,1736401232.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:32.941Z,1736401232.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:32.951Z,1736401232.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:33.389Z,1736401233.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:33.398Z,1736401233.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:33.819Z,1736401233.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:33.828Z,1736401233.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:34.231Z,1736401234.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:34.240Z,1736401234.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:34.541Z,1736401234.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:34.551Z,1736401234.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:34.954Z,1736401234.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:34.962Z,1736401234.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:35.382Z,1736401235.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:35.390Z,1736401235.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:35.761Z,1736401235.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:35.774Z,1736401235.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:36.221Z,1736401236.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:36.229Z,1736401236.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:36.586Z,1736401236.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:36.595Z,1736401236.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:36.965Z,1736401236.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:36.994Z,1736401236.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:37.386Z,1736401237.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:37.411Z,1736401237.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:37.781Z,1736401237.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:37.790Z,1736401237.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:38.241Z,1736401238.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:38.267Z,1736401238.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:38.614Z,1736401238.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:38.623Z,1736401238.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:38.986Z,1736401238.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:38.995Z,1736401238.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:39.413Z,1736401239.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:39.423Z,1736401239.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:39.794Z,1736401239.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:39.824Z,1736401239.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:39.825Z,1736401239.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 17.80 m and bearing: 130.364402 deg. Not drifting fast enough.
2025-01-09T05:40:39.864Z,1736401239.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:40:40.198Z,1736401240.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:40.269Z,1736401240.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:40:40.287Z,1736401240.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:40.289Z,1736401240.289 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-01-09T05:40:40.289Z,1736401240.289 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-01-09T05:40:40.289Z,1736401240.289 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-01-09T05:40:40.289Z,1736401240.289 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-09T05:40:40.467Z,1736401240.467 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:40:40.468Z,1736401240.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:40:40.626Z,1736401240.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:40.636Z,1736401240.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:40.719Z,1736401240.719 [DAT](INFO): DAT read: user:132>

2025-01-09T05:40:40.720Z,1736401240.720 [DAT](INFO): DAT read: Tx time:05:40:39.8768

2025-01-09T05:40:40.721Z,1736401240.721 [DAT](INFO): Ping request sent.
2025-01-09T05:40:40.721Z,1736401240.721 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:40:40.721Z,1736401240.721 [DAT](INFO): publishing transmit ping time
2025-01-09T05:40:40.721Z,1736401240.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-01-09T05:40:40.867Z,1736401240.867 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:40:40.973Z,1736401240.973 [DAT](INFO): DAT read: TxSync time:05:40:39.8760

2025-01-09T05:40:40.975Z,1736401240.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253343
2025-01-09T05:40:41.008Z,1736401241.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:41.045Z,1736401241.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:41.228Z,1736401241.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506316
2025-01-09T05:40:41.445Z,1736401241.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:41.455Z,1736401241.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:41.476Z,1736401241.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754950
2025-01-09T05:40:41.728Z,1736401241.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006984
2025-01-09T05:40:41.815Z,1736401241.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:41.824Z,1736401241.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:41.982Z,1736401241.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260874
2025-01-09T05:40:42.229Z,1736401242.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:42.236Z,1736401242.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514849
2025-01-09T05:40:42.309Z,1736401242.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:42.485Z,1736401242.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763738
2025-01-09T05:40:42.736Z,1736401242.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015785
2025-01-09T05:40:42.767Z,1736401242.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:42.785Z,1736401242.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:42.988Z,1736401242.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267190
2025-01-09T05:40:43.123Z,1736401243.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:43.133Z,1736401243.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:43.247Z,1736401243.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525277
2025-01-09T05:40:43.492Z,1736401243.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770903
2025-01-09T05:40:43.565Z,1736401243.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:43.574Z,1736401243.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:43.744Z,1736401243.744 [DAT](INFO): DAT read: Rx Time:05:40:42.3085

2025-01-09T05:40:43.745Z,1736401243.745 [DAT](INFO): Rx dataTimestamp_ set to:1736401243.744575
2025-01-09T05:40:43.747Z,1736401243.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025634
2025-01-09T05:40:43.936Z,1736401243.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:43.964Z,1736401243.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:44.008Z,1736401244.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287666
2025-01-09T05:40:44.265Z,1736401244.265 [DAT](INFO): DAT read: Range 10 to 50 : 20.7 m  (Round-trip  27.6 ms) speed  0.0 m/s

2025-01-09T05:40:44.269Z,1736401244.269 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:40:44.454Z,1736401244.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:44.465Z,1736401244.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 60.262000 s,
      deltaX: 2.900002 m,
      approachRate: 0.048123 m/s,
      rangeRepo size: 4

2025-01-09T05:40:44.465Z,1736401244.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:44.824Z,1736401244.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:44.834Z,1736401244.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:45.206Z,1736401245.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:45.214Z,1736401245.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:45.636Z,1736401245.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:45.660Z,1736401245.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:46.024Z,1736401246.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:46.034Z,1736401246.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:46.457Z,1736401246.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:46.467Z,1736401246.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:46.826Z,1736401246.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:46.836Z,1736401246.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:47.233Z,1736401247.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:47.241Z,1736401247.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:47.661Z,1736401247.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:47.671Z,1736401247.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:48.036Z,1736401248.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:48.047Z,1736401248.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:48.494Z,1736401248.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:48.503Z,1736401248.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:48.849Z,1736401248.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:48.867Z,1736401248.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:49.255Z,1736401249.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:49.264Z,1736401249.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:49.683Z,1736401249.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:49.692Z,1736401249.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:50.072Z,1736401250.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:50.097Z,1736401250.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:50.492Z,1736401250.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:50.517Z,1736401250.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:50.873Z,1736401250.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:50.883Z,1736401250.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:51.270Z,1736401251.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:51.301Z,1736401251.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:51.771Z,1736401251.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:51.781Z,1736401251.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:52.129Z,1736401252.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:52.139Z,1736401252.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:52.701Z,1736401252.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:52.710Z,1736401252.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:53.074Z,1736401253.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:53.085Z,1736401253.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:53.526Z,1736401253.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T05:40:53.526Z,1736401253.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:53.536Z,1736401253.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:53.888Z,1736401253.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:40:53.888Z,1736401253.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:53.906Z,1736401253.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:54.280Z,1736401254.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:40:54.281Z,1736401254.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:54.289Z,1736401254.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:54.750Z,1736401254.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:54.787Z,1736401254.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:55.113Z,1736401255.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:55.122Z,1736401255.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:55.574Z,1736401255.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:55.584Z,1736401255.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:55.948Z,1736401255.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:55.977Z,1736401255.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:56.361Z,1736401256.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:56.370Z,1736401256.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:56.807Z,1736401256.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:56.817Z,1736401256.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:57.154Z,1736401257.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:57.183Z,1736401257.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:57.593Z,1736401257.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:57.603Z,1736401257.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:57.965Z,1736401257.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:57.973Z,1736401257.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:58.382Z,1736401258.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:58.434Z,1736401258.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:58.810Z,1736401258.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:58.820Z,1736401258.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:59.180Z,1736401259.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:59.188Z,1736401259.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:59.620Z,1736401259.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:59.630Z,1736401259.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:40:59.985Z,1736401259.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:40:59.994Z,1736401259.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:00.404Z,1736401260.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:00.413Z,1736401260.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:00.836Z,1736401260.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:00.845Z,1736401260.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:01.204Z,1736401261.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:01.214Z,1736401261.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:01.630Z,1736401261.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:01.659Z,1736401261.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:02.004Z,1736401262.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:02.032Z,1736401262.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:02.435Z,1736401262.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:02.452Z,1736401262.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:02.831Z,1736401262.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:02.859Z,1736401262.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:03.220Z,1736401263.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:03.229Z,1736401263.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:03.661Z,1736401263.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:03.671Z,1736401263.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:04.024Z,1736401264.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:04.034Z,1736401264.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:04.434Z,1736401264.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:04.444Z,1736401264.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:04.859Z,1736401264.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:04.869Z,1736401264.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:05.251Z,1736401265.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:05.259Z,1736401265.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:05.689Z,1736401265.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:05.704Z,1736401265.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:06.050Z,1736401266.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:06.059Z,1736401266.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:06.456Z,1736401266.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:06.466Z,1736401266.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:06.888Z,1736401266.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:06.897Z,1736401266.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:07.259Z,1736401267.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:07.273Z,1736401267.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:07.766Z,1736401267.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:07.788Z,1736401267.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:08.197Z,1736401268.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:08.206Z,1736401268.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:08.652Z,1736401268.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:08.708Z,1736401268.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:09.043Z,1736401269.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:09.053Z,1736401269.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:09.417Z,1736401269.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:09.425Z,1736401269.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:09.869Z,1736401269.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:09.877Z,1736401269.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:10.230Z,1736401270.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:10.240Z,1736401270.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:10.621Z,1736401270.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:10.629Z,1736401270.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:10.987Z,1736401270.987 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:41:11.072Z,1736401271.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:11.081Z,1736401271.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:11.453Z,1736401271.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:11.462Z,1736401271.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:11.871Z,1736401271.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:11.881Z,1736401271.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:11.992Z,1736401271.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:41:12.240Z,1736401272.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:12.250Z,1736401272.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:12.651Z,1736401272.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:12.666Z,1736401272.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:13.072Z,1736401273.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:13.082Z,1736401273.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:13.622Z,1736401273.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:13.632Z,1736401273.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:13.938Z,1736401273.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:13.974Z,1736401273.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:14.321Z,1736401274.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:14.331Z,1736401274.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:14.793Z,1736401274.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:14.819Z,1736401274.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:15.172Z,1736401275.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:15.181Z,1736401275.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:15.536Z,1736401275.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:15.545Z,1736401275.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:15.989Z,1736401275.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:15.000Z,1736401276.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:16.353Z,1736401276.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:16.365Z,1736401276.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:16.826Z,1736401276.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:16.845Z,1736401276.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:17.192Z,1736401277.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:17.202Z,1736401277.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:17.563Z,1736401277.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:17.572Z,1736401277.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:17.993Z,1736401277.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:18.003Z,1736401278.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:18.366Z,1736401278.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:18.388Z,1736401278.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:18.827Z,1736401278.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:18.860Z,1736401278.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:19.193Z,1736401279.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:19.208Z,1736401279.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:19.576Z,1736401279.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:19.586Z,1736401279.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:20.005Z,1736401280.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:20.039Z,1736401280.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:20.385Z,1736401280.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:20.394Z,1736401280.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:20.793Z,1736401280.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:20.871Z,1736401280.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:21.210Z,1736401281.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:21.220Z,1736401281.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:21.612Z,1736401281.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:21.621Z,1736401281.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:22.049Z,1736401282.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:22.057Z,1736401282.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:22.402Z,1736401282.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:22.410Z,1736401282.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:22.805Z,1736401282.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:22.818Z,1736401282.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:23.239Z,1736401283.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:23.249Z,1736401283.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:23.613Z,1736401283.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:23.622Z,1736401283.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:24.065Z,1736401284.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:24.073Z,1736401284.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:24.432Z,1736401284.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:24.441Z,1736401284.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:24.913Z,1736401284.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:24.944Z,1736401284.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:25.398Z,1736401285.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:25.407Z,1736401285.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:25.809Z,1736401285.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:25.823Z,1736401285.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:26.247Z,1736401286.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:26.256Z,1736401286.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:26.624Z,1736401286.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:26.634Z,1736401286.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:27.046Z,1736401287.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:27.057Z,1736401287.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:27.438Z,1736401287.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:27.448Z,1736401287.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:27.827Z,1736401287.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:27.837Z,1736401287.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:28.254Z,1736401288.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:28.265Z,1736401288.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:28.678Z,1736401288.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:28.708Z,1736401288.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:29.130Z,1736401289.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:29.167Z,1736401289.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:29.561Z,1736401289.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:29.587Z,1736401289.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:30.054Z,1736401290.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:30.063Z,1736401290.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:30.371Z,1736401290.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:30.388Z,1736401290.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:30.791Z,1736401290.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:30.801Z,1736401290.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:31.218Z,1736401291.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:31.226Z,1736401291.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:31.588Z,1736401291.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:31.617Z,1736401291.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:32.055Z,1736401292.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:32.067Z,1736401292.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:32.401Z,1736401292.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:32.427Z,1736401292.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:32.796Z,1736401292.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:32.826Z,1736401292.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:33.243Z,1736401293.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:33.253Z,1736401293.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:33.605Z,1736401293.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:33.615Z,1736401293.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:34.083Z,1736401294.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:34.092Z,1736401294.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:34.424Z,1736401294.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:34.444Z,1736401294.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:34.817Z,1736401294.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:34.826Z,1736401294.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:35.267Z,1736401295.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:35.276Z,1736401295.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:35.625Z,1736401295.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:35.635Z,1736401295.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:36.125Z,1736401296.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:36.158Z,1736401296.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:36.454Z,1736401296.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:36.464Z,1736401296.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:36.839Z,1736401296.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:36.849Z,1736401296.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:37.300Z,1736401297.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:37.308Z,1736401297.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:37.644Z,1736401297.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:37.676Z,1736401297.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:38.125Z,1736401298.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:38.133Z,1736401298.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:38.553Z,1736401298.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:38.561Z,1736401298.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:38.869Z,1736401298.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:38.877Z,1736401298.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:39.297Z,1736401299.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:39.335Z,1736401299.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:39.673Z,1736401299.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:39.702Z,1736401299.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:40.084Z,1736401300.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:40.149Z,1736401300.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:40.494Z,1736401300.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:40.541Z,1736401300.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:41:40.551Z,1736401300.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:40.757Z,1736401300.757 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:41:40.758Z,1736401300.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:41:40.875Z,1736401300.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:40.901Z,1736401300.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:41.009Z,1736401301.009 [DAT](INFO): DAT read: user:133>

2025-01-09T05:41:41.010Z,1736401301.010 [DAT](INFO): DAT read: Tx time:05:41:40.1275

2025-01-09T05:41:41.010Z,1736401301.010 [DAT](INFO): Ping request sent.
2025-01-09T05:41:41.010Z,1736401301.010 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:41:41.012Z,1736401301.012 [DAT](INFO): DAT read: TxSync time:05:41:40.1267

2025-01-09T05:41:41.013Z,1736401301.013 [DAT](INFO): publishing transmit ping time
2025-01-09T05:41:41.014Z,1736401301.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003731
2025-01-09T05:41:41.260Z,1736401301.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249510
2025-01-09T05:41:41.313Z,1736401301.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:41.350Z,1736401301.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:41.512Z,1736401301.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501461
2025-01-09T05:41:41.684Z,1736401301.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:41.692Z,1736401301.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:41.765Z,1736401301.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754715
2025-01-09T05:41:42.016Z,1736401302.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005516
2025-01-09T05:41:42.113Z,1736401302.113 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:41:42.173Z,1736401302.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:42.184Z,1736401302.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:42.269Z,1736401302.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258497
2025-01-09T05:41:42.511Z,1736401302.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:42.520Z,1736401302.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509632
2025-01-09T05:41:42.522Z,1736401302.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:42.772Z,1736401302.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761432
2025-01-09T05:41:42.899Z,1736401302.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:42.923Z,1736401302.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:43.024Z,1736401303.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014346
2025-01-09T05:41:43.116Z,1736401303.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:41:43.276Z,1736401303.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265465
2025-01-09T05:41:43.343Z,1736401303.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:43.351Z,1736401303.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:43.532Z,1736401303.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522135
2025-01-09T05:41:43.706Z,1736401303.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:43.716Z,1736401303.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:43.786Z,1736401303.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775495
2025-01-09T05:41:44.036Z,1736401304.036 [DAT](INFO): DAT read: Rx Time:05:41:42.6617

2025-01-09T05:41:44.036Z,1736401304.036 [DAT](INFO): Rx dataTimestamp_ set to:1736401304.035866
2025-01-09T05:41:44.037Z,1736401304.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026565
2025-01-09T05:41:44.123Z,1736401304.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:44.149Z,1736401304.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:44.288Z,1736401304.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278014
2025-01-09T05:41:44.540Z,1736401304.540 [DAT](INFO): DAT read: Range 10 to 50 : 97.4 m  (Round-trip  129.9 ms) speed -0.5 m/s

2025-01-09T05:41:44.541Z,1736401304.541 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:41:44.549Z,1736401304.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:44.558Z,1736401304.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.400002 m,
      deltaT: 60.278017 s,
      deltaX: 76.699997 m,
      approachRate: 1.272437 m/s,
      rangeRepo size: 4

2025-01-09T05:41:44.559Z,1736401304.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:44.920Z,1736401304.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:44.928Z,1736401304.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:45.348Z,1736401305.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:45.393Z,1736401305.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:45.743Z,1736401305.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:45.760Z,1736401305.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:46.129Z,1736401306.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:46.154Z,1736401306.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:46.557Z,1736401306.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:46.585Z,1736401306.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:46.944Z,1736401306.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:46.954Z,1736401306.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:47.377Z,1736401307.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:47.387Z,1736401307.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:47.753Z,1736401307.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:47.782Z,1736401307.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:48.152Z,1736401308.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:48.161Z,1736401308.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:48.615Z,1736401308.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:48.624Z,1736401308.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:48.955Z,1736401308.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:48.981Z,1736401308.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:49.410Z,1736401309.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:49.418Z,1736401309.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:49.775Z,1736401309.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:49.786Z,1736401309.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:50.177Z,1736401310.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:50.186Z,1736401310.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:50.619Z,1736401310.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:50.627Z,1736401310.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:50.980Z,1736401310.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:50.988Z,1736401310.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:51.417Z,1736401311.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:51.448Z,1736401311.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:51.786Z,1736401311.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:51.806Z,1736401311.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:52.187Z,1736401312.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:52.197Z,1736401312.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:52.637Z,1736401312.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:52.647Z,1736401312.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:53.036Z,1736401313.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:53.066Z,1736401313.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:53.493Z,1736401313.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:53.503Z,1736401313.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:53.820Z,1736401313.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:53.848Z,1736401313.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:54.211Z,1736401314.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:54.221Z,1736401314.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:54.653Z,1736401314.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:54.661Z,1736401314.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:55.016Z,1736401315.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:55.056Z,1736401315.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:55.482Z,1736401315.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:55.504Z,1736401315.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:55.833Z,1736401315.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:55.842Z,1736401315.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:56.237Z,1736401316.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:56.246Z,1736401316.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:56.710Z,1736401316.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:56.731Z,1736401316.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:57.043Z,1736401317.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:57.053Z,1736401317.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:57.497Z,1736401317.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:57.508Z,1736401317.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:57.853Z,1736401317.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:57.861Z,1736401317.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:58.248Z,1736401318.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:58.273Z,1736401318.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:58.696Z,1736401318.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:58.705Z,1736401318.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:59.061Z,1736401319.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:59.070Z,1736401319.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:59.490Z,1736401319.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:59.500Z,1736401319.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:41:59.868Z,1736401319.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:41:59.893Z,1736401319.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:00.268Z,1736401320.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:00.276Z,1736401320.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:00.699Z,1736401320.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:00.725Z,1736401320.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:01.100Z,1736401321.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:01.117Z,1736401321.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:01.524Z,1736401321.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:01.532Z,1736401321.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:01.895Z,1736401321.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:01.906Z,1736401321.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:02.293Z,1736401322.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:02.303Z,1736401322.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:02.731Z,1736401322.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:02.746Z,1736401322.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:03.096Z,1736401323.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:03.105Z,1736401323.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:03.564Z,1736401323.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:03.573Z,1736401323.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:03.927Z,1736401323.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:03.936Z,1736401323.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:04.308Z,1736401324.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:04.317Z,1736401324.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:04.884Z,1736401324.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:04.916Z,1736401324.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:05.178Z,1736401325.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:05.187Z,1736401325.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:05.640Z,1736401325.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:05.656Z,1736401325.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:05.985Z,1736401325.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:06.006Z,1736401326.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:06.386Z,1736401326.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:06.395Z,1736401326.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:06.842Z,1736401326.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:06.852Z,1736401326.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:07.203Z,1736401327.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:07.212Z,1736401327.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:07.634Z,1736401327.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:07.644Z,1736401327.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:08.006Z,1736401328.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:08.042Z,1736401328.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:08.505Z,1736401328.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:08.562Z,1736401328.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:08.898Z,1736401328.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:08.906Z,1736401328.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:09.271Z,1736401329.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:09.280Z,1736401329.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:09.692Z,1736401329.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:09.700Z,1736401329.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:10.059Z,1736401330.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:10.068Z,1736401330.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:10.463Z,1736401330.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:10.472Z,1736401330.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:10.901Z,1736401330.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:10.912Z,1736401330.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:11.276Z,1736401331.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:11.285Z,1736401331.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:11.705Z,1736401331.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:11.715Z,1736401331.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:12.074Z,1736401332.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:12.096Z,1736401332.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:12.491Z,1736401332.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:12.539Z,1736401332.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:12.936Z,1736401332.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:12.945Z,1736401332.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:13.243Z,1736401333.243 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:42:13.302Z,1736401333.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:13.311Z,1736401333.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:13.725Z,1736401333.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:13.740Z,1736401333.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:14.107Z,1736401334.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:14.116Z,1736401334.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:14.247Z,1736401334.247 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:42:14.505Z,1736401334.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:14.514Z,1736401334.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:14.943Z,1736401334.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:14.969Z,1736401334.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:15.314Z,1736401335.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:15.337Z,1736401335.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:15.762Z,1736401335.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:15.777Z,1736401335.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:16.126Z,1736401336.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:16.136Z,1736401336.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:16.543Z,1736401336.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:16.553Z,1736401336.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:16.961Z,1736401336.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:16.974Z,1736401336.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:17.360Z,1736401337.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:17.369Z,1736401337.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:17.791Z,1736401337.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:17.800Z,1736401337.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:18.144Z,1736401338.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:18.154Z,1736401338.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:18.557Z,1736401338.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:18.567Z,1736401338.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:18.996Z,1736401338.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:19.016Z,1736401339.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:19.357Z,1736401339.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:19.367Z,1736401339.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:19.792Z,1736401339.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:19.818Z,1736401339.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:20.160Z,1736401340.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:20.186Z,1736401340.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:20.565Z,1736401340.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:20.574Z,1736401340.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:21.019Z,1736401341.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:21.028Z,1736401341.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:21.377Z,1736401341.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:21.396Z,1736401341.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:21.829Z,1736401341.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:21.854Z,1736401341.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:22.196Z,1736401342.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:22.222Z,1736401342.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:22.585Z,1736401342.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:22.593Z,1736401342.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:23.017Z,1736401343.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:23.027Z,1736401343.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:23.395Z,1736401343.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:23.424Z,1736401343.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:23.848Z,1736401343.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:23.856Z,1736401343.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:24.220Z,1736401344.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:24.250Z,1736401344.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:24.610Z,1736401344.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:24.620Z,1736401344.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:25.054Z,1736401345.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:25.062Z,1736401345.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:25.423Z,1736401345.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:25.448Z,1736401345.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:25.880Z,1736401345.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:25.889Z,1736401345.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:26.236Z,1736401346.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:26.249Z,1736401346.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:26.626Z,1736401346.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:26.636Z,1736401346.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:27.176Z,1736401347.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:27.185Z,1736401347.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:27.455Z,1736401347.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:27.465Z,1736401347.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:27.910Z,1736401347.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:27.919Z,1736401347.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:28.284Z,1736401348.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:28.300Z,1736401348.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:28.689Z,1736401348.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:28.699Z,1736401348.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:29.102Z,1736401349.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:29.110Z,1736401349.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:29.473Z,1736401349.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:29.483Z,1736401349.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:29.932Z,1736401349.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:29.949Z,1736401349.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:30.280Z,1736401350.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:30.300Z,1736401350.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:30.685Z,1736401350.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:30.694Z,1736401350.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:31.134Z,1736401351.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:31.142Z,1736401351.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:31.497Z,1736401351.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:31.506Z,1736401351.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:31.970Z,1736401351.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:31.979Z,1736401351.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:32.299Z,1736401352.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:32.308Z,1736401352.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:32.710Z,1736401352.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:32.720Z,1736401352.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:33.154Z,1736401353.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:33.162Z,1736401353.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:33.525Z,1736401353.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:33.534Z,1736401353.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:34.000Z,1736401354.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:34.009Z,1736401354.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:34.344Z,1736401354.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:34.355Z,1736401354.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:34.727Z,1736401354.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:34.765Z,1736401354.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:35.153Z,1736401355.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:35.179Z,1736401355.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:35.553Z,1736401355.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:35.564Z,1736401355.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:36.019Z,1736401356.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:36.027Z,1736401356.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:36.352Z,1736401356.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:36.361Z,1736401356.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:36.764Z,1736401356.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:36.775Z,1736401356.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:37.180Z,1736401357.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:37.199Z,1736401357.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:37.555Z,1736401357.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:37.564Z,1736401357.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:38.064Z,1736401358.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:38.072Z,1736401358.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:38.378Z,1736401358.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:38.387Z,1736401358.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:38.794Z,1736401358.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:38.804Z,1736401358.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:39.189Z,1736401359.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:39.218Z,1736401359.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:39.582Z,1736401359.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:39.590Z,1736401359.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:40.044Z,1736401360.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:40.053Z,1736401360.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:40.439Z,1736401360.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:40.448Z,1736401360.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:40.792Z,1736401360.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:40.800Z,1736401360.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:42:40.802Z,1736401360.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:41.038Z,1736401361.038 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:42:41.039Z,1736401361.039 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:42:41.219Z,1736401361.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:41.228Z,1736401361.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:41.289Z,1736401361.289 [DAT](INFO): DAT read: user:134>

2025-01-09T05:42:41.290Z,1736401361.290 [DAT](INFO): DAT read: Tx time:05:42:40.4283

2025-01-09T05:42:41.290Z,1736401361.290 [DAT](INFO): Ping request sent.
2025-01-09T05:42:41.291Z,1736401361.291 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:42:41.291Z,1736401361.291 [DAT](INFO): publishing transmit ping time
2025-01-09T05:42:41.292Z,1736401361.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001370
2025-01-09T05:42:41.540Z,1736401361.540 [DAT](INFO): DAT read: TxSync time:05:42:40.4275

2025-01-09T05:42:41.541Z,1736401361.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250228
2025-01-09T05:42:41.595Z,1736401361.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:41.626Z,1736401361.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:41.792Z,1736401361.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501502
2025-01-09T05:42:42.047Z,1736401362.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756477
2025-01-09T05:42:42.056Z,1736401362.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:42.086Z,1736401362.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:42.297Z,1736401362.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006663
2025-01-09T05:42:42.456Z,1736401362.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:42.465Z,1736401362.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:42.548Z,1736401362.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257817
2025-01-09T05:42:42.800Z,1736401362.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509870
2025-01-09T05:42:42.839Z,1736401362.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:42.874Z,1736401362.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:43.056Z,1736401363.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765514
2025-01-09T05:42:43.249Z,1736401363.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:43.258Z,1736401363.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:43.306Z,1736401363.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015884
2025-01-09T05:42:43.556Z,1736401363.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265442
2025-01-09T05:42:43.623Z,1736401363.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:43.632Z,1736401363.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:43.808Z,1736401363.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517609
2025-01-09T05:42:44.063Z,1736401364.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771942
2025-01-09T05:42:44.113Z,1736401364.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:44.149Z,1736401364.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:44.313Z,1736401364.313 [DAT](INFO): DAT read: Rx Time:05:42:43.0056

2025-01-09T05:42:44.314Z,1736401364.314 [DAT](INFO): Rx dataTimestamp_ set to:1736401364.313281
2025-01-09T05:42:44.317Z,1736401364.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026369
2025-01-09T05:42:44.380Z,1736401364.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:42:44.491Z,1736401364.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:44.500Z,1736401364.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:44.565Z,1736401364.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274534
2025-01-09T05:42:44.816Z,1736401364.816 [DAT](INFO): DAT read: $Error in header

2025-01-09T05:42:44.816Z,1736401364.816 [DAT](INFO): Received a bad header
2025-01-09T05:42:44.827Z,1736401364.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536737
2025-01-09T05:42:44.871Z,1736401364.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:44.880Z,1736401364.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:45.072Z,1736401365.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781290
2025-01-09T05:42:45.282Z,1736401365.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:45.291Z,1736401365.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:45.320Z,1736401365.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029832
2025-01-09T05:42:45.384Z,1736401365.384 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:42:45.572Z,1736401365.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281222
2025-01-09T05:42:45.652Z,1736401365.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:45.660Z,1736401365.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:45.824Z,1736401365.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533253
2025-01-09T05:42:46.057Z,1736401366.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:46.081Z,1736401366.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790079
2025-01-09T05:42:46.122Z,1736401366.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:46.333Z,1736401366.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041896
2025-01-09T05:42:46.516Z,1736401366.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:46.529Z,1736401366.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:46.584Z,1736401366.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293964
2025-01-09T05:42:46.836Z,1736401366.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545319
2025-01-09T05:42:46.868Z,1736401366.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:46.897Z,1736401366.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:47.091Z,1736401367.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799914
2025-01-09T05:42:47.309Z,1736401367.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:47.317Z,1736401367.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:47.342Z,1736401367.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051374
2025-01-09T05:42:47.592Z,1736401367.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301341
2025-01-09T05:42:47.669Z,1736401367.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:47.677Z,1736401367.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:47.847Z,1736401367.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556489
2025-01-09T05:42:48.086Z,1736401368.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:48.099Z,1736401368.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807837
2025-01-09T05:42:48.139Z,1736401368.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:48.348Z,1736401368.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057288
2025-01-09T05:42:48.565Z,1736401368.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:48.573Z,1736401368.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:48.609Z,1736401368.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318255
2025-01-09T05:42:48.860Z,1736401368.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.569405
2025-01-09T05:42:48.890Z,1736401368.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:48.899Z,1736401368.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:49.117Z,1736401369.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826092
2025-01-09T05:42:49.310Z,1736401369.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:49.320Z,1736401369.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:49.364Z,1736401369.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.073533
2025-01-09T05:42:49.616Z,1736401369.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326129
2025-01-09T05:42:49.691Z,1736401369.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:49.719Z,1736401369.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:49.868Z,1736401369.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.577325
2025-01-09T05:42:50.104Z,1736401370.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:50.123Z,1736401370.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.832803
2025-01-09T05:42:50.152Z,1736401370.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:50.375Z,1736401370.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.084391
2025-01-09T05:42:50.525Z,1736401370.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:50.559Z,1736401370.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:50.624Z,1736401370.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.333966
2025-01-09T05:42:50.876Z,1736401370.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585253
2025-01-09T05:42:50.916Z,1736401370.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:50.925Z,1736401370.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:51.132Z,1736401371.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.840737
2025-01-09T05:42:51.330Z,1736401371.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:51.339Z,1736401371.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:51.380Z,1736401371.380 [DAT](INFO): Reached modem response timeout
2025-01-09T05:42:51.707Z,1736401371.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:51.716Z,1736401371.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:52.127Z,1736401372.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:52.136Z,1736401372.136 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:42:52.136Z,1736401372.136 [DAT](INFO): response not received
2025-01-09T05:42:52.137Z,1736401372.137 [DAT](ERROR): No response from remote modem.
2025-01-09T05:42:52.144Z,1736401372.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:52.545Z,1736401372.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:52.555Z,1736401372.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:52.936Z,1736401372.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:52.965Z,1736401372.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:53.344Z,1736401373.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:53.354Z,1736401373.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:53.408Z,1736401373.408 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T05:42:53.727Z,1736401373.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:53.755Z,1736401373.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:54.145Z,1736401374.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:54.175Z,1736401374.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:54.587Z,1736401374.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:54.605Z,1736401374.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:54.954Z,1736401374.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:54.964Z,1736401374.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:55.390Z,1736401375.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:55.399Z,1736401375.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:55.761Z,1736401375.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:55.772Z,1736401375.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:56.157Z,1736401376.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:56.166Z,1736401376.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:56.583Z,1736401376.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:56.600Z,1736401376.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:56.968Z,1736401376.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:56.000Z,1736401377.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:57.409Z,1736401377.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:57.419Z,1736401377.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:57.776Z,1736401377.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:57.790Z,1736401377.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:58.171Z,1736401378.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:58.205Z,1736401378.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:58.615Z,1736401378.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:58.633Z,1736401378.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:58.988Z,1736401378.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:58.997Z,1736401378.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:59.414Z,1736401379.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:59.423Z,1736401379.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:42:59.815Z,1736401379.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:42:59.827Z,1736401379.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:00.195Z,1736401380.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:00.205Z,1736401380.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:00.628Z,1736401380.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:00.660Z,1736401380.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:01.015Z,1736401381.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:01.024Z,1736401381.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:01.440Z,1736401381.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:01.452Z,1736401381.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:01.813Z,1736401381.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:01.821Z,1736401381.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:02.226Z,1736401382.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:02.235Z,1736401382.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:02.655Z,1736401382.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:02.666Z,1736401382.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:03.027Z,1736401383.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:03.036Z,1736401383.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:03.453Z,1736401383.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:03.484Z,1736401383.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:03.832Z,1736401383.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:03.860Z,1736401383.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:04.238Z,1736401384.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:04.247Z,1736401384.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:04.669Z,1736401384.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:04.694Z,1736401384.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:05.048Z,1736401385.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:05.057Z,1736401385.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:05.477Z,1736401385.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:05.486Z,1736401385.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:05.851Z,1736401385.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:05.864Z,1736401385.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:06.257Z,1736401386.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:06.267Z,1736401386.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:06.689Z,1736401386.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:06.702Z,1736401386.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:07.065Z,1736401387.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:07.093Z,1736401387.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:07.512Z,1736401387.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:07.520Z,1736401387.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:07.921Z,1736401387.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:07.938Z,1736401387.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:08.308Z,1736401388.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:08.335Z,1736401388.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:08.810Z,1736401388.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:08.819Z,1736401388.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:09.132Z,1736401389.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:09.141Z,1736401389.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:09.559Z,1736401389.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:09.569Z,1736401389.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:09.949Z,1736401389.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:09.960Z,1736401389.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:10.344Z,1736401390.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:10.370Z,1736401390.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:10.793Z,1736401390.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:10.811Z,1736401390.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:11.168Z,1736401391.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:11.177Z,1736401391.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:11.584Z,1736401391.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:11.593Z,1736401391.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:11.980Z,1736401391.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:11.988Z,1736401391.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:12.365Z,1736401392.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:12.374Z,1736401392.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:12.819Z,1736401392.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:12.828Z,1736401392.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:13.185Z,1736401393.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:13.193Z,1736401393.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:13.612Z,1736401393.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:13.621Z,1736401393.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:13.987Z,1736401393.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:13.996Z,1736401393.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:14.388Z,1736401394.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:14.397Z,1736401394.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:14.830Z,1736401394.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:14.859Z,1736401394.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:15.197Z,1736401395.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:15.222Z,1736401395.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:15.504Z,1736401395.504 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:43:15.629Z,1736401395.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:15.638Z,1736401395.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:16.011Z,1736401396.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:16.020Z,1736401396.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:16.410Z,1736401396.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:16.419Z,1736401396.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:16.509Z,1736401396.509 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:43:16.838Z,1736401396.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:16.851Z,1736401396.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:17.217Z,1736401397.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:17.225Z,1736401397.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:17.643Z,1736401397.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:17.653Z,1736401397.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:18.031Z,1736401398.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:18.040Z,1736401398.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:18.448Z,1736401398.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:18.456Z,1736401398.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:18.872Z,1736401398.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:18.885Z,1736401398.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:19.248Z,1736401399.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:19.257Z,1736401399.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:19.673Z,1736401399.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:19.684Z,1736401399.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:20.049Z,1736401400.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:20.081Z,1736401400.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:20.450Z,1736401400.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:20.459Z,1736401400.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:20.876Z,1736401400.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:20.885Z,1736401400.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:21.271Z,1736401401.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:21.280Z,1736401401.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:21.693Z,1736401401.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:21.702Z,1736401401.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:22.070Z,1736401402.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:22.080Z,1736401402.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:22.472Z,1736401402.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:22.482Z,1736401402.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:22.901Z,1736401402.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:22.909Z,1736401402.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:23.275Z,1736401403.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:23.285Z,1736401403.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:23.720Z,1736401403.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:23.729Z,1736401403.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:24.104Z,1736401404.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:24.113Z,1736401404.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:24.489Z,1736401404.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:24.514Z,1736401404.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:24.928Z,1736401404.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:24.945Z,1736401404.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:25.297Z,1736401405.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:25.305Z,1736401405.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:25.775Z,1736401405.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:25.785Z,1736401405.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:26.103Z,1736401406.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:26.133Z,1736401406.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:26.509Z,1736401406.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:26.518Z,1736401406.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:26.934Z,1736401406.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:26.966Z,1736401406.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:27.326Z,1736401407.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:27.336Z,1736401407.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:27.797Z,1736401407.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:27.806Z,1736401407.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:28.130Z,1736401408.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:28.157Z,1736401408.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:28.556Z,1736401408.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:28.586Z,1736401408.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:28.968Z,1736401408.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:28.977Z,1736401408.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:29.397Z,1736401409.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:29.425Z,1736401409.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:29.838Z,1736401409.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:29.848Z,1736401409.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:30.279Z,1736401410.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:30.310Z,1736401410.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:30.683Z,1736401410.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:30.692Z,1736401410.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:31.116Z,1736401411.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:31.125Z,1736401411.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:31.508Z,1736401411.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:31.518Z,1736401411.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:31.931Z,1736401411.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:31.940Z,1736401411.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:32.297Z,1736401412.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:32.306Z,1736401412.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:32.704Z,1736401412.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:32.713Z,1736401412.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:33.136Z,1736401413.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:33.144Z,1736401413.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:33.511Z,1736401413.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:33.550Z,1736401413.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:33.940Z,1736401413.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:33.965Z,1736401413.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:34.333Z,1736401414.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:34.341Z,1736401414.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:34.751Z,1736401414.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:34.769Z,1736401414.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:35.146Z,1736401415.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:35.179Z,1736401415.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:35.533Z,1736401415.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:35.541Z,1736401415.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:35.966Z,1736401415.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:35.976Z,1736401415.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:36.342Z,1736401416.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:36.368Z,1736401416.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:36.750Z,1736401416.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:36.764Z,1736401416.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:37.185Z,1736401417.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:37.222Z,1736401417.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:37.563Z,1736401417.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:37.572Z,1736401417.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:37.997Z,1736401417.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:38.006Z,1736401418.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:38.365Z,1736401418.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:38.373Z,1736401418.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:38.777Z,1736401418.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:38.787Z,1736401418.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:39.199Z,1736401419.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:39.219Z,1736401419.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:39.572Z,1736401419.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:39.581Z,1736401419.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:40.001Z,1736401420.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:40.010Z,1736401420.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:40.403Z,1736401420.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:40.417Z,1736401420.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:40.786Z,1736401420.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:40.795Z,1736401420.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:41.211Z,1736401421.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:41.217Z,1736401421.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:43:41.235Z,1736401421.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:41.288Z,1736401421.288 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:43:41.289Z,1736401421.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:43:41.539Z,1736401421.539 [DAT](INFO): DAT read: 

2025-01-09T05:43:41.540Z,1736401421.540 [DAT](INFO): DAT read: Tx time:05:43:40.6791

2025-01-09T05:43:41.540Z,1736401421.540 [DAT](INFO): Ping request sent.
2025-01-09T05:43:41.540Z,1736401421.540 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:43:41.541Z,1736401421.541 [DAT](INFO): publishing transmit ping time
2025-01-09T05:43:41.541Z,1736401421.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-01-09T05:43:41.643Z,1736401421.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:41.657Z,1736401421.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:41.792Z,1736401421.792 [DAT](INFO): DAT read: TxSync time:05:43:40.6784

2025-01-09T05:43:41.793Z,1736401421.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252457
2025-01-09T05:43:42.034Z,1736401422.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:42.042Z,1736401422.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:42.044Z,1736401422.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503360
2025-01-09T05:43:42.296Z,1736401422.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755210
2025-01-09T05:43:42.424Z,1736401422.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:42.433Z,1736401422.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:42.548Z,1736401422.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007652
2025-01-09T05:43:42.800Z,1736401422.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259562
2025-01-09T05:43:42.807Z,1736401422.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:42.817Z,1736401422.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:43.052Z,1736401423.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511159
2025-01-09T05:43:43.234Z,1736401423.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:43.243Z,1736401423.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:43.304Z,1736401423.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763489
2025-01-09T05:43:43.556Z,1736401423.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015244
2025-01-09T05:43:43.610Z,1736401423.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:43.643Z,1736401423.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:43.808Z,1736401423.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267206
2025-01-09T05:43:44.040Z,1736401424.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:44.060Z,1736401424.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519906
2025-01-09T05:43:44.076Z,1736401424.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:44.314Z,1736401424.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772937
2025-01-09T05:43:44.440Z,1736401424.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:44.456Z,1736401424.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:44.564Z,1736401424.564 [DAT](INFO): DAT read: Rx Time:05:43:43.3423

2025-01-09T05:43:44.564Z,1736401424.564 [DAT](INFO): Rx dataTimestamp_ set to:1736401424.564005
2025-01-09T05:43:44.565Z,1736401424.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024424
2025-01-09T05:43:44.816Z,1736401424.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275310
2025-01-09T05:43:44.822Z,1736401424.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:44.831Z,1736401424.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:45.068Z,1736401425.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527394
2025-01-09T05:43:45.245Z,1736401425.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:45.256Z,1736401425.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-01-09T05:43:45.329Z,1736401425.329 [DAT](INFO): DAT read: 05:43:43.3423 LVL= 21568, 14993, 14066, 25395, AGC= 64, IDX= 289,-0.30, 2.427,-1.969, 2.750, 2.304, PHS= 0.211, 2.056, 0.443, RAW= 323.4, -28.8, CAL= 324.5, -42.5, ROT= 185.5,  42.5

2025-01-09T05:43:45.332Z,1736401425.332 [DAT](INFO): got valid direction response:
 05:43:43.3423 LVL= 21568, 14993, 14066, 25395, AGC= 64, IDX= 289,-0.30, 2.427,-1.969, 2.750, 2.304, PHS= 0.211, 2.056, 0.443, RAW= 323.4, -28.8, CAL= 324.5, -42.5, ROT= 185.5,  42.5

2025-01-09T05:43:45.343Z,1736401425.343 [DAT](INFO): DAT read: Range 10 to 50 : 194.2 m  (Round-trip  259.0 ms) speed -0.4 m/s

2025-01-09T05:43:45.343Z,1736401425.343 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:43:45.344Z,1736401425.344 [DAT](INFO): direction in FSK: [-0.733883,-0.070665,-0.675590]
2025-01-09T05:43:45.345Z,1736401425.345 [DAT](INFO): publishing direction and range info
2025-01-09T05:43:45.628Z,1736401425.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:45.666Z,1736401425.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 194.199997 m,
      deltaT: 120.781284 s,
      deltaX: 96.799995 m,
      approachRate: 0.801449 m/s,
      rangeRepo size: 4

2025-01-09T05:43:45.673Z,1736401425.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 194.199997 m,
      bearing: 129.403310 deg,
      lat: 36.904018 deg,
      lon: -122.118957 deg,
      deltaT: 403.411847 s,
      deltaX: 178.300003 m,
      approachRate: 0.441980 m/s,
      posRepo size: 4

2025-01-09T05:43:45.673Z,1736401425.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.20 m.
2025-01-09T05:43:45.673Z,1736401425.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 194.20 m. Resuming terminal guidance.
2025-01-09T05:43:45.674Z,1736401425.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-01-09T05:43:46.080Z,1736401426.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:46.086Z,1736401426.086 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-01-09T05:43:46.086Z,1736401426.086 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-09T05:43:46.087Z,1736401426.087 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-01-09T05:43:46.088Z,1736401426.088 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 194.199997 m (mode  1.000000 count ).
2025-01-09T05:43:46.088Z,1736401426.088 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-01-09T05:43:46.088Z,1736401426.088 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-01-09T05:43:46.459Z,1736401426.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:46.466Z,1736401426.466 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-01-09T05:43:46.466Z,1736401426.466 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-01-09T05:43:46.467Z,1736401426.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:43:46.580Z,1736401426.580 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:43:46.580Z,1736401426.580 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:43:46.580Z,1736401426.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:43:46.635Z,1736401426.635 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:43:46.832Z,1736401426.832 [DAT](INFO): DAT read: user:136>

2025-01-09T05:43:46.832Z,1736401426.832 [DAT](INFO): DAT read: Tx time:05:43:45.9791

2025-01-09T05:43:46.833Z,1736401426.833 [DAT](INFO): Ping request sent.
2025-01-09T05:43:46.833Z,1736401426.833 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:43:46.833Z,1736401426.833 [DAT](INFO): publishing transmit ping time
2025-01-09T05:43:46.833Z,1736401426.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715
2025-01-09T05:43:46.889Z,1736401426.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:46.916Z,1736401426.916 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-01-09T05:43:46.916Z,1736401426.916 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-01-09T05:43:47.084Z,1736401427.084 [DAT](INFO): DAT read: TxSync time:05:43:45.9784

2025-01-09T05:43:47.085Z,1736401427.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252422
2025-01-09T05:43:47.270Z,1736401427.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:47.276Z,1736401427.276 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-01-09T05:43:47.276Z,1736401427.276 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-09T05:43:47.276Z,1736401427.276 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-01-09T05:43:47.276Z,1736401427.276 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-09T05:43:47.337Z,1736401427.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504017
2025-01-09T05:43:47.588Z,1736401427.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754817
2025-01-09T05:43:47.631Z,1736401427.631 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:43:47.669Z,1736401427.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:47.840Z,1736401427.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006831
2025-01-09T05:43:48.092Z,1736401428.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259000
2025-01-09T05:43:48.095Z,1736401428.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:48.344Z,1736401428.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510928
2025-01-09T05:43:48.462Z,1736401428.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:48.469Z,1736401428.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:43:48.596Z,1736401428.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763497
2025-01-09T05:43:48.848Z,1736401428.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015002
2025-01-09T05:43:48.868Z,1736401428.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:49.100Z,1736401429.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266876
2025-01-09T05:43:49.284Z,1736401429.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:49.352Z,1736401429.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518880
2025-01-09T05:43:49.604Z,1736401429.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770828
2025-01-09T05:43:49.674Z,1736401429.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:49.856Z,1736401429.856 [DAT](INFO): DAT read: Rx Time:05:43:48.6461

2025-01-09T05:43:49.856Z,1736401429.856 [DAT](INFO): Rx dataTimestamp_ set to:1736401429.855935
2025-01-09T05:43:49.857Z,1736401429.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023980
2025-01-09T05:43:50.108Z,1736401430.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274950
2025-01-09T05:43:50.110Z,1736401430.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:50.360Z,1736401430.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526903
2025-01-09T05:43:50.485Z,1736401430.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:50.510Z,1736401430.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:43:50.619Z,1736401430.619 [DAT](INFO): DAT read: 05:43:48.6461 LVL= 20608, 14945, 16594, 24259, AGC= 64, IDX= 471,-0.01,-2.406,-0.571,-2.113,-2.589, PHS= 0.271, 2.065, 0.473, RAW= 324.1, -30.3, CAL= 325.2, -43.9, ROT= 184.8,  43.9

2025-01-09T05:43:50.620Z,1736401430.620 [DAT](INFO): got valid direction response:
 05:43:48.6461 LVL= 20608, 14945, 16594, 24259, AGC= 64, IDX= 471,-0.01,-2.406,-0.571,-2.113,-2.589, PHS= 0.271, 2.065, 0.473, RAW= 324.1, -30.3, CAL= 325.2, -43.9, ROT= 184.8,  43.9

2025-01-09T05:43:50.621Z,1736401430.621 [DAT](INFO): DAT read: Bearing 184.8,  43.9 (Local)

2025-01-09T05:43:50.621Z,1736401430.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.8,  43.9 (Local)

2025-01-09T05:43:50.622Z,1736401430.622 [DAT](INFO): DAT read: Range 10 to 50 : 197.0 m  (Round-trip  262.7 ms) speed -0.3 m/s

2025-01-09T05:43:50.628Z,1736401430.628 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:43:50.630Z,1736401430.630 [DAT](INFO): direction in FSK: [-0.718024,-0.060294,-0.693402]
2025-01-09T05:43:50.630Z,1736401430.630 [DAT](INFO): publishing direction and range info
2025-01-09T05:43:50.633Z,1736401430.633 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:43:50.633Z,1736401430.633 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:43:50.634Z,1736401430.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:43:50.864Z,1736401430.864 [DAT](INFO): DAT read: user:137>

2025-01-09T05:43:50.864Z,1736401430.864 [DAT](INFO): DAT read: Tx time:05:43:50.0292

2025-01-09T05:43:50.865Z,1736401430.865 [DAT](INFO): Ping request sent.
2025-01-09T05:43:50.865Z,1736401430.865 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:43:50.865Z,1736401430.865 [DAT](INFO): publishing transmit ping time
2025-01-09T05:43:50.865Z,1736401430.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-01-09T05:43:50.924Z,1736401430.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:50.950Z,1736401430.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 197.000000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-01-09T05:43:50.957Z,1736401430.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 197.000000 m,
      bearing: 127.962671 deg,
      lat: 36.904023 deg,
      lon: -122.118957 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-01-09T05:43:50.958Z,1736401430.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m.
2025-01-09T05:43:50.969Z,1736401430.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 197.000000 m,
      nav range: 141.335861 m,
      bearing: 132.422319 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 130.364402 deg,
      new cmd heading: 132.422319 deg.

2025-01-09T05:43:50.969Z,1736401430.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311205 target range: 197.000000 and range: 197.00 m.
2025-01-09T05:43:51.116Z,1736401431.116 [DAT](INFO): DAT read: TxSync time:05:43:50.0285

2025-01-09T05:43:51.117Z,1736401431.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251998
2025-01-09T05:43:51.313Z,1736401431.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:51.322Z,1736401431.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m.
2025-01-09T05:43:51.324Z,1736401431.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 197.000000 m,
      nav range: 141.606964 m,
      bearing: 132.419004 deg,
      approach rate: 0.728665 m/s,
      LOS rate: -0.008892 deg/s,
      cmd heading: 132.422314 deg,
      new cmd heading: 132.419004 deg.

2025-01-09T05:43:51.325Z,1736401431.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311148 target range: 197.000000 and range: 197.00 m.
2025-01-09T05:43:51.368Z,1736401431.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503150
2025-01-09T05:43:51.620Z,1736401431.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754891
2025-01-09T05:43:51.698Z,1736401431.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:51.706Z,1736401431.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m.
2025-01-09T05:43:51.709Z,1736401431.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 197.000000 m,
      nav range: 141.874771 m,
      bearing: 132.412146 deg,
      approach rate: 0.696627 m/s,
      LOS rate: -0.017805 deg/s,
      cmd heading: 132.419008 deg,
      new cmd heading: 132.412146 deg.

2025-01-09T05:43:51.710Z,1736401431.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311028 target range: 197.000000 and range: 197.00 m.
2025-01-09T05:43:51.872Z,1736401431.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006931
2025-01-09T05:43:52.124Z,1736401432.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259071
2025-01-09T05:43:52.152Z,1736401432.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:52.160Z,1736401432.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m.
2025-01-09T05:43:52.164Z,1736401432.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 197.000000 m,
      nav range: 142.175537 m,
      bearing: 132.400818 deg,
      approach rate: 0.662030 m/s,
      LOS rate: -0.024881 deg/s,
      cmd heading: 132.412151 deg,
      new cmd heading: 132.400818 deg.

2025-01-09T05:43:52.165Z,1736401432.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310830 target range: 197.000000 and range: 197.00 m.
2025-01-09T05:43:52.376Z,1736401432.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511629
2025-01-09T05:43:52.498Z,1736401432.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:52.512Z,1736401432.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m.
2025-01-09T05:43:52.515Z,1736401432.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 197.000000 m,
      nav range: 142.404205 m,
      bearing: 132.389394 deg,
      approach rate: 0.651020 m/s,
      LOS rate: -0.032474 deg/s,
      cmd heading: 132.400813 deg,
      new cmd heading: 132.389394 deg.

2025-01-09T05:43:52.516Z,1736401432.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310631 target range: 197.000000 and range: 197.00 m.
2025-01-09T05:43:52.629Z,1736401432.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764557
2025-01-09T05:43:52.880Z,1736401432.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015217
2025-01-09T05:43:52.902Z,1736401432.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:52.921Z,1736401432.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:43:52.923Z,1736401432.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m.
2025-01-09T05:43:52.926Z,1736401432.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 197.000000 m,
      nav range: 142.669601 m,
      bearing: 132.372957 deg,
      approach rate: 0.644256 m/s,
      LOS rate: -0.039826 deg/s,
      cmd heading: 132.389393 deg,
      new cmd heading: 132.372957 deg.

2025-01-09T05:43:52.931Z,1736401432.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.310344 target range: 197.000000 and range: 197.00 m.
2025-01-09T05:43:53.132Z,1736401433.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267516
2025-01-09T05:43:53.332Z,1736401433.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:53.341Z,1736401433.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m.
2025-01-09T05:43:53.344Z,1736401433.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 197.000000 m,
      nav range: 142.940552 m,
      bearing: 132.349888 deg,
      approach rate: 0.649361 m/s,
      LOS rate: -0.055183 deg/s,
      cmd heading: 132.372959 deg,
      new cmd heading: 132.349888 deg.

2025-01-09T05:43:53.345Z,1736401433.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309941 target range: 197.000000 and range: 197.00 m.
2025-01-09T05:43:53.384Z,1736401433.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519049
2025-01-09T05:43:53.637Z,1736401433.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772482
2025-01-09T05:43:53.715Z,1736401433.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:53.723Z,1736401433.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m.
2025-01-09T05:43:53.726Z,1736401433.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 197.000000 m,
      nav range: 143.180115 m,
      bearing: 132.326734 deg,
      approach rate: 0.626083 m/s,
      LOS rate: -0.060409 deg/s,
      cmd heading: 132.349887 deg,
      new cmd heading: 132.326734 deg.

2025-01-09T05:43:53.727Z,1736401433.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309537 target range: 197.000000 and range: 197.00 m.
2025-01-09T05:43:53.888Z,1736401433.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022849
2025-01-09T05:43:54.140Z,1736401434.140 [DAT](INFO): DAT read: Rx Time:05:43:52.6991

2025-01-09T05:43:54.140Z,1736401434.140 [DAT](INFO): Rx dataTimestamp_ set to:1736401434.139916
2025-01-09T05:43:54.141Z,1736401434.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276016
2025-01-09T05:43:54.196Z,1736401434.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:54.205Z,1736401434.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m.
2025-01-09T05:43:54.233Z,1736401434.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 197.000000 m,
      nav range: 143.476028 m,
      bearing: 132.293535 deg,
      approach rate: 0.614943 m/s,
      LOS rate: -0.068849 deg/s,
      cmd heading: 132.326733 deg,
      new cmd heading: 132.293535 deg.

2025-01-09T05:43:54.234Z,1736401434.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308958 target range: 197.000000 and range: 197.00 m.
2025-01-09T05:43:54.392Z,1736401434.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526815
2025-01-09T05:43:54.551Z,1736401434.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:54.559Z,1736401434.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.00 m.
2025-01-09T05:43:54.562Z,1736401434.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 197.000000 m,
      nav range: 143.694565 m,
      bearing: 132.266432 deg,
      approach rate: 0.615911 m/s,
      LOS rate: -0.076269 deg/s,
      cmd heading: 132.293538 deg,
      new cmd heading: 132.266432 deg.

2025-01-09T05:43:54.563Z,1736401434.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308485 target range: 197.000000 and range: 197.00 m.
2025-01-09T05:43:54.652Z,1736401434.652 [DAT](INFO): DAT read: 05:43:52.6991 LVL= 19696, 13617, 13474, 24147, AGC= 58, IDX= 461,-0.28,-2.704,-0.572,-2.106,-2.822, PHS= 0.206, 2.297, 0.713, RAW= 316.6, -31.0, CAL= 315.1, -44.8, ROT= 194.9,  44.8

2025-01-09T05:43:54.653Z,1736401434.653 [DAT](INFO): got valid direction response:
 05:43:52.6991 LVL= 19696, 13617, 13474, 24147, AGC= 58, IDX= 461,-0.28,-2.704,-0.572,-2.106,-2.822, PHS= 0.206, 2.297, 0.713, RAW= 316.6, -31.0, CAL= 315.1, -44.8, ROT= 194.9,  44.8

2025-01-09T05:43:54.654Z,1736401434.654 [DAT](INFO): DAT read: Bearing 194.9,  44.8 (Local)

2025-01-09T05:43:54.654Z,1736401434.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.9,  44.8 (Local)

2025-01-09T05:43:54.656Z,1736401434.656 [DAT](INFO): DAT read: Range 10 to 50 : 199.2 m  (Round-trip  265.7 ms) speed -0.3 m/s

2025-01-09T05:43:54.656Z,1736401434.656 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:43:54.657Z,1736401434.657 [DAT](INFO): direction in FSK: [-0.685712,-0.182454,-0.704634]
2025-01-09T05:43:54.657Z,1736401434.657 [DAT](INFO): publishing direction and range info
2025-01-09T05:43:54.670Z,1736401434.670 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:43:54.670Z,1736401434.670 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:43:54.670Z,1736401434.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:43:54.896Z,1736401434.896 [DAT](INFO): DAT read: user:138>

2025-01-09T05:43:54.897Z,1736401434.897 [DAT](INFO): DAT read: Tx time:05:43:54.0792

2025-01-09T05:43:54.897Z,1736401434.897 [DAT](INFO): Ping request sent.
2025-01-09T05:43:54.897Z,1736401434.897 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:43:54.898Z,1736401434.898 [DAT](INFO): publishing transmit ping time
2025-01-09T05:43:54.898Z,1736401434.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-01-09T05:43:54.969Z,1736401434.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:55.001Z,1736401435.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 199.199997 m,
      deltaT: 4.033080 s,
      deltaX: 2.199997 m,
      approachRate: 0.545488 m/s,
      rangeRepo size: 2

2025-01-09T05:43:55.007Z,1736401435.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 199.199997 m,
      bearing: 118.879870 deg,
      lat: 36.904068 deg,
      lon: -122.118902 deg,
      deltaT: 4.033080 s,
      deltaX: 2.199997 m,
      approachRate: 0.545488 m/s,
      posRepo size: 2

2025-01-09T05:43:55.008Z,1736401435.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:43:55.010Z,1736401435.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 144.346191 m,
      bearing: 129.454699 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.076269 deg/s,
      cmd heading: 132.266436 deg,
      new cmd heading: 132.165626 deg.

2025-01-09T05:43:55.018Z,1736401435.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306725 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:43:55.149Z,1736401435.149 [DAT](INFO): DAT read: TxSync time:05:43:54.0785

2025-01-09T05:43:55.150Z,1736401435.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252347
2025-01-09T05:43:55.400Z,1736401435.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502153
2025-01-09T05:43:55.519Z,1736401435.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:55.525Z,1736401435.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:43:55.528Z,1736401435.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:43:55.533Z,1736401435.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 144.675064 m,
      bearing: 129.403633 deg,
      approach rate: 0.623200 m/s,
      LOS rate: -0.096547 deg/s,
      cmd heading: 132.165622 deg,
      new cmd heading: 132.012774 deg.

2025-01-09T05:43:55.535Z,1736401435.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.304058 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:43:55.653Z,1736401435.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755555
2025-01-09T05:43:55.859Z,1736401435.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:55.889Z,1736401435.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:43:55.900Z,1736401435.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 144.876434 m,
      bearing: 129.369535 deg,
      approach rate: 0.556985 m/s,
      LOS rate: -0.094184 deg/s,
      cmd heading: 132.012776 deg,
      new cmd heading: 131.910623 deg.

2025-01-09T05:43:55.901Z,1736401435.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302275 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:43:55.904Z,1736401435.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006486
2025-01-09T05:43:56.156Z,1736401436.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258443
2025-01-09T05:43:56.317Z,1736401436.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:56.325Z,1736401436.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:43:56.329Z,1736401436.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 145.144302 m,
      bearing: 129.319616 deg,
      approach rate: 0.614017 m/s,
      LOS rate: -0.114214 deg/s,
      cmd heading: 131.910624 deg,
      new cmd heading: 131.761145 deg.

2025-01-09T05:43:56.330Z,1736401436.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299666 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:43:56.409Z,1736401436.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510972
2025-01-09T05:43:56.660Z,1736401436.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762174
2025-01-09T05:43:56.702Z,1736401436.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:56.711Z,1736401436.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:43:56.714Z,1736401436.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 145.366837 m,
      bearing: 129.275273 deg,
      approach rate: 0.577985 m/s,
      LOS rate: -0.114996 deg/s,
      cmd heading: 131.761138 deg,
      new cmd heading: 131.628312 deg.

2025-01-09T05:43:56.715Z,1736401436.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.297348 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:43:56.913Z,1736401436.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015408
2025-01-09T05:43:57.167Z,1736401437.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268808
2025-01-09T05:43:57.220Z,1736401437.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:57.229Z,1736401437.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:43:57.233Z,1736401437.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 145.660568 m,
      bearing: 129.210319 deg,
      approach rate: 0.566110 m/s,
      LOS rate: -0.124932 deg/s,
      cmd heading: 131.628318 deg,
      new cmd heading: 131.433852 deg.

2025-01-09T05:43:57.234Z,1736401437.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293953 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:43:57.416Z,1736401437.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518129
2025-01-09T05:43:57.571Z,1736401437.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:57.581Z,1736401437.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:43:57.591Z,1736401437.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:43:57.594Z,1736401437.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 145.850220 m,
      bearing: 129.168542 deg,
      approach rate: 0.529009 m/s,
      LOS rate: -0.116382 deg/s,
      cmd heading: 131.433849 deg,
      new cmd heading: 131.308680 deg.

2025-01-09T05:43:57.596Z,1736401437.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.291769 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:43:57.669Z,1736401437.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771027
2025-01-09T05:43:57.920Z,1736401437.920 [DAT](INFO): DAT read: Rx Time:05:43:56.6833

2025-01-09T05:43:57.920Z,1736401437.920 [DAT](INFO): Rx dataTimestamp_ set to:1736401437.919738
2025-01-09T05:43:57.921Z,1736401437.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023145
2025-01-09T05:43:57.952Z,1736401437.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:57.961Z,1736401437.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:43:57.964Z,1736401437.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 146.067932 m,
      bearing: 129.113970 deg,
      approach rate: 0.583988 m/s,
      LOS rate: -0.146163 deg/s,
      cmd heading: 131.308679 deg,
      new cmd heading: 131.145209 deg.

2025-01-09T05:43:57.965Z,1736401437.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288916 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:43:58.172Z,1736401438.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274589
2025-01-09T05:43:58.373Z,1736401438.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:58.382Z,1736401438.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:43:58.385Z,1736401438.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 146.296173 m,
      bearing: 129.057521 deg,
      approach rate: 0.541697 m/s,
      LOS rate: -0.133766 deg/s,
      cmd heading: 131.145205 deg,
      new cmd heading: 130.976121 deg.

2025-01-09T05:43:58.386Z,1736401438.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285964 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:43:58.429Z,1736401438.429 [DAT](INFO): DAT read: Range 10 to 50 : 149.9 m  (Round-trip  199.9 ms) speed -0.6 m/s

2025-01-09T05:43:58.431Z,1736401438.431 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:43:58.432Z,1736401438.432 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:43:58.432Z,1736401438.432 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:43:58.432Z,1736401438.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:43:58.676Z,1736401438.676 [DAT](INFO): DAT read: user:139>

2025-01-09T05:43:58.676Z,1736401438.676 [DAT](INFO): DAT read: Tx time:05:43:57.8292

2025-01-09T05:43:58.677Z,1736401438.677 [DAT](INFO): Ping request sent.
2025-01-09T05:43:58.677Z,1736401438.677 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:43:58.677Z,1736401438.677 [DAT](INFO): publishing transmit ping time
2025-01-09T05:43:58.678Z,1736401438.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001108
2025-01-09T05:43:58.759Z,1736401438.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:58.772Z,1736401438.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 149.899994 m,
 deltaT: 3.780010 s,
 deltaX: -49.300003 m,
 approachRate: -13.042295 m/s,
 rangeRepo size: 2
2025-01-09T05:43:58.773Z,1736401438.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:43:58.776Z,1736401438.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 146.505722 m,
      bearing: 129.005880 deg,
      approach rate: 0.537669 m/s,
      LOS rate: -0.132313 deg/s,
      cmd heading: 130.976117 deg,
      new cmd heading: 130.821416 deg.

2025-01-09T05:43:58.777Z,1736401438.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283264 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:43:58.929Z,1736401438.929 [DAT](INFO): DAT read: TxSync time:05:43:57.8285

2025-01-09T05:43:58.930Z,1736401438.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253197
2025-01-09T05:43:59.184Z,1736401439.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506618
2025-01-09T05:43:59.242Z,1736401439.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:59.253Z,1736401439.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:43:59.256Z,1736401439.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 146.752487 m,
      bearing: 128.935618 deg,
      approach rate: 0.513169 m/s,
      LOS rate: -0.145868 deg/s,
      cmd heading: 130.821414 deg,
      new cmd heading: 130.610985 deg.

2025-01-09T05:43:59.257Z,1736401439.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279592 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:43:59.432Z,1736401439.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755758
2025-01-09T05:43:59.636Z,1736401439.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:43:59.642Z,1736401439.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:43:59.644Z,1736401439.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:43:59.669Z,1736401439.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 146.948685 m,
      bearing: 128.876347 deg,
      approach rate: 0.500802 m/s,
      LOS rate: -0.151090 deg/s,
      cmd heading: 130.610989 deg,
      new cmd heading: 130.433414 deg.

2025-01-09T05:43:59.671Z,1736401439.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276493 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:43:59.684Z,1736401439.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007036
2025-01-09T05:43:59.936Z,1736401439.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259476
2025-01-09T05:44:00.054Z,1736401440.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:00.064Z,1736401440.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:00.067Z,1736401440.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 147.152267 m,
      bearing: 128.811129 deg,
      approach rate: 0.485232 m/s,
      LOS rate: -0.155231 deg/s,
      cmd heading: 130.433418 deg,
      new cmd heading: 130.238033 deg.

2025-01-09T05:44:00.068Z,1736401440.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.273082 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:00.192Z,1736401440.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514707
2025-01-09T05:44:00.440Z,1736401440.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762945
2025-01-09T05:44:00.497Z,1736401440.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:00.513Z,1736401440.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:00.520Z,1736401440.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 147.348862 m,
      bearing: 128.746359 deg,
      approach rate: 0.437393 m/s,
      LOS rate: -0.143910 deg/s,
      cmd heading: 130.238033 deg,
      new cmd heading: 130.043985 deg.

2025-01-09T05:44:00.521Z,1736401440.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269696 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:00.692Z,1736401440.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015487
2025-01-09T05:44:00.944Z,1736401440.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267038
2025-01-09T05:44:00.965Z,1736401440.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:00.974Z,1736401440.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:00.976Z,1736401440.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 147.546921 m,
      bearing: 128.673928 deg,
      approach rate: 0.430286 m/s,
      LOS rate: -0.157147 deg/s,
      cmd heading: 130.043988 deg,
      new cmd heading: 129.826986 deg.

2025-01-09T05:44:00.978Z,1736401440.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.265908 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:01.199Z,1736401441.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521693
2025-01-09T05:44:01.377Z,1736401441.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:01.386Z,1736401441.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:01.405Z,1736401441.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 147.707001 m,
      bearing: 128.614045 deg,
      approach rate: 0.388292 m/s,
      LOS rate: -0.145094 deg/s,
      cmd heading: 129.826993 deg,
      new cmd heading: 129.647541 deg.

2025-01-09T05:44:01.406Z,1736401441.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262776 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:01.448Z,1736401441.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771039
2025-01-09T05:44:01.701Z,1736401441.701 [DAT](INFO): DAT read: Rx Time:05:44:00.4360

2025-01-09T05:44:01.702Z,1736401441.702 [DAT](INFO): Rx dataTimestamp_ set to:1736401441.701279
2025-01-09T05:44:01.702Z,1736401441.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025391
2025-01-09T05:44:01.792Z,1736401441.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:01.800Z,1736401441.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:01.801Z,1736401441.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:01.804Z,1736401441.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 147.860641 m,
      bearing: 128.553438 deg,
      approach rate: 0.369728 m/s,
      LOS rate: -0.145696 deg/s,
      cmd heading: 129.647536 deg,
      new cmd heading: 129.465904 deg.

2025-01-09T05:44:01.805Z,1736401441.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.259606 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:01.952Z,1736401441.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274825
2025-01-09T05:44:02.240Z,1736401442.240 [DAT](INFO): DAT read: 05:44:00.4360 LVL= 24048, 25041, 18546, 32499, AGC= 57, IDX= 455,-0.01, 0.326, 2.700, 2.490, 1.833, PHS=-1.419, 0.914, 0.654, RAW= 275.8,  -1.4, CAL= 278.3,  -3.2, ROT= 231.7,   3.2

2025-01-09T05:44:02.241Z,1736401442.241 [DAT](INFO): got valid direction response:
 05:44:00.4360 LVL= 24048, 25041, 18546, 32499, AGC= 57, IDX= 455,-0.01, 0.326, 2.700, 2.490, 1.833, PHS=-1.419, 0.914, 0.654, RAW= 275.8,  -1.4, CAL= 278.3,  -3.2, ROT= 231.7,   3.2

2025-01-09T05:44:02.242Z,1736401442.242 [DAT](INFO): DAT read: Bearing 231.7,   3.2 (Local)

2025-01-09T05:44:02.242Z,1736401442.242 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.7,   3.2 (Local)

2025-01-09T05:44:02.243Z,1736401442.243 [DAT](INFO): DAT read: Range 10 to 50 : 151.9 m  (Round-trip  202.6 ms) speed -0.4 m/s

2025-01-09T05:44:02.244Z,1736401442.244 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:44:02.246Z,1736401442.246 [DAT](INFO): direction in FSK: [-0.618813,-0.783553,-0.055822]
2025-01-09T05:44:02.246Z,1736401442.246 [DAT](INFO): publishing direction and range info
2025-01-09T05:44:02.248Z,1736401442.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:02.254Z,1736401442.254 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:02.254Z,1736401442.254 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:02.254Z,1736401442.254 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:02.288Z,1736401442.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 151.899994 m,
 deltaT: 7.580172 s,
 deltaX: -47.300003 m,
 approachRate: -6.239964 m/s,
 rangeRepo size: 2
2025-01-09T05:44:02.289Z,1736401442.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:02.306Z,1736401442.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 148.031952 m,
      bearing: 128.482238 deg,
      approach rate: 0.352390 m/s,
      LOS rate: -0.146290 deg/s,
      cmd heading: 129.465908 deg,
      new cmd heading: 129.252558 deg.

2025-01-09T05:44:02.331Z,1736401442.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255883 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:02.476Z,1736401442.476 [DAT](INFO): DAT read: user:140>

2025-01-09T05:44:02.476Z,1736401442.476 [DAT](INFO): DAT read: Tx time:05:44:01.6292

2025-01-09T05:44:02.477Z,1736401442.477 [DAT](INFO): Ping request sent.
2025-01-09T05:44:02.477Z,1736401442.477 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:02.477Z,1736401442.477 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:02.478Z,1736401442.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001007
2025-01-09T05:44:02.729Z,1736401442.729 [DAT](INFO): DAT read: TxSync time:05:44:01.6285

2025-01-09T05:44:02.730Z,1736401442.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252824
2025-01-09T05:44:02.756Z,1736401442.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:02.791Z,1736401442.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:02.793Z,1736401442.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 148.203506 m,
      bearing: 128.410823 deg,
      approach rate: 0.343956 m/s,
      LOS rate: -0.143017 deg/s,
      cmd heading: 129.252560 deg,
      new cmd heading: 129.038564 deg.

2025-01-09T05:44:02.799Z,1736401442.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252148 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:02.980Z,1736401442.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503432
2025-01-09T05:44:03.088Z,1736401443.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:03.098Z,1736401443.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:03.101Z,1736401443.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 148.312347 m,
      bearing: 128.362772 deg,
      approach rate: 0.349079 m/s,
      LOS rate: -0.153999 deg/s,
      cmd heading: 129.038570 deg,
      new cmd heading: 128.894523 deg.

2025-01-09T05:44:03.102Z,1736401443.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249634 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:03.235Z,1736401443.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757453
2025-01-09T05:44:03.484Z,1736401443.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007012
2025-01-09T05:44:03.532Z,1736401443.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:03.587Z,1736401443.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:03.590Z,1736401443.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 148.439392 m,
      bearing: 128.302050 deg,
      approach rate: 0.263429 m/s,
      LOS rate: -0.125800 deg/s,
      cmd heading: 128.894522 deg,
      new cmd heading: 128.712512 deg.

2025-01-09T05:44:03.595Z,1736401443.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.246457 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:03.738Z,1736401443.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260556
2025-01-09T05:44:03.988Z,1736401443.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511663
2025-01-09T05:44:04.046Z,1736401444.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:04.052Z,1736401444.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:04.055Z,1736401444.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:04.057Z,1736401444.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 148.580597 m,
      bearing: 128.230324 deg,
      approach rate: 0.297951 m/s,
      LOS rate: -0.151203 deg/s,
      cmd heading: 128.712511 deg,
      new cmd heading: 128.497538 deg.

2025-01-09T05:44:04.059Z,1736401444.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.242705 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:04.243Z,1736401444.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765721
2025-01-09T05:44:04.466Z,1736401444.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:04.475Z,1736401444.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:04.478Z,1736401444.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 148.684647 m,
      bearing: 128.173045 deg,
      approach rate: 0.247731 m/s,
      LOS rate: -0.136280 deg/s,
      cmd heading: 128.497537 deg,
      new cmd heading: 128.325821 deg.

2025-01-09T05:44:04.480Z,1736401444.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239708 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:04.492Z,1736401444.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015397
2025-01-09T05:44:04.745Z,1736401444.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268244
2025-01-09T05:44:04.889Z,1736401444.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:04.899Z,1736401444.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:04.901Z,1736401444.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 148.785217 m,
      bearing: 128.114341 deg,
      approach rate: 0.237220 m/s,
      LOS rate: -0.138374 deg/s,
      cmd heading: 128.325826 deg,
      new cmd heading: 128.149834 deg.

2025-01-09T05:44:04.902Z,1736401444.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.236637 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:04.997Z,1736401444.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520221
2025-01-09T05:44:05.252Z,1736401445.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774502
2025-01-09T05:44:05.359Z,1736401445.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:05.389Z,1736401445.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:05.397Z,1736401445.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 148.895508 m,
      bearing: 128.050115 deg,
      approach rate: 0.224652 m/s,
      LOS rate: -0.130727 deg/s,
      cmd heading: 128.149840 deg,
      new cmd heading: 127.957304 deg.

2025-01-09T05:44:05.398Z,1736401445.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233276 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:05.501Z,1736401445.501 [DAT](INFO): DAT read: Rx Time:05:44:04.2376

2025-01-09T05:44:05.501Z,1736401445.501 [DAT](INFO): Rx dataTimestamp_ set to:1736401445.500787
2025-01-09T05:44:05.502Z,1736401445.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025244
2025-01-09T05:44:05.692Z,1736401445.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:05.706Z,1736401445.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.20 m.
2025-01-09T05:44:05.709Z,1736401445.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.199997 m,
      nav range: 148.963547 m,
      bearing: 128.002016 deg,
      approach rate: 0.215069 m/s,
      LOS rate: -0.151970 deg/s,
      cmd heading: 127.957310 deg,
      new cmd heading: 127.813080 deg.

2025-01-09T05:44:05.709Z,1736401445.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.230759 target range: 199.199997 and range: 199.20 m.
2025-01-09T05:44:05.752Z,1736401445.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275404
2025-01-09T05:44:06.023Z,1736401446.023 [DAT](INFO): DAT read: 05:44:04.2376 LVL= 27280, 20433, 14274, 27635, AGC= 59, IDX= 455,-0.40, 2.836,-1.915,-0.838,-2.001, PHS=-1.357, 0.134, 1.161, RAW= 246.1,   0.6, CAL= 249.4,   1.3, ROT= 260.6,  -1.3

2025-01-09T05:44:06.024Z,1736401446.024 [DAT](INFO): got valid direction response:
 05:44:04.2376 LVL= 27280, 20433, 14274, 27635, AGC= 59, IDX= 455,-0.40, 2.836,-1.915,-0.838,-2.001, PHS=-1.357, 0.134, 1.161, RAW= 246.1,   0.6, CAL= 249.4,   1.3, ROT= 260.6,  -1.3

2025-01-09T05:44:06.025Z,1736401446.025 [DAT](INFO): DAT read: Bearing 260.6,  -1.3 (Local)

2025-01-09T05:44:06.025Z,1736401446.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.6,  -1.3 (Local)

2025-01-09T05:44:06.029Z,1736401446.029 [DAT](INFO): DAT read: Range 10 to 50 : 153.0 m  (Round-trip  204.1 ms) speed -0.2 m/s

2025-01-09T05:44:06.030Z,1736401446.030 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:44:06.048Z,1736401446.048 [DAT](INFO): direction in FSK: [-0.163284,-0.986318,0.022687]
2025-01-09T05:44:06.049Z,1736401446.049 [DAT](INFO): publishing direction and range info
2025-01-09T05:44:06.060Z,1736401446.060 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:06.060Z,1736401446.060 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:06.060Z,1736401446.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:06.118Z,1736401446.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:06.157Z,1736401446.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.000000 m,
      deltaT: 11.359450 s,
      deltaX: -46.199997 m,
      approachRate: -4.067098 m/s,
      rangeRepo size: 3

2025-01-09T05:44:06.164Z,1736401446.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 153.000000 m,
      bearing: 136.625893 deg,
      lat: 36.904108 deg,
      lon: -122.118892 deg,
      deltaT: 11.359450 s,
      deltaX: -46.199997 m,
      approachRate: -4.067098 m/s,
      posRepo size: 3

2025-01-09T05:44:06.164Z,1736401446.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:06.171Z,1736401446.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.162476 m,
      bearing: 126.368921 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.151970 deg/s,
      cmd heading: 127.813084 deg,
      new cmd heading: 127.607508 deg.

2025-01-09T05:44:06.172Z,1736401446.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.227171 target range: 153.000000 and range: 153.00 m.
2025-01-09T05:44:06.258Z,1736401446.258 [DAT](INFO): DAT read: user:141>

2025-01-09T05:44:06.261Z,1736401446.261 [DAT](INFO): DAT read: Tx time:05:44:05.4293

2025-01-09T05:44:06.263Z,1736401446.263 [DAT](INFO): Ping request sent.
2025-01-09T05:44:06.263Z,1736401446.263 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:06.263Z,1736401446.263 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:06.266Z,1736401446.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002545
2025-01-09T05:44:06.508Z,1736401446.508 [DAT](INFO): DAT read: TxSync time:05:44:05.4286

2025-01-09T05:44:06.509Z,1736401446.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246229
2025-01-09T05:44:06.549Z,1736401446.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:06.556Z,1736401446.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:06.559Z,1736401446.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:06.562Z,1736401446.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.247910 m,
      bearing: 126.305360 deg,
      approach rate: 0.212574 m/s,
      LOS rate: -0.158061 deg/s,
      cmd heading: 127.607509 deg,
      new cmd heading: 127.416935 deg.

2025-01-09T05:44:06.563Z,1736401446.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.223845 target range: 153.000000 and range: 153.00 m.
2025-01-09T05:44:06.760Z,1736401446.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497923
2025-01-09T05:44:06.899Z,1736401446.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:06.908Z,1736401446.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:06.911Z,1736401446.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.309021 m,
      bearing: 126.252273 deg,
      approach rate: 0.174813 m/s,
      LOS rate: -0.151794 deg/s,
      cmd heading: 127.416933 deg,
      new cmd heading: 127.257740 deg.

2025-01-09T05:44:06.913Z,1736401446.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221066 target range: 153.000000 and range: 153.00 m.
2025-01-09T05:44:07.013Z,1736401447.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750821
2025-01-09T05:44:07.267Z,1736401447.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003739
2025-01-09T05:44:07.373Z,1736401447.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:07.383Z,1736401447.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:07.386Z,1736401447.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.382187 m,
      bearing: 126.177883 deg,
      approach rate: 0.154128 m/s,
      LOS rate: -0.156628 deg/s,
      cmd heading: 127.257735 deg,
      new cmd heading: 127.034678 deg.

2025-01-09T05:44:07.387Z,1736401447.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217173 target range: 153.000000 and range: 153.00 m.
2025-01-09T05:44:07.517Z,1736401447.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254858
2025-01-09T05:44:07.719Z,1736401447.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:07.728Z,1736401447.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:07.734Z,1736401447.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.431717 m,
      bearing: 126.122912 deg,
      approach rate: 0.143411 m/s,
      LOS rate: -0.159113 deg/s,
      cmd heading: 127.034675 deg,
      new cmd heading: 126.869816 deg.

2025-01-09T05:44:07.736Z,1736401447.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214296 target range: 153.000000 and range: 153.00 m.
2025-01-09T05:44:07.796Z,1736401447.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.533276
2025-01-09T05:44:08.020Z,1736401448.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757287
2025-01-09T05:44:08.129Z,1736401448.129 [CTD_Seabird](ERROR): Failed to parse device response: 65.76,10.0758,3.69566,
2025-01-09T05:44:08.134Z,1736401448.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:08.142Z,1736401448.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:08.147Z,1736401448.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.486160 m,
      bearing: 126.056432 deg,
      approach rate: 0.131517 m/s,
      LOS rate: -0.160533 deg/s,
      cmd heading: 126.869821 deg,
      new cmd heading: 126.670458 deg.

2025-01-09T05:44:08.148Z,1736401448.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210817 target range: 153.000000 and range: 153.00 m.
2025-01-09T05:44:08.275Z,1736401448.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011808
2025-01-09T05:44:08.524Z,1736401448.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261387
2025-01-09T05:44:08.572Z,1736401448.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:08.601Z,1736401448.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:08.609Z,1736401448.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:08.616Z,1736401448.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.539841 m,
      bearing: 125.980694 deg,
      approach rate: 0.115170 m/s,
      LOS rate: -0.162434 deg/s,
      cmd heading: 126.670462 deg,
      new cmd heading: 126.443332 deg.

2025-01-09T05:44:08.617Z,1736401448.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.206852 target range: 153.000000 and range: 153.00 m.
2025-01-09T05:44:08.631Z,1736401448.631 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-09T05:44:08.777Z,1736401448.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514278
2025-01-09T05:44:08.934Z,1736401448.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:08.943Z,1736401448.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:08.946Z,1736401448.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.579315 m,
      bearing: 125.917736 deg,
      approach rate: 0.118131 m/s,
      LOS rate: -0.188359 deg/s,
      cmd heading: 126.443331 deg,
      new cmd heading: 126.254507 deg.

2025-01-09T05:44:08.947Z,1736401448.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203557 target range: 153.000000 and range: 153.00 m.
2025-01-09T05:44:09.029Z,1736401449.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766662
2025-01-09T05:44:09.280Z,1736401449.280 [DAT](INFO): DAT read: Rx Time:05:44:08.0385

2025-01-09T05:44:09.280Z,1736401449.280 [DAT](INFO): Rx dataTimestamp_ set to:1736401449.280065
2025-01-09T05:44:09.281Z,1736401449.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018603
2025-01-09T05:44:09.408Z,1736401449.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:09.437Z,1736401449.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:09.445Z,1736401449.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.629288 m,
      bearing: 125.829102 deg,
      approach rate: 0.100970 m/s,
      LOS rate: -0.179026 deg/s,
      cmd heading: 126.254503 deg,
      new cmd heading: 125.988693 deg.

2025-01-09T05:44:09.447Z,1736401449.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.198917 target range: 153.000000 and range: 153.00 m.
2025-01-09T05:44:09.532Z,1736401449.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269485
2025-01-09T05:44:09.753Z,1736401449.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:09.784Z,1736401449.784 [DAT](INFO): DAT read: Range 10 to 50 : 153.7 m  (Round-trip  205.0 ms) speed  0.4 m/s

2025-01-09T05:44:09.785Z,1736401449.785 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:44:09.786Z,1736401449.786 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:09.786Z,1736401449.786 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:09.786Z,1736401449.786 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:09.798Z,1736401449.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.699997 m,
      deltaT: 3.778685 s,
      deltaX: 0.699997 m,
      approachRate: 0.185249 m/s,
      rangeRepo size: 4

2025-01-09T05:44:09.798Z,1736401449.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:09.805Z,1736401449.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.660950 m,
      bearing: 125.764128 deg,
      approach rate: 0.088025 m/s,
      LOS rate: -0.180599 deg/s,
      cmd heading: 125.988686 deg,
      new cmd heading: 125.793806 deg.

2025-01-09T05:44:09.806Z,1736401449.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.195516 target range: 153.000000 and range: 153.70 m.
2025-01-09T05:44:10.036Z,1736401450.036 [DAT](INFO): DAT read: user:142>

2025-01-09T05:44:10.037Z,1736401450.037 [DAT](INFO): DAT read: Tx time:05:44:09.1793

2025-01-09T05:44:10.037Z,1736401450.037 [DAT](INFO): Ping request sent.
2025-01-09T05:44:10.038Z,1736401450.038 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:10.038Z,1736401450.038 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:10.039Z,1736401450.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001141
2025-01-09T05:44:10.155Z,1736401450.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:10.186Z,1736401450.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:10.193Z,1736401450.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.698120 m,
      bearing: 125.688354 deg,
      approach rate: 0.095564 m/s,
      LOS rate: -0.194764 deg/s,
      cmd heading: 125.793807 deg,
      new cmd heading: 125.566544 deg.

2025-01-09T05:44:10.194Z,1736401450.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.191550 target range: 153.000000 and range: 153.70 m.
2025-01-09T05:44:10.291Z,1736401450.291 [DAT](INFO): DAT read: TxSync time:05:44:09.1786

2025-01-09T05:44:10.294Z,1736401450.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255569
2025-01-09T05:44:10.540Z,1736401450.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502079
2025-01-09T05:44:10.571Z,1736401450.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:10.581Z,1736401450.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:10.584Z,1736401450.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.728775 m,
      bearing: 125.605169 deg,
      approach rate: 0.077650 m/s,
      LOS rate: -0.210666 deg/s,
      cmd heading: 125.566539 deg,
      new cmd heading: 125.317038 deg.

2025-01-09T05:44:10.585Z,1736401450.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.187195 target range: 153.000000 and range: 153.70 m.
2025-01-09T05:44:10.795Z,1736401450.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757585
2025-01-09T05:44:10.940Z,1736401450.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:10.948Z,1736401450.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:10.950Z,1736401450.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:10.953Z,1736401450.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.749649 m,
      bearing: 125.530701 deg,
      approach rate: 0.056530 m/s,
      LOS rate: -0.201643 deg/s,
      cmd heading: 125.317032 deg,
      new cmd heading: 125.093660 deg.

2025-01-09T05:44:10.954Z,1736401450.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.183296 target range: 153.000000 and range: 153.70 m.
2025-01-09T05:44:11.045Z,1736401451.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007434
2025-01-09T05:44:11.296Z,1736401451.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258826
2025-01-09T05:44:11.438Z,1736401451.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:11.449Z,1736401451.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:11.452Z,1736401451.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.784927 m,
      bearing: 125.426774 deg,
      approach rate: 0.070657 m/s,
      LOS rate: -0.208098 deg/s,
      cmd heading: 125.093658 deg,
      new cmd heading: 124.781956 deg.

2025-01-09T05:44:11.453Z,1736401451.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.177856 target range: 153.000000 and range: 153.70 m.
2025-01-09T05:44:11.548Z,1736401451.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510122
2025-01-09T05:44:11.771Z,1736401451.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:11.779Z,1736401451.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:11.782Z,1736401451.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.797424 m,
      bearing: 125.356807 deg,
      approach rate: 0.037849 m/s,
      LOS rate: -0.211889 deg/s,
      cmd heading: 124.781955 deg,
      new cmd heading: 124.572072 deg.

2025-01-09T05:44:11.783Z,1736401451.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174193 target range: 153.000000 and range: 153.70 m.
2025-01-09T05:44:11.803Z,1736401451.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764425
2025-01-09T05:44:12.052Z,1736401452.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013982
2025-01-09T05:44:12.176Z,1736401452.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:12.186Z,1736401452.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:12.188Z,1736401452.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.806076 m,
      bearing: 125.271655 deg,
      approach rate: 0.021301 m/s,
      LOS rate: -0.209639 deg/s,
      cmd heading: 124.572077 deg,
      new cmd heading: 124.316638 deg.

2025-01-09T05:44:12.189Z,1736401452.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.169735 target range: 153.000000 and range: 153.70 m.
2025-01-09T05:44:12.305Z,1736401452.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267737
2025-01-09T05:44:12.556Z,1736401452.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518078
2025-01-09T05:44:12.585Z,1736401452.585 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +23.77,     ,        +3.45,   8.40,  0.00
2025-01-09T05:44:12.593Z,1736401452.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:44:12.593Z,1736401452.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:12.603Z,1736401452.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:12.606Z,1736401452.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.815353 m,
      bearing: 125.183897 deg,
      approach rate: 0.022253 m/s,
      LOS rate: -0.210489 deg/s,
      cmd heading: 124.316642 deg,
      new cmd heading: 124.053386 deg.

2025-01-09T05:44:12.607Z,1736401452.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.165140 target range: 153.000000 and range: 153.70 m.
2025-01-09T05:44:12.808Z,1736401452.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769925
2025-01-09T05:44:12.959Z,1736401452.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:44:12.959Z,1736401452.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:12.967Z,1736401452.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:12.969Z,1736401452.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:12.972Z,1736401452.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.811249 m,
      bearing: 125.106778 deg,
      approach rate: -0.011186 m/s,
      LOS rate: -0.210173 deg/s,
      cmd heading: 124.053393 deg,
      new cmd heading: 123.822031 deg.

2025-01-09T05:44:12.973Z,1736401452.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.161102 target range: 153.000000 and range: 153.70 m.
2025-01-09T05:44:13.063Z,1736401453.063 [DAT](INFO): DAT read: Rx Time:05:44:11.7889

2025-01-09T05:44:13.063Z,1736401453.063 [DAT](INFO): Rx dataTimestamp_ set to:1736401453.062990
2025-01-09T05:44:13.064Z,1736401453.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026202
2025-01-09T05:44:13.313Z,1736401453.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275545
2025-01-09T05:44:13.459Z,1736401453.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:13.473Z,1736401453.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:13.480Z,1736401453.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.807831 m,
      bearing: 125.000905 deg,
      approach rate: -0.006788 m/s,
      LOS rate: -0.210264 deg/s,
      cmd heading: 123.822027 deg,
      new cmd heading: 123.504405 deg.

2025-01-09T05:44:13.481Z,1736401453.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.155559 target range: 153.000000 and range: 153.70 m.
2025-01-09T05:44:13.570Z,1736401453.570 [DAT](INFO): DAT read: Range 10 to 50 : 154.0 m  (Round-trip  205.4 ms) speed -0.3 m/s

2025-01-09T05:44:13.572Z,1736401453.572 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:44:13.573Z,1736401453.573 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:13.573Z,1736401453.573 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:13.573Z,1736401453.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:13.801Z,1736401453.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:13.811Z,1736401453.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 154.000000 m,
      deltaT: 3.782317 s,
      deltaX: 0.300003 m,
      approachRate: 0.079317 m/s,
      rangeRepo size: 4

2025-01-09T05:44:13.811Z,1736401453.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:13.814Z,1736401453.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.799576 m,
      bearing: 124.926848 deg,
      approach rate: -0.024501 m/s,
      LOS rate: -0.219814 deg/s,
      cmd heading: 123.504409 deg,
      new cmd heading: 123.282226 deg.

2025-01-09T05:44:13.816Z,1736401453.816 [DAT](INFO): DAT read: user:143>

2025-01-09T05:44:13.816Z,1736401453.816 [DAT](INFO): DAT read: Tx time:05:44:12.9793

2025-01-09T05:44:13.817Z,1736401453.817 [DAT](INFO): Ping request sent.
2025-01-09T05:44:13.817Z,1736401453.817 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:13.817Z,1736401453.817 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:13.818Z,1736401453.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-01-09T05:44:13.839Z,1736401453.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.151681 target range: 153.000000 and range: 154.00 m.
2025-01-09T05:44:14.068Z,1736401454.068 [DAT](INFO): DAT read: TxSync time:05:44:12.9786

2025-01-09T05:44:14.070Z,1736401454.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252775
2025-01-09T05:44:14.187Z,1736401454.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:14.196Z,1736401454.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:14.199Z,1736401454.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.783875 m,
      bearing: 124.844716 deg,
      approach rate: -0.040626 m/s,
      LOS rate: -0.212533 deg/s,
      cmd heading: 123.282223 deg,
      new cmd heading: 123.035804 deg.

2025-01-09T05:44:14.200Z,1736401454.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.147380 target range: 153.000000 and range: 154.00 m.
2025-01-09T05:44:14.320Z,1736401454.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502850
2025-01-09T05:44:14.572Z,1736401454.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755074
2025-01-09T05:44:14.638Z,1736401454.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:14.648Z,1736401454.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:14.650Z,1736401454.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.764450 m,
      bearing: 124.752200 deg,
      approach rate: -0.043039 m/s,
      LOS rate: -0.205018 deg/s,
      cmd heading: 123.035804 deg,
      new cmd heading: 122.758221 deg.

2025-01-09T05:44:14.656Z,1736401454.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.142535 target range: 153.000000 and range: 154.00 m.
2025-01-09T05:44:14.824Z,1736401454.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006844
2025-01-09T05:44:15.004Z,1736401455.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:15.010Z,1736401455.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:15.014Z,1736401455.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:15.016Z,1736401455.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.736313 m,
      bearing: 124.677582 deg,
      approach rate: -0.076901 m/s,
      LOS rate: -0.203974 deg/s,
      cmd heading: 122.758225 deg,
      new cmd heading: 122.534331 deg.

2025-01-09T05:44:15.017Z,1736401455.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.138628 target range: 153.000000 and range: 154.00 m.
2025-01-09T05:44:15.076Z,1736401455.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259067
2025-01-09T05:44:15.328Z,1736401455.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511158
2025-01-09T05:44:15.483Z,1736401455.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:15.492Z,1736401455.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:15.496Z,1736401455.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.684341 m,
      bearing: 124.587381 deg,
      approach rate: -0.108559 m/s,
      LOS rate: -0.188482 deg/s,
      cmd heading: 122.534331 deg,
      new cmd heading: 122.263634 deg.

2025-01-09T05:44:15.497Z,1736401455.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.133903 target range: 153.000000 and range: 154.00 m.
2025-01-09T05:44:15.581Z,1736401455.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763817
2025-01-09T05:44:15.819Z,1736401455.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:15.833Z,1736401455.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015893
2025-01-09T05:44:15.835Z,1736401455.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:15.837Z,1736401455.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.643188 m,
      bearing: 124.524942 deg,
      approach rate: -0.120306 m/s,
      LOS rate: -0.182584 deg/s,
      cmd heading: 122.263637 deg,
      new cmd heading: 122.076270 deg.

2025-01-09T05:44:15.838Z,1736401455.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.130633 target range: 153.000000 and range: 154.00 m.
2025-01-09T05:44:16.084Z,1736401456.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266794
2025-01-09T05:44:16.232Z,1736401456.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:16.241Z,1736401456.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:16.260Z,1736401456.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.592438 m,
      bearing: 124.447521 deg,
      approach rate: -0.124897 m/s,
      LOS rate: -0.190598 deg/s,
      cmd heading: 122.076272 deg,
      new cmd heading: 121.843929 deg.

2025-01-09T05:44:16.261Z,1736401456.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.126578 target range: 153.000000 and range: 154.00 m.
2025-01-09T05:44:16.339Z,1736401456.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521604
2025-01-09T05:44:16.588Z,1736401456.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770729
2025-01-09T05:44:16.649Z,1736401456.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:16.666Z,1736401456.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:16.681Z,1736401456.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.516479 m,
      bearing: 124.378355 deg,
      approach rate: -0.178532 m/s,
      LOS rate: -0.162650 deg/s,
      cmd heading: 121.843936 deg,
      new cmd heading: 121.636333 deg.

2025-01-09T05:44:16.682Z,1736401456.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.122955 target range: 153.000000 and range: 154.00 m.
2025-01-09T05:44:16.840Z,1736401456.840 [DAT](INFO): DAT read: Rx Time:05:44:15.5882

2025-01-09T05:44:16.841Z,1736401456.841 [DAT](INFO): Rx dataTimestamp_ set to:1736401456.840475
2025-01-09T05:44:16.841Z,1736401456.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024505
2025-01-09T05:44:17.025Z,1736401457.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:17.033Z,1736401457.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:17.035Z,1736401457.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:17.038Z,1736401457.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.443497 m,
      bearing: 124.316555 deg,
      approach rate: -0.197954 m/s,
      LOS rate: -0.167706 deg/s,
      cmd heading: 121.636339 deg,
      new cmd heading: 121.450847 deg.

2025-01-09T05:44:17.039Z,1736401457.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.119717 target range: 153.000000 and range: 154.00 m.
2025-01-09T05:44:17.092Z,1736401457.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275680
2025-01-09T05:44:17.165Z,1736401457.165 [CTD_Seabird](ERROR): Failed to parse device response: 6.0790,3.69580,9059.76
2025-01-09T05:44:17.348Z,1736401457.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530081
2025-01-09T05:44:17.481Z,1736401457.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:17.489Z,1736401457.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-01-09T05:44:17.492Z,1736401457.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 147.355469 m,
      bearing: 124.241749 deg,
      approach rate: -0.193862 m/s,
      LOS rate: -0.164842 deg/s,
      cmd heading: 121.450845 deg,
      new cmd heading: 121.226293 deg.

2025-01-09T05:44:17.493Z,1736401457.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.115798 target range: 153.000000 and range: 154.00 m.
2025-01-09T05:44:17.603Z,1736401457.603 [DAT](INFO): DAT read: 05:44:15.5882 LVL= 23536, 24705, 16994, 29827, AGC= 55, IDX= 412,-0.10,-1.595,-1.479, 0.455,-0.802, PHS=-0.705,-0.630, 1.254, RAW= 211.9,   0.9, CAL= 211.9,  -5.7, ROT= 298.1,   5.7

2025-01-09T05:44:17.604Z,1736401457.604 [DAT](INFO): got valid direction response:
 05:44:15.5882 LVL= 23536, 24705, 16994, 29827, AGC= 55, IDX= 412,-0.10,-1.595,-1.479, 0.455,-0.802, PHS=-0.705,-0.630, 1.254, RAW= 211.9,   0.9, CAL= 211.9,  -5.7, ROT= 298.1,   5.7

2025-01-09T05:44:17.606Z,1736401457.606 [DAT](INFO): DAT read: Bearing 298.1,   5.7 (Local)

2025-01-09T05:44:17.608Z,1736401457.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.1,   5.7 (Local)

2025-01-09T05:44:17.627Z,1736401457.627 [DAT](INFO): DAT read: Range 10 to 50 : 153.4 m  (Round-trip  204.6 ms) speed  0.2 m/s

2025-01-09T05:44:17.628Z,1736401457.628 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:44:17.630Z,1736401457.630 [DAT](INFO): direction in FSK: [0.468683,-0.877765,-0.099320]
2025-01-09T05:44:17.635Z,1736401457.635 [DAT](INFO): publishing direction and range info
2025-01-09T05:44:17.657Z,1736401457.657 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:17.657Z,1736401457.657 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:17.657Z,1736401457.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:17.767Z,1736401457.767 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:44:17.849Z,1736401457.849 [DAT](INFO): DAT read: user:144>

2025-01-09T05:44:17.851Z,1736401457.851 [DAT](INFO): DAT read: Tx time:05:44:17.0294

2025-01-09T05:44:17.851Z,1736401457.851 [DAT](INFO): Ping request sent.
2025-01-09T05:44:17.852Z,1736401457.852 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:17.852Z,1736401457.852 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:17.853Z,1736401457.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001664
2025-01-09T05:44:17.859Z,1736401457.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:17.906Z,1736401457.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.399994 m,
      deltaT: 4.030126 s,
      deltaX: -0.600006 m,
      approachRate: -0.148880 m/s,
      rangeRepo size: 4

2025-01-09T05:44:17.914Z,1736401457.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 153.399994 m,
      bearing: 122.123919 deg,
      lat: 36.904124 deg,
      lon: -122.118813 deg,
      deltaT: 11.591128 s,
      deltaX: 0.399994 m,
      approachRate: 0.034509 m/s,
      posRepo size: 4

2025-01-09T05:44:17.914Z,1736401457.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m.
2025-01-09T05:44:17.927Z,1736401457.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.399994 m,
      nav range: 152.121582 m,
      bearing: 122.123362 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.164842 deg/s,
      cmd heading: 121.226296 deg,
      new cmd heading: 121.020871 deg.

2025-01-09T05:44:17.928Z,1736401457.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.112213 target range: 153.399994 and range: 153.40 m.
2025-01-09T05:44:18.100Z,1736401458.100 [DAT](INFO): DAT read: TxSync time:05:44:17.0287

2025-01-09T05:44:18.101Z,1736401458.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249269
2025-01-09T05:44:18.239Z,1736401458.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:18.248Z,1736401458.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m.
2025-01-09T05:44:18.251Z,1736401458.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.399994 m,
      nav range: 152.024551 m,
      bearing: 122.070669 deg,
      approach rate: -0.281939 m/s,
      LOS rate: -0.153206 deg/s,
      cmd heading: 121.020871 deg,
      new cmd heading: 120.862691 deg.

2025-01-09T05:44:18.252Z,1736401458.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109452 target range: 153.399994 and range: 153.40 m.
2025-01-09T05:44:18.352Z,1736401458.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500766
2025-01-09T05:44:18.604Z,1736401458.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752274
2025-01-09T05:44:18.672Z,1736401458.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:18.682Z,1736401458.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m.
2025-01-09T05:44:18.685Z,1736401458.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.399994 m,
      nav range: 151.891830 m,
      bearing: 122.016929 deg,
      approach rate: -0.306068 m/s,
      LOS rate: -0.124038 deg/s,
      cmd heading: 120.862697 deg,
      new cmd heading: 120.701338 deg.

2025-01-09T05:44:18.686Z,1736401458.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106636 target range: 153.399994 and range: 153.40 m.
2025-01-09T05:44:18.771Z,1736401458.771 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:44:18.856Z,1736401458.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004225
2025-01-09T05:44:19.051Z,1736401459.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:19.058Z,1736401459.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:19.060Z,1736401459.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m.
2025-01-09T05:44:19.063Z,1736401459.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.399994 m,
      nav range: 151.772537 m,
      bearing: 121.970934 deg,
      approach rate: -0.315845 m/s,
      LOS rate: -0.121874 deg/s,
      cmd heading: 120.701341 deg,
      new cmd heading: 120.563247 deg.

2025-01-09T05:44:19.064Z,1736401459.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104226 target range: 153.399994 and range: 153.40 m.
2025-01-09T05:44:19.108Z,1736401459.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256634
2025-01-09T05:44:19.360Z,1736401459.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508288
2025-01-09T05:44:19.466Z,1736401459.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:19.516Z,1736401459.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m.
2025-01-09T05:44:19.525Z,1736401459.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.399994 m,
      nav range: 151.639084 m,
      bearing: 121.921895 deg,
      approach rate: -0.292471 m/s,
      LOS rate: -0.107566 deg/s,
      cmd heading: 120.563248 deg,
      new cmd heading: 120.416003 deg.

2025-01-09T05:44:19.526Z,1736401459.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.101656 target range: 153.399994 and range: 153.40 m.
2025-01-09T05:44:19.613Z,1736401459.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761402
2025-01-09T05:44:19.860Z,1736401459.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:19.866Z,1736401459.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014528
2025-01-09T05:44:19.907Z,1736401459.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m.
2025-01-09T05:44:19.910Z,1736401459.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.399994 m,
      nav range: 151.495697 m,
      bearing: 121.879733 deg,
      approach rate: -0.368063 m/s,
      LOS rate: -0.108331 deg/s,
      cmd heading: 120.416003 deg,
      new cmd heading: 120.289396 deg.

2025-01-09T05:44:19.911Z,1736401459.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099446 target range: 153.399994 and range: 153.40 m.
2025-01-09T05:44:20.116Z,1736401460.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264342
2025-01-09T05:44:20.264Z,1736401460.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:20.281Z,1736401460.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m.
2025-01-09T05:44:20.284Z,1736401460.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.399994 m,
      nav range: 151.345840 m,
      bearing: 121.838063 deg,
      approach rate: -0.399001 m/s,
      LOS rate: -0.111056 deg/s,
      cmd heading: 120.289398 deg,
      new cmd heading: 120.164268 deg.

2025-01-09T05:44:20.285Z,1736401460.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.097262 target range: 153.399994 and range: 153.40 m.
2025-01-09T05:44:20.370Z,1736401460.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518728
2025-01-09T05:44:20.624Z,1736401460.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772259
2025-01-09T05:44:20.704Z,1736401460.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:20.721Z,1736401460.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m.
2025-01-09T05:44:20.729Z,1736401460.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.399994 m,
      nav range: 151.175171 m,
      bearing: 121.796154 deg,
      approach rate: -0.387797 m/s,
      LOS rate: -0.095335 deg/s,
      cmd heading: 120.164269 deg,
      new cmd heading: 120.038398 deg.

2025-01-09T05:44:20.735Z,1736401460.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.095065 target range: 153.399994 and range: 153.40 m.
2025-01-09T05:44:20.876Z,1736401460.876 [DAT](INFO): DAT read: Rx Time:05:44:19.6370

2025-01-09T05:44:20.876Z,1736401460.876 [DAT](INFO): Rx dataTimestamp_ set to:1736401460.875876
2025-01-09T05:44:20.877Z,1736401460.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025358
2025-01-09T05:44:21.081Z,1736401461.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:21.088Z,1736401461.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:21.090Z,1736401461.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m.
2025-01-09T05:44:21.093Z,1736401461.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.399994 m,
      nav range: 151.026260 m,
      bearing: 121.761663 deg,
      approach rate: -0.404085 m/s,
      LOS rate: -0.093687 deg/s,
      cmd heading: 120.038403 deg,
      new cmd heading: 119.934828 deg.

2025-01-09T05:44:21.094Z,1736401461.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093258 target range: 153.399994 and range: 153.40 m.
2025-01-09T05:44:21.129Z,1736401461.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277013
2025-01-09T05:44:21.383Z,1736401461.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530889
2025-01-09T05:44:21.481Z,1736401461.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:21.543Z,1736401461.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m.
2025-01-09T05:44:21.549Z,1736401461.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.399994 m,
      nav range: 150.866318 m,
      bearing: 121.726803 deg,
      approach rate: -0.356205 m/s,
      LOS rate: -0.077718 deg/s,
      cmd heading: 119.934830 deg,
      new cmd heading: 119.830140 deg.

2025-01-09T05:44:21.550Z,1736401461.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091430 target range: 153.399994 and range: 153.40 m.
2025-01-09T05:44:21.640Z,1736401461.640 [DAT](INFO): DAT read: 05:44:19.6370 LVL= 31696, 27889, 13426, 32755, AGC= 58, IDX= 431,-0.07, 1.301, 0.652, 2.765, 1.813, PHS=-0.425,-1.114, 0.948, RAW= 190.8,   6.5, CAL= 191.0,  -2.2, ROT= 319.0,   2.2

2025-01-09T05:44:21.641Z,1736401461.641 [DAT](INFO): got valid direction response:
 05:44:19.6370 LVL= 31696, 27889, 13426, 32755, AGC= 58, IDX= 431,-0.07, 1.301, 0.652, 2.765, 1.813, PHS=-0.425,-1.114, 0.948, RAW= 190.8,   6.5, CAL= 191.0,  -2.2, ROT= 319.0,   2.2

2025-01-09T05:44:21.643Z,1736401461.643 [DAT](INFO): DAT read: Bearing 319.0,   2.2 (Local)

2025-01-09T05:44:21.644Z,1736401461.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.0,   2.2 (Local)

2025-01-09T05:44:21.646Z,1736401461.646 [DAT](INFO): DAT read: Range 10 to 50 : 152.5 m  (Round-trip  203.4 ms) speed  0.0 m/s

2025-01-09T05:44:21.647Z,1736401461.647 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:44:21.648Z,1736401461.648 [DAT](INFO): direction in FSK: [0.754153,-0.655576,-0.038388]
2025-01-09T05:44:21.649Z,1736401461.649 [DAT](INFO): publishing direction and range info
2025-01-09T05:44:21.652Z,1736401461.652 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:21.653Z,1736401461.653 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:21.653Z,1736401461.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:21.883Z,1736401461.883 [DAT](INFO): DAT read: user:145>

2025-01-09T05:44:21.884Z,1736401461.884 [DAT](INFO): DAT read: Tx time:05:44:21.0294

2025-01-09T05:44:21.885Z,1736401461.885 [DAT](INFO): Ping request sent.
2025-01-09T05:44:21.885Z,1736401461.885 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:21.885Z,1736401461.885 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:21.885Z,1736401461.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-01-09T05:44:21.905Z,1736401461.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:21.968Z,1736401461.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 152.500000 m,
      deltaT: 4.036188 s,
      deltaX: -0.899994 m,
      approachRate: -0.222981 m/s,
      rangeRepo size: 4

2025-01-09T05:44:21.971Z,1736401461.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.500000 m,
      bearing: 125.820637 deg,
      lat: 36.904124 deg,
      lon: -122.118813 deg,
      deltaT: 4.036188 s,
      deltaX: -0.899994 m,
      approachRate: -0.222981 m/s,
      posRepo size: 4

2025-01-09T05:44:21.972Z,1736401461.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:21.974Z,1736401461.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 150.687408 m,
      bearing: 121.690219 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077718 deg/s,
      cmd heading: 119.830137 deg,
      new cmd heading: 119.739846 deg.

2025-01-09T05:44:21.979Z,1736401461.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089854 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:22.137Z,1736401462.137 [DAT](INFO): DAT read: TxSync time:05:44:21.0287

2025-01-09T05:44:22.138Z,1736401462.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253359
2025-01-09T05:44:22.276Z,1736401462.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:22.302Z,1736401462.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:22.309Z,1736401462.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 150.529083 m,
      bearing: 121.659910 deg,
      approach rate: -0.421023 m/s,
      LOS rate: -0.080684 deg/s,
      cmd heading: 119.739841 deg,
      new cmd heading: 119.648818 deg.

2025-01-09T05:44:22.310Z,1736401462.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.088266 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:22.389Z,1736401462.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503832
2025-01-09T05:44:22.640Z,1736401462.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754922
2025-01-09T05:44:22.704Z,1736401462.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:22.714Z,1736401462.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:22.717Z,1736401462.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 150.346069 m,
      bearing: 121.621796 deg,
      approach rate: -0.444780 m/s,
      LOS rate: -0.092741 deg/s,
      cmd heading: 119.648822 deg,
      new cmd heading: 119.534342 deg.

2025-01-09T05:44:22.719Z,1736401462.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.086268 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:22.892Z,1736401462.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006909
2025-01-09T05:44:23.095Z,1736401463.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:23.103Z,1736401463.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:23.105Z,1736401463.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:23.108Z,1736401463.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 150.176529 m,
      bearing: 121.588754 deg,
      approach rate: -0.433267 m/s,
      LOS rate: -0.084536 deg/s,
      cmd heading: 119.534348 deg,
      new cmd heading: 119.435110 deg.

2025-01-09T05:44:23.109Z,1736401463.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.084536 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:23.145Z,1736401463.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259693
2025-01-09T05:44:23.396Z,1736401463.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511768
2025-01-09T05:44:23.583Z,1736401463.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:23.592Z,1736401463.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:23.597Z,1736401463.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 149.964279 m,
      bearing: 121.547270 deg,
      approach rate: -0.436244 m/s,
      LOS rate: -0.085383 deg/s,
      cmd heading: 119.435106 deg,
      new cmd heading: 119.310479 deg.

2025-01-09T05:44:23.598Z,1736401463.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082361 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:23.648Z,1736401463.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763503
2025-01-09T05:44:23.900Z,1736401463.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014966
2025-01-09T05:44:23.908Z,1736401463.908 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +23.79,      +130    +3.0
2025-01-09T05:44:23.916Z,1736401463.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.3 s old, using for 20.0 s.
2025-01-09T05:44:23.916Z,1736401463.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:23.924Z,1736401463.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:23.928Z,1736401463.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 149.815735 m,
      bearing: 121.522422 deg,
      approach rate: -0.446169 m/s,
      LOS rate: -0.074709 deg/s,
      cmd heading: 119.310482 deg,
      new cmd heading: 119.235863 deg.

2025-01-09T05:44:23.929Z,1736401463.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.081059 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:24.152Z,1736401464.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267203
2025-01-09T05:44:24.289Z,1736401464.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.7 s old, using for 20.0 s.
2025-01-09T05:44:24.289Z,1736401464.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:24.298Z,1736401464.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:24.301Z,1736401464.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 149.647079 m,
      bearing: 121.496418 deg,
      approach rate: -0.451402 m/s,
      LOS rate: -0.069678 deg/s,
      cmd heading: 119.235869 deg,
      new cmd heading: 119.157768 deg.

2025-01-09T05:44:24.302Z,1736401464.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.079695 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:24.405Z,1736401464.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520535
2025-01-09T05:44:24.656Z,1736401464.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770928
2025-01-09T05:44:24.716Z,1736401464.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:24.753Z,1736401464.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:24.768Z,1736401464.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 149.462357 m,
      bearing: 121.458094 deg,
      approach rate: -0.405942 m/s,
      LOS rate: -0.084324 deg/s,
      cmd heading: 119.157773 deg,
      new cmd heading: 119.042659 deg.

2025-01-09T05:44:24.769Z,1736401464.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077686 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:24.908Z,1736401464.908 [DAT](INFO): DAT read: Rx Time:05:44:23.7023

2025-01-09T05:44:24.908Z,1736401464.908 [DAT](INFO): Rx dataTimestamp_ set to:1736401464.907843
2025-01-09T05:44:24.909Z,1736401464.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024002
2025-01-09T05:44:25.102Z,1736401465.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:25.121Z,1736401465.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:25.123Z,1736401465.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:25.126Z,1736401465.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 149.292923 m,
      bearing: 121.425326 deg,
      approach rate: -0.457780 m/s,
      LOS rate: -0.088633 deg/s,
      cmd heading: 119.042657 deg,
      new cmd heading: 118.944242 deg.

2025-01-09T05:44:25.127Z,1736401465.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075969 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:25.161Z,1736401465.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275696
2025-01-09T05:44:25.413Z,1736401465.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527890
2025-01-09T05:44:25.498Z,1736401465.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:25.516Z,1736401465.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:25.521Z,1736401465.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 149.116486 m,
      bearing: 121.393577 deg,
      approach rate: -0.451040 m/s,
      LOS rate: -0.081259 deg/s,
      cmd heading: 118.944247 deg,
      new cmd heading: 118.848887 deg.

2025-01-09T05:44:25.523Z,1736401465.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074304 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:25.666Z,1736401465.666 [DAT](INFO): DAT read: Range 10 to 50 : 201.5 m  (Round-trip  268.7 ms) speed  0.6 m/s

2025-01-09T05:44:25.667Z,1736401465.667 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:44:25.668Z,1736401465.668 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:25.668Z,1736401465.668 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:25.668Z,1736401465.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:25.916Z,1736401465.916 [DAT](INFO): DAT read: user:146>

2025-01-09T05:44:25.916Z,1736401465.916 [DAT](INFO): DAT read: Tx time:05:44:25.0794

2025-01-09T05:44:25.917Z,1736401465.917 [DAT](INFO): Ping request sent.
2025-01-09T05:44:25.917Z,1736401465.917 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:25.917Z,1736401465.917 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:25.917Z,1736401465.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719
2025-01-09T05:44:25.929Z,1736401465.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:25.966Z,1736401465.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 201.500000 m,
 deltaT: 4.033115 s,
 deltaX: 49.000000 m,
 approachRate: 12.149418 m/s,
 rangeRepo size: 4
2025-01-09T05:44:25.970Z,1736401465.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:25.991Z,1736401465.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 148.927216 m,
      bearing: 121.356763 deg,
      approach rate: -0.419512 m/s,
      LOS rate: -0.081700 deg/s,
      cmd heading: 118.848884 deg,
      new cmd heading: 118.738303 deg.

2025-01-09T05:44:25.992Z,1736401465.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072374 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:26.168Z,1736401466.168 [DAT](INFO): DAT read: TxSync time:05:44:25.0787

2025-01-09T05:44:26.170Z,1736401466.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252768
2025-01-09T05:44:26.400Z,1736401466.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:26.409Z,1736401466.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:26.413Z,1736401466.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 148.717392 m,
      bearing: 121.318630 deg,
      approach rate: -0.473467 m/s,
      LOS rate: -0.086168 deg/s,
      cmd heading: 118.738303 deg,
      new cmd heading: 118.623744 deg.

2025-01-09T05:44:26.414Z,1736401466.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070375 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:26.420Z,1736401466.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502906
2025-01-09T05:44:26.672Z,1736401466.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754921
2025-01-09T05:44:26.836Z,1736401466.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:26.846Z,1736401466.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:26.849Z,1736401466.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 148.526138 m,
      bearing: 121.280629 deg,
      approach rate: -0.438123 m/s,
      LOS rate: -0.087164 deg/s,
      cmd heading: 118.623748 deg,
      new cmd heading: 118.509598 deg.

2025-01-09T05:44:26.850Z,1736401466.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068383 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:26.924Z,1736401466.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006989
2025-01-09T05:44:27.176Z,1736401467.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258938
2025-01-09T05:44:27.256Z,1736401467.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:27.264Z,1736401467.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:27.266Z,1736401467.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:27.269Z,1736401467.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 148.336548 m,
      bearing: 121.248047 deg,
      approach rate: -0.451102 m/s,
      LOS rate: -0.077624 deg/s,
      cmd heading: 118.509601 deg,
      new cmd heading: 118.411730 deg.

2025-01-09T05:44:27.270Z,1736401467.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.066674 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:27.429Z,1736401467.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511501
2025-01-09T05:44:27.680Z,1736401467.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763421
2025-01-09T05:44:27.688Z,1736401467.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:27.697Z,1736401467.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:27.700Z,1736401467.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 148.140961 m,
      bearing: 121.216139 deg,
      approach rate: -0.453036 m/s,
      LOS rate: -0.074007 deg/s,
      cmd heading: 118.411725 deg,
      new cmd heading: 118.315873 deg.

2025-01-09T05:44:27.701Z,1736401467.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065001 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:27.932Z,1736401467.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015114
2025-01-09T05:44:28.058Z,1736401468.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:28.071Z,1736401468.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:28.073Z,1736401468.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 147.971222 m,
      bearing: 121.190734 deg,
      approach rate: -0.454756 m/s,
      LOS rate: -0.068142 deg/s,
      cmd heading: 118.315870 deg,
      new cmd heading: 118.239568 deg.

2025-01-09T05:44:28.074Z,1736401468.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063670 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:28.184Z,1736401468.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266944
2025-01-09T05:44:28.436Z,1736401468.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518834
2025-01-09T05:44:28.483Z,1736401468.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:28.506Z,1736401468.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:28.509Z,1736401468.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 147.776215 m,
      bearing: 121.161470 deg,
      approach rate: -0.447721 m/s,
      LOS rate: -0.067276 deg/s,
      cmd heading: 118.239563 deg,
      new cmd heading: 118.151656 deg.

2025-01-09T05:44:28.510Z,1736401468.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.062135 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:28.688Z,1736401468.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770801
2025-01-09T05:44:28.890Z,1736401468.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:44:28.890Z,1736401468.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:28.909Z,1736401468.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:28.914Z,1736401468.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 147.590729 m,
      bearing: 121.133555 deg,
      approach rate: -0.460964 m/s,
      LOS rate: -0.069460 deg/s,
      cmd heading: 118.151659 deg,
      new cmd heading: 118.067809 deg.

2025-01-09T05:44:28.916Z,1736401468.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060672 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:28.941Z,1736401468.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023762
2025-01-09T05:44:29.192Z,1736401469.192 [DAT](INFO): DAT read: Rx Time:05:44:27.7488

2025-01-09T05:44:29.192Z,1736401469.192 [DAT](INFO): Rx dataTimestamp_ set to:1736401469.191863
2025-01-09T05:44:29.193Z,1736401469.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275904
2025-01-09T05:44:29.277Z,1736401469.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:44:29.277Z,1736401469.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:29.285Z,1736401469.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:29.287Z,1736401469.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:29.289Z,1736401469.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 147.407654 m,
      bearing: 121.112907 deg,
      approach rate: -0.483990 m/s,
      LOS rate: -0.054656 deg/s,
      cmd heading: 118.067811 deg,
      new cmd heading: 118.005788 deg.

2025-01-09T05:44:29.291Z,1736401469.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059590 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:29.444Z,1736401469.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526953
2025-01-09T05:44:29.702Z,1736401469.702 [DAT](INFO): DAT read: 05:44:27.7488 LVL= 26704, 30625, 25842, 32035, AGC= 66, IDX= 407, 0.02,-2.590, 2.773,-2.454, 2.720, PHS= 1.061, 0.100, 1.106, RAW= 152.3, -39.2, CAL= 154.9, -42.4, ROT= 355.1,  42.4

2025-01-09T05:44:29.703Z,1736401469.703 [DAT](INFO): got valid direction response:
 05:44:27.7488 LVL= 26704, 30625, 25842, 32035, AGC= 66, IDX= 407, 0.02,-2.590, 2.773,-2.454, 2.720, PHS= 1.061, 0.100, 1.106, RAW= 152.3, -39.2, CAL= 154.9, -42.4, ROT= 355.1,  42.4

2025-01-09T05:44:29.704Z,1736401469.704 [DAT](INFO): DAT read: Bearing 355.1,  42.4 (Local)

2025-01-09T05:44:29.704Z,1736401469.704 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  42.4 (Local)

2025-01-09T05:44:29.706Z,1736401469.706 [DAT](INFO): DAT read: Range 10 to 50 : 198.8 m  (Round-trip  265.1 ms) speed  0.2 m/s

2025-01-09T05:44:29.706Z,1736401469.706 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:44:29.707Z,1736401469.707 [DAT](INFO): direction in FSK: [0.735756,-0.063077,-0.674302]
2025-01-09T05:44:29.708Z,1736401469.708 [DAT](INFO): publishing direction and range info
2025-01-09T05:44:29.715Z,1736401469.715 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:29.715Z,1736401469.715 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:29.716Z,1736401469.716 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:29.726Z,1736401469.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:29.790Z,1736401469.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 198.800003 m,
 deltaT: 8.064376 s,
 deltaX: 46.300003 m,
 approachRate: 5.741300 m/s,
 rangeRepo size: 4
2025-01-09T05:44:29.795Z,1736401469.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:29.798Z,1736401469.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 147.195297 m,
      bearing: 121.099253 deg,
      approach rate: -0.422447 m/s,
      LOS rate: -0.027201 deg/s,
      cmd heading: 118.005793 deg,
      new cmd heading: 117.964772 deg.

2025-01-09T05:44:29.803Z,1736401469.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058874 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:29.950Z,1736401469.950 [DAT](INFO): DAT read: user:147>

2025-01-09T05:44:29.951Z,1736401469.951 [DAT](INFO): DAT read: Tx time:05:44:29.0795

2025-01-09T05:44:29.952Z,1736401469.952 [DAT](INFO): Ping request sent.
2025-01-09T05:44:29.952Z,1736401469.952 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:29.952Z,1736401469.952 [DAT](INFO): DAT read: TxSync time:05:44:29.0788

2025-01-09T05:44:29.953Z,1736401469.953 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:29.953Z,1736401469.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001515
2025-01-09T05:44:30.115Z,1736401470.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:30.134Z,1736401470.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:30.141Z,1736401470.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 147.010361 m,
      bearing: 121.089501 deg,
      approach rate: -0.537102 m/s,
      LOS rate: -0.028357 deg/s,
      cmd heading: 117.964771 deg,
      new cmd heading: 117.935479 deg.

2025-01-09T05:44:30.147Z,1736401470.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058362 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:30.201Z,1736401470.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248344
2025-01-09T05:44:30.456Z,1736401470.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503835
2025-01-09T05:44:30.484Z,1736401470.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:30.493Z,1736401470.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:30.497Z,1736401470.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 146.834579 m,
      bearing: 121.082170 deg,
      approach rate: -0.489813 m/s,
      LOS rate: -0.020453 deg/s,
      cmd heading: 117.935483 deg,
      new cmd heading: 117.913463 deg.

2025-01-09T05:44:30.498Z,1736401470.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057978 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:30.708Z,1736401470.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755715
2025-01-09T05:44:30.902Z,1736401470.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:30.912Z,1736401470.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:30.936Z,1736401470.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 146.631775 m,
      bearing: 121.079221 deg,
      approach rate: -0.485506 m/s,
      LOS rate: -0.007067 deg/s,
      cmd heading: 117.913463 deg,
      new cmd heading: 117.904606 deg.

2025-01-09T05:44:30.937Z,1736401470.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057824 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:30.960Z,1736401470.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007910
2025-01-09T05:44:31.213Z,1736401471.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261050
2025-01-09T05:44:31.296Z,1736401471.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:31.302Z,1736401471.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:31.304Z,1736401471.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:31.307Z,1736401471.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 146.440247 m,
      bearing: 121.078392 deg,
      approach rate: -0.486043 m/s,
      LOS rate: -0.002107 deg/s,
      cmd heading: 117.904611 deg,
      new cmd heading: 117.902120 deg.

2025-01-09T05:44:31.308Z,1736401471.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057780 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:31.464Z,1736401471.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512428
2025-01-09T05:44:31.716Z,1736401471.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763781
2025-01-09T05:44:31.738Z,1736401471.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:31.774Z,1736401471.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:31.781Z,1736401471.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 146.220688 m,
      bearing: 121.085277 deg,
      approach rate: -0.467487 m/s,
      LOS rate: 0.014682 deg/s,
      cmd heading: 117.902124 deg,
      new cmd heading: 117.922811 deg.

2025-01-09T05:44:31.782Z,1736401471.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058141 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:31.968Z,1736401471.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015916
2025-01-09T05:44:32.100Z,1736401472.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:32.108Z,1736401472.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:32.111Z,1736401472.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 146.041763 m,
      bearing: 121.092953 deg,
      approach rate: -0.535172 m/s,
      LOS rate: 0.022985 deg/s,
      cmd heading: 117.922806 deg,
      new cmd heading: 117.945860 deg.

2025-01-09T05:44:32.112Z,1736401472.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058544 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:32.220Z,1736401472.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267834
2025-01-09T05:44:32.472Z,1736401472.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519631
2025-01-09T05:44:32.503Z,1736401472.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:32.536Z,1736401472.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:32.543Z,1736401472.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 145.842484 m,
      bearing: 121.103729 deg,
      approach rate: -0.465672 m/s,
      LOS rate: 0.025217 deg/s,
      cmd heading: 117.945865 deg,
      new cmd heading: 117.978239 deg.

2025-01-09T05:44:32.545Z,1736401472.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059109 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:32.724Z,1736401472.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772400
2025-01-09T05:44:32.938Z,1736401472.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:32.947Z,1736401472.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:32.950Z,1736401472.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 145.618896 m,
      bearing: 121.121394 deg,
      approach rate: -0.543888 m/s,
      LOS rate: 0.043037 deg/s,
      cmd heading: 117.978240 deg,
      new cmd heading: 118.031317 deg.

2025-01-09T05:44:32.951Z,1736401472.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060035 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:32.976Z,1736401472.976 [DAT](INFO): DAT read: Rx Time:05:44:31.6796

2025-01-09T05:44:32.976Z,1736401472.976 [DAT](INFO): Rx dataTimestamp_ set to:1736401472.975935
2025-01-09T05:44:32.977Z,1736401472.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024845
2025-01-09T05:44:33.229Z,1736401473.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276295
2025-01-09T05:44:33.310Z,1736401473.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:33.318Z,1736401473.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:33.337Z,1736401473.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.50 m.
2025-01-09T05:44:33.343Z,1736401473.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.500000 m,
      nav range: 145.428162 m,
      bearing: 121.138340 deg,
      approach rate: -0.490177 m/s,
      LOS rate: 0.043606 deg/s,
      cmd heading: 118.031311 deg,
      new cmd heading: 118.082213 deg.

2025-01-09T05:44:33.346Z,1736401473.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060923 target range: 152.500000 and range: 152.50 m.
2025-01-09T05:44:33.487Z,1736401473.487 [DAT](INFO): DAT read: 05:44:31.6796 LVL= 21072, 28017, 19650, 23763, AGC= 62, IDX= 243,-0.25, 2.136, 0.752, 1.965, 1.704, PHS= 0.520,-0.905, 0.258, RAW= 140.0,   2.0, CAL= 144.3,  -6.6, ROT=   5.7,   6.6

2025-01-09T05:44:33.489Z,1736401473.489 [DAT](INFO): got valid direction response:
 05:44:31.6796 LVL= 21072, 28017, 19650, 23763, AGC= 62, IDX= 243,-0.25, 2.136, 0.752, 1.965, 1.704, PHS= 0.520,-0.905, 0.258, RAW= 140.0,   2.0, CAL= 144.3,  -6.6, ROT=   5.7,   6.6

2025-01-09T05:44:33.490Z,1736401473.490 [DAT](INFO): DAT read: Bearing   5.7,   6.6 (Local)

2025-01-09T05:44:33.491Z,1736401473.491 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.7,   6.6 (Local)

2025-01-09T05:44:33.493Z,1736401473.493 [DAT](INFO): DAT read: Range 10 to 50 : 146.9 m  (Round-trip  195.9 ms) speed  0.4 m/s

2025-01-09T05:44:33.494Z,1736401473.494 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:44:33.500Z,1736401473.500 [DAT](INFO): direction in FSK: [0.988461,0.098662,-0.114937]
2025-01-09T05:44:33.500Z,1736401473.500 [DAT](INFO): publishing direction and range info
2025-01-09T05:44:33.504Z,1736401473.504 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:33.504Z,1736401473.504 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:33.504Z,1736401473.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:33.732Z,1736401473.732 [DAT](INFO): DAT read: user:148>

2025-01-09T05:44:33.733Z,1736401473.733 [DAT](INFO): DAT read: Tx time:05:44:32.8795

2025-01-09T05:44:33.734Z,1736401473.734 [DAT](INFO): Ping request sent.
2025-01-09T05:44:33.734Z,1736401473.734 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:33.734Z,1736401473.734 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:33.735Z,1736401473.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001165
2025-01-09T05:44:33.826Z,1736401473.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:33.843Z,1736401473.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 146.899994 m,
      deltaT: 11.847622 s,
      deltaX: -5.600006 m,
      approachRate: -0.472669 m/s,
      rangeRepo size: 4

2025-01-09T05:44:33.846Z,1736401473.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.899994 m,
      bearing: 126.695910 deg,
      lat: 36.904017 deg,
      lon: -122.118896 deg,
      deltaT: 11.847622 s,
      deltaX: -5.600006 m,
      approachRate: -0.472669 m/s,
      posRepo size: 4

2025-01-09T05:44:33.849Z,1736401473.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.90 m.
2025-01-09T05:44:33.852Z,1736401473.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.899994 m,
      nav range: 145.682892 m,
      bearing: 126.695374 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.043606 deg/s,
      cmd heading: 118.082209 deg,
      new cmd heading: 118.148294 deg.

2025-01-09T05:44:33.852Z,1736401473.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.062077 target range: 146.899994 and range: 146.90 m.
2025-01-09T05:44:33.985Z,1736401473.985 [DAT](INFO): DAT read: TxSync time:05:44:32.8788

2025-01-09T05:44:33.986Z,1736401473.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251669
2025-01-09T05:44:34.126Z,1736401474.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:34.154Z,1736401474.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.90 m.
2025-01-09T05:44:34.157Z,1736401474.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.899994 m,
      nav range: 145.529160 m,
      bearing: 126.720517 deg,
      approach rate: -0.492773 m/s,
      LOS rate: 0.080677 deg/s,
      cmd heading: 118.148298 deg,
      new cmd heading: 118.223806 deg.

2025-01-09T05:44:34.158Z,1736401474.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063395 target range: 146.899994 and range: 146.90 m.
2025-01-09T05:44:34.238Z,1736401474.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503611
2025-01-09T05:44:34.489Z,1736401474.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755598
2025-01-09T05:44:34.517Z,1736401474.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:34.525Z,1736401474.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.90 m.
2025-01-09T05:44:34.541Z,1736401474.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.899994 m,
      nav range: 145.329742 m,
      bearing: 126.754487 deg,
      approach rate: -0.537226 m/s,
      LOS rate: 0.091642 deg/s,
      cmd heading: 118.223813 deg,
      new cmd heading: 118.325864 deg.

2025-01-09T05:44:34.547Z,1736401474.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065176 target range: 146.899994 and range: 146.90 m.
2025-01-09T05:44:34.741Z,1736401474.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006536
2025-01-09T05:44:34.949Z,1736401474.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:34.958Z,1736401474.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.90 m.
2025-01-09T05:44:34.961Z,1736401474.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.899994 m,
      nav range: 145.096664 m,
      bearing: 126.796126 deg,
      approach rate: -0.538436 m/s,
      LOS rate: 0.096344 deg/s,
      cmd heading: 118.325869 deg,
      new cmd heading: 118.450986 deg.

2025-01-09T05:44:34.962Z,1736401474.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067360 target range: 146.899994 and range: 146.90 m.
2025-01-09T05:44:34.993Z,1736401474.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258548
2025-01-09T05:44:35.245Z,1736401475.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511116
2025-01-09T05:44:35.342Z,1736401475.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:35.351Z,1736401475.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:35.353Z,1736401475.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.90 m.
2025-01-09T05:44:35.355Z,1736401475.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.899994 m,
      nav range: 144.884750 m,
      bearing: 126.834112 deg,
      approach rate: -0.536671 m/s,
      LOS rate: 0.096341 deg/s,
      cmd heading: 118.450985 deg,
      new cmd heading: 118.565111 deg.

2025-01-09T05:44:35.356Z,1736401475.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.069352 target range: 146.899994 and range: 146.90 m.
2025-01-09T05:44:35.496Z,1736401475.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762112
2025-01-09T05:44:35.749Z,1736401475.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014909
2025-01-09T05:44:35.797Z,1736401475.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:35.821Z,1736401475.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.90 m.
2025-01-09T05:44:35.832Z,1736401475.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.899994 m,
      nav range: 144.625717 m,
      bearing: 126.880283 deg,
      approach rate: -0.552893 m/s,
      LOS rate: 0.098725 deg/s,
      cmd heading: 118.565117 deg,
      new cmd heading: 118.703876 deg.

2025-01-09T05:44:35.833Z,1736401475.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071774 target range: 146.899994 and range: 146.90 m.
2025-01-09T05:44:35.000Z,1736401476.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265836
2025-01-09T05:44:36.139Z,1736401476.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:36.156Z,1736401476.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.90 m.
2025-01-09T05:44:36.159Z,1736401476.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.899994 m,
      nav range: 144.431122 m,
      bearing: 126.915737 deg,
      approach rate: -0.583062 m/s,
      LOS rate: 0.106373 deg/s,
      cmd heading: 118.703879 deg,
      new cmd heading: 118.810385 deg.

2025-01-09T05:44:36.160Z,1736401476.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073632 target range: 146.899994 and range: 146.90 m.
2025-01-09T05:44:36.252Z,1736401476.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517767
2025-01-09T05:44:36.504Z,1736401476.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769722
2025-01-09T05:44:36.569Z,1736401476.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:36.580Z,1736401476.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.90 m.
2025-01-09T05:44:36.583Z,1736401476.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.899994 m,
      nav range: 144.187271 m,
      bearing: 126.960762 deg,
      approach rate: -0.573916 m/s,
      LOS rate: 0.106150 deg/s,
      cmd heading: 118.810389 deg,
      new cmd heading: 118.945695 deg.

2025-01-09T05:44:36.584Z,1736401476.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075994 target range: 146.899994 and range: 146.90 m.
2025-01-09T05:44:36.757Z,1736401476.757 [DAT](INFO): DAT read: Rx Time:05:44:35.4768

2025-01-09T05:44:36.757Z,1736401476.757 [DAT](INFO): Rx dataTimestamp_ set to:1736401476.756809
2025-01-09T05:44:36.759Z,1736401476.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024160
2025-01-09T05:44:36.980Z,1736401476.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:37.008Z,1736401477.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273832
2025-01-09T05:44:37.015Z,1736401477.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.90 m.
2025-01-09T05:44:37.017Z,1736401477.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.899994 m,
      nav range: 143.943924 m,
      bearing: 127.004635 deg,
      approach rate: -0.565146 m/s,
      LOS rate: 0.102061 deg/s,
      cmd heading: 118.945695 deg,
      new cmd heading: 119.077535 deg.

2025-01-09T05:44:37.023Z,1736401477.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.078295 target range: 146.899994 and range: 146.90 m.
2025-01-09T05:44:37.269Z,1736401477.269 [DAT](INFO): DAT read: 05:44:35.4768 LVL= 30016, 32753, 32754, 32755, AGC= 61, IDX= 406,-0.10,-1.229,-2.886,-1.794,-1.848, PHS= 0.707,-0.991, 0.051, RAW= 127.5,   3.2, CAL= 134.5,  -3.6, ROT=  15.5,   3.6

2025-01-09T05:44:37.270Z,1736401477.270 [DAT](INFO): got valid direction response:
 05:44:35.4768 LVL= 30016, 32753, 32754, 32755, AGC= 61, IDX= 406,-0.10,-1.229,-2.886,-1.794,-1.848, PHS= 0.707,-0.991, 0.051, RAW= 127.5,   3.2, CAL= 134.5,  -3.6, ROT=  15.5,   3.6

2025-01-09T05:44:37.272Z,1736401477.272 [DAT](INFO): DAT read: Bearing  15.5,   3.6 (Local)

2025-01-09T05:44:37.272Z,1736401477.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.5,   3.6 (Local)

2025-01-09T05:44:37.275Z,1736401477.275 [DAT](INFO): DAT read: Range 10 to 50 : 144.8 m  (Round-trip  193.1 ms) speed  0.1 m/s

2025-01-09T05:44:37.277Z,1736401477.277 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:44:37.280Z,1736401477.280 [DAT](INFO): direction in FSK: [0.961729,0.266711,-0.062791]
2025-01-09T05:44:37.281Z,1736401477.281 [DAT](INFO): publishing direction and range info
2025-01-09T05:44:37.313Z,1736401477.313 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:37.313Z,1736401477.313 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:37.313Z,1736401477.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:37.464Z,1736401477.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:37.479Z,1736401477.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 144.800003 m,
      deltaT: 3.781650 s,
      deltaX: -2.099991 m,
      approachRate: -0.555311 m/s,
      rangeRepo size: 4

2025-01-09T05:44:37.481Z,1736401477.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.800003 m,
      bearing: 129.718043 deg,
      lat: 36.904017 deg,
      lon: -122.118896 deg,
      deltaT: 3.781650 s,
      deltaX: -2.099991 m,
      approachRate: -0.555311 m/s,
      posRepo size: 4

2025-01-09T05:44:37.482Z,1736401477.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:37.487Z,1736401477.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 143.657242 m,
      bearing: 127.056530 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.102061 deg/s,
      cmd heading: 119.077532 deg,
      new cmd heading: 119.220763 deg.

2025-01-09T05:44:37.488Z,1736401477.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.080795 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:37.513Z,1736401477.513 [DAT](INFO): DAT read: user:149>

2025-01-09T05:44:37.513Z,1736401477.513 [DAT](INFO): DAT read: Tx time:05:44:36.6795

2025-01-09T05:44:37.514Z,1736401477.514 [DAT](INFO): Ping request sent.
2025-01-09T05:44:37.514Z,1736401477.514 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:37.514Z,1736401477.514 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:37.518Z,1736401477.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-01-09T05:44:37.768Z,1736401477.768 [DAT](INFO): DAT read: TxSync time:05:44:36.6788

2025-01-09T05:44:37.771Z,1736401477.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256391
2025-01-09T05:44:37.865Z,1736401477.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:37.872Z,1736401477.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:37.874Z,1736401477.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:37.877Z,1736401477.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 143.410522 m,
      bearing: 127.098881 deg,
      approach rate: -0.623166 m/s,
      LOS rate: 0.107155 deg/s,
      cmd heading: 119.220761 deg,
      new cmd heading: 119.348032 deg.

2025-01-09T05:44:37.895Z,1736401477.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.083016 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:38.016Z,1736401478.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502064
2025-01-09T05:44:38.265Z,1736401478.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:38.268Z,1736401478.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753979
2025-01-09T05:44:38.284Z,1736401478.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:38.286Z,1736401478.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 143.162979 m,
      bearing: 127.140432 deg,
      approach rate: -0.604408 m/s,
      LOS rate: 0.101629 deg/s,
      cmd heading: 119.348034 deg,
      new cmd heading: 119.472904 deg.

2025-01-09T05:44:38.308Z,1736401478.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085196 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:38.520Z,1736401478.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005748
2025-01-09T05:44:38.659Z,1736401478.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:38.668Z,1736401478.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:38.671Z,1736401478.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 142.919083 m,
      bearing: 127.180694 deg,
      approach rate: -0.633904 m/s,
      LOS rate: 0.104822 deg/s,
      cmd heading: 119.472904 deg,
      new cmd heading: 119.593895 deg.

2025-01-09T05:44:38.672Z,1736401478.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.087307 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:38.772Z,1736401478.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257833
2025-01-09T05:44:39.024Z,1736401479.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509815
2025-01-09T05:44:39.106Z,1736401479.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:39.115Z,1736401479.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:39.118Z,1736401479.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 142.635040 m,
      bearing: 127.227647 deg,
      approach rate: -0.635322 m/s,
      LOS rate: 0.105230 deg/s,
      cmd heading: 119.593894 deg,
      new cmd heading: 119.735034 deg.

2025-01-09T05:44:39.119Z,1736401479.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089771 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:39.277Z,1736401479.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762568
2025-01-09T05:44:39.529Z,1736401479.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015021
2025-01-09T05:44:39.531Z,1736401479.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:39.548Z,1736401479.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:39.556Z,1736401479.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 142.363800 m,
      bearing: 127.271222 deg,
      approach rate: -0.627109 m/s,
      LOS rate: 0.100936 deg/s,
      cmd heading: 119.735033 deg,
      new cmd heading: 119.866005 deg.

2025-01-09T05:44:39.557Z,1736401479.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092057 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:39.783Z,1736401479.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268131
2025-01-09T05:44:39.987Z,1736401479.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:39.996Z,1736401479.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:39.998Z,1736401479.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:40.000Z,1736401480.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 142.076309 m,
      bearing: 127.315669 deg,
      approach rate: -0.639495 m/s,
      LOS rate: 0.099068 deg/s,
      cmd heading: 119.866009 deg,
      new cmd heading: 119.999619 deg.

2025-01-09T05:44:40.001Z,1736401480.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094388 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:40.032Z,1736401480.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517928
2025-01-09T05:44:40.284Z,1736401480.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769898
2025-01-09T05:44:40.442Z,1736401480.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:40.455Z,1736401480.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:40.458Z,1736401480.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 141.788620 m,
      bearing: 127.359314 deg,
      approach rate: -0.629184 m/s,
      LOS rate: 0.095648 deg/s,
      cmd heading: 119.999621 deg,
      new cmd heading: 120.130824 deg.

2025-01-09T05:44:40.459Z,1736401480.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096678 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:40.537Z,1736401480.537 [DAT](INFO): DAT read: Rx Time:05:44:39.2740

2025-01-09T05:44:40.538Z,1736401480.538 [DAT](INFO): Rx dataTimestamp_ set to:1736401480.537232
2025-01-09T05:44:40.539Z,1736401480.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024662
2025-01-09T05:44:40.791Z,1736401480.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276505
2025-01-09T05:44:40.866Z,1736401480.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:40.875Z,1736401480.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:40.896Z,1736401480.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 141.522842 m,
      bearing: 127.397935 deg,
      approach rate: -0.632970 m/s,
      LOS rate: 0.092151 deg/s,
      cmd heading: 120.130829 deg,
      new cmd heading: 120.246908 deg.

2025-01-09T05:44:40.897Z,1736401480.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098705 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:41.072Z,1736401481.072 [DAT](INFO): DAT read: 05:44:39.2740 LVL= 32336, 32753, 27234, 32755, AGC= 60, IDX= 408,-0.08,-1.214,-2.838,-1.668,-1.962, PHS= 0.836,-0.828, 0.291, RAW= 131.3,  -4.1, CAL= 136.7, -14.6, ROT=  13.3,  14.6

2025-01-09T05:44:41.073Z,1736401481.073 [DAT](INFO): got valid direction response:
 05:44:39.2740 LVL= 32336, 32753, 27234, 32755, AGC= 60, IDX= 408,-0.08,-1.214,-2.838,-1.668,-1.962, PHS= 0.836,-0.828, 0.291, RAW= 131.3,  -4.1, CAL= 136.7, -14.6, ROT=  13.3,  14.6

2025-01-09T05:44:41.074Z,1736401481.074 [DAT](INFO): DAT read: $Error in header

2025-01-09T05:44:41.074Z,1736401481.074 [DAT](INFO): Received a bad header
2025-01-09T05:44:41.087Z,1736401481.087 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T05:44:41.089Z,1736401481.089 [DAT](INFO): direction in FSK: [0.941754,0.222621,-0.252069]
2025-01-09T05:44:41.094Z,1736401481.094 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:41.094Z,1736401481.094 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:41.094Z,1736401481.094 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:41.292Z,1736401481.292 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:41.292Z,1736401481.292 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:41.292Z,1736401481.292 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:41.396Z,1736401481.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:41.420Z,1736401481.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:41.426Z,1736401481.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 141.194000 m,
      bearing: 127.445493 deg,
      approach rate: -0.603195 m/s,
      LOS rate: 0.087439 deg/s,
      cmd heading: 120.246915 deg,
      new cmd heading: 120.389922 deg.

2025-01-09T05:44:41.431Z,1736401481.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.101201 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:41.543Z,1736401481.543 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:41.544Z,1736401481.544 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:41.544Z,1736401481.544 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:41.806Z,1736401481.806 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:41.806Z,1736401481.806 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:41.807Z,1736401481.807 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:41.895Z,1736401481.895 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:41.932Z,1736401481.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:41.935Z,1736401481.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 140.888977 m,
      bearing: 127.493940 deg,
      approach rate: -0.595058 m/s,
      LOS rate: 0.094716 deg/s,
      cmd heading: 120.389925 deg,
      new cmd heading: 120.535578 deg.

2025-01-09T05:44:41.936Z,1736401481.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103743 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:42.053Z,1736401482.053 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:42.053Z,1736401482.053 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:42.053Z,1736401482.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:42.245Z,1736401482.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:42.253Z,1736401482.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:42.255Z,1736401482.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:42.257Z,1736401482.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 140.675720 m,
      bearing: 127.527630 deg,
      approach rate: -0.662025 m/s,
      LOS rate: 0.104746 deg/s,
      cmd heading: 120.535572 deg,
      new cmd heading: 120.636797 deg.

2025-01-09T05:44:42.258Z,1736401482.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105509 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:42.303Z,1736401482.303 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:42.304Z,1736401482.304 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:42.304Z,1736401482.304 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:42.555Z,1736401482.555 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:42.555Z,1736401482.555 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:42.556Z,1736401482.556 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:42.671Z,1736401482.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:42.681Z,1736401482.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:42.684Z,1736401482.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 140.417648 m,
      bearing: 127.568551 deg,
      approach rate: -0.605676 m/s,
      LOS rate: 0.096215 deg/s,
      cmd heading: 120.636796 deg,
      new cmd heading: 120.759783 deg.

2025-01-09T05:44:42.684Z,1736401482.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107656 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:42.812Z,1736401482.812 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:42.812Z,1736401482.812 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:42.813Z,1736401482.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:43.063Z,1736401483.063 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:43.063Z,1736401483.063 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:43.064Z,1736401483.064 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:43.118Z,1736401483.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:43.127Z,1736401483.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:43.131Z,1736401483.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 140.150223 m,
      bearing: 127.606495 deg,
      approach rate: -0.599964 m/s,
      LOS rate: 0.085290 deg/s,
      cmd heading: 120.759780 deg,
      new cmd heading: 120.873830 deg.

2025-01-09T05:44:43.132Z,1736401483.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109646 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:43.312Z,1736401483.312 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:43.312Z,1736401483.312 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:43.312Z,1736401483.312 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:43.568Z,1736401483.568 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:43.568Z,1736401483.568 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:43.568Z,1736401483.568 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:43.647Z,1736401483.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:43.656Z,1736401483.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:43.671Z,1736401483.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 139.833038 m,
      bearing: 127.650456 deg,
      approach rate: -0.599108 m/s,
      LOS rate: 0.083223 deg/s,
      cmd heading: 120.873830 deg,
      new cmd heading: 121.006012 deg.

2025-01-09T05:44:43.672Z,1736401483.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.111953 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:43.817Z,1736401483.817 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:43.818Z,1736401483.818 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:43.818Z,1736401483.818 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:44.070Z,1736401484.070 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:44.070Z,1736401484.070 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:44.070Z,1736401484.070 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:44.145Z,1736401484.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:44.173Z,1736401484.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:44.180Z,1736401484.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 139.539978 m,
      bearing: 127.692015 deg,
      approach rate: -0.566767 m/s,
      LOS rate: 0.080543 deg/s,
      cmd heading: 121.006008 deg,
      new cmd heading: 121.130948 deg.

2025-01-09T05:44:44.181Z,1736401484.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.114134 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:44.321Z,1736401484.321 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:44.321Z,1736401484.321 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:44.321Z,1736401484.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:44.572Z,1736401484.572 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:44.572Z,1736401484.572 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:44.572Z,1736401484.572 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:44.621Z,1736401484.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:44.629Z,1736401484.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:44.631Z,1736401484.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:44.634Z,1736401484.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 139.258789 m,
      bearing: 127.731821 deg,
      approach rate: -0.613244 m/s,
      LOS rate: 0.086988 deg/s,
      cmd heading: 121.130946 deg,
      new cmd heading: 121.250605 deg.

2025-01-09T05:44:44.635Z,1736401484.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.116222 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:44.827Z,1736401484.827 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:44.828Z,1736401484.828 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:44.828Z,1736401484.828 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:45.044Z,1736401485.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:45.054Z,1736401485.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:45.057Z,1736401485.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 139.007812 m,
      bearing: 127.766775 deg,
      approach rate: -0.594131 m/s,
      LOS rate: 0.082893 deg/s,
      cmd heading: 121.250611 deg,
      new cmd heading: 121.355660 deg.

2025-01-09T05:44:45.058Z,1736401485.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118056 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:45.075Z,1736401485.075 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:45.075Z,1736401485.075 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:45.076Z,1736401485.076 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:45.328Z,1736401485.328 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:45.328Z,1736401485.328 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:45.328Z,1736401485.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:45.425Z,1736401485.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:45.433Z,1736401485.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:45.436Z,1736401485.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 138.781143 m,
      bearing: 127.797911 deg,
      approach rate: -0.597319 m/s,
      LOS rate: 0.082183 deg/s,
      cmd heading: 121.355659 deg,
      new cmd heading: 121.449219 deg.

2025-01-09T05:44:45.438Z,1736401485.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.119689 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:45.580Z,1736401485.580 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:45.580Z,1736401485.580 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:45.580Z,1736401485.580 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:45.835Z,1736401485.835 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:45.835Z,1736401485.835 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:45.836Z,1736401485.836 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:45.855Z,1736401485.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:45.902Z,1736401485.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:45.908Z,1736401485.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 138.532822 m,
      bearing: 127.831781 deg,
      approach rate: -0.530321 m/s,
      LOS rate: 0.072465 deg/s,
      cmd heading: 121.449219 deg,
      new cmd heading: 121.551013 deg.

2025-01-09T05:44:45.909Z,1736401485.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.121465 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:46.084Z,1736401486.084 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:46.085Z,1736401486.085 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:46.085Z,1736401486.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:46.258Z,1736401486.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:46.268Z,1736401486.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:46.271Z,1736401486.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 138.291260 m,
      bearing: 127.865019 deg,
      approach rate: -0.658905 m/s,
      LOS rate: 0.090821 deg/s,
      cmd heading: 121.551016 deg,
      new cmd heading: 121.650904 deg.

2025-01-09T05:44:46.272Z,1736401486.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.123209 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:46.337Z,1736401486.337 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:46.337Z,1736401486.337 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:46.337Z,1736401486.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:46.587Z,1736401486.587 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:46.588Z,1736401486.588 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:46.588Z,1736401486.588 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:46.641Z,1736401486.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:46.655Z,1736401486.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:46.657Z,1736401486.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:46.664Z,1736401486.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 138.068848 m,
      bearing: 127.895042 deg,
      approach rate: -0.571452 m/s,
      LOS rate: 0.077263 deg/s,
      cmd heading: 121.650901 deg,
      new cmd heading: 121.741114 deg.

2025-01-09T05:44:46.665Z,1736401486.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.124783 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:46.842Z,1736401486.842 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:46.843Z,1736401486.843 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:46.843Z,1736401486.843 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:47.091Z,1736401487.091 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:47.092Z,1736401487.092 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:47.092Z,1736401487.092 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:47.151Z,1736401487.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:47.160Z,1736401487.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:47.172Z,1736401487.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 137.775864 m,
      bearing: 127.933414 deg,
      approach rate: -0.583208 m/s,
      LOS rate: 0.076546 deg/s,
      cmd heading: 121.741114 deg,
      new cmd heading: 121.856477 deg.

2025-01-09T05:44:47.173Z,1736401487.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.126797 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:47.344Z,1736401487.344 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:47.344Z,1736401487.344 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:47.344Z,1736401487.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:47.515Z,1736401487.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:47.524Z,1736401487.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:47.526Z,1736401487.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 137.566010 m,
      bearing: 127.960576 deg,
      approach rate: -0.576589 m/s,
      LOS rate: 0.074743 deg/s,
      cmd heading: 121.856476 deg,
      new cmd heading: 121.938086 deg.

2025-01-09T05:44:47.529Z,1736401487.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.128221 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:47.596Z,1736401487.596 [DAT](INFO): Reached modem response timeout
2025-01-09T05:44:47.596Z,1736401487.596 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:44:47.596Z,1736401487.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:47.847Z,1736401487.847 [DAT](INFO): DAT read: 

2025-01-09T05:44:47.848Z,1736401487.848 [DAT](INFO): Reached modem response timeout
2025-01-09T05:44:47.848Z,1736401487.848 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:44:47.848Z,1736401487.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:48.002Z,1736401488.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:48.010Z,1736401488.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:48.014Z,1736401488.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 137.284698 m,
      bearing: 127.996085 deg,
      approach rate: -0.578345 m/s,
      LOS rate: 0.073152 deg/s,
      cmd heading: 121.938083 deg,
      new cmd heading: 122.044828 deg.

2025-01-09T05:44:48.016Z,1736401488.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.130084 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:48.100Z,1736401488.100 [DAT](INFO): Reached modem response timeout
2025-01-09T05:44:48.101Z,1736401488.101 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:44:48.102Z,1736401488.102 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:48.352Z,1736401488.352 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:44:48.352Z,1736401488.352 [DAT](INFO): response not received
2025-01-09T05:44:48.352Z,1736401488.352 [DAT](INFO): DAT read: user:151>

2025-01-09T05:44:48.353Z,1736401488.353 [DAT](INFO): DAT read: Tx time:05:44:47.6297

2025-01-09T05:44:48.353Z,1736401488.353 [DAT](INFO): Ping request sent.
2025-01-09T05:44:48.353Z,1736401488.353 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:48.354Z,1736401488.354 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:48.354Z,1736401488.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721
2025-01-09T05:44:48.421Z,1736401488.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:48.450Z,1736401488.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:48.460Z,1736401488.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 137.041885 m,
      bearing: 128.026324 deg,
      approach rate: -0.552436 m/s,
      LOS rate: 0.068920 deg/s,
      cmd heading: 122.044825 deg,
      new cmd heading: 122.135703 deg.

2025-01-09T05:44:48.461Z,1736401488.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.131670 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:48.605Z,1736401488.605 [DAT](INFO): DAT read: TxSync time:05:44:47.6290

2025-01-09T05:44:48.605Z,1736401488.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251856
2025-01-09T05:44:48.790Z,1736401488.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:48.799Z,1736401488.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:48.801Z,1736401488.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:48.804Z,1736401488.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 136.828033 m,
      bearing: 128.052549 deg,
      approach rate: -0.608261 m/s,
      LOS rate: 0.074709 deg/s,
      cmd heading: 122.135708 deg,
      new cmd heading: 122.214506 deg.

2025-01-09T05:44:48.805Z,1736401488.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.133045 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:48.858Z,1736401488.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503629
2025-01-09T05:44:48.893Z,1736401488.893 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:44:49.108Z,1736401489.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754121
2025-01-09T05:44:49.238Z,1736401489.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:49.255Z,1736401489.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:49.258Z,1736401489.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 136.559616 m,
      bearing: 128.083925 deg,
      approach rate: -0.591203 m/s,
      LOS rate: 0.069242 deg/s,
      cmd heading: 122.214501 deg,
      new cmd heading: 122.308813 deg.

2025-01-09T05:44:49.263Z,1736401489.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.134691 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:49.360Z,1736401489.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006287
2025-01-09T05:44:49.592Z,1736401489.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:49.602Z,1736401489.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:49.613Z,1736401489.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259246
2025-01-09T05:44:49.630Z,1736401489.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 136.347046 m,
      bearing: 128.108275 deg,
      approach rate: -0.613755 m/s,
      LOS rate: 0.070415 deg/s,
      cmd heading: 122.308812 deg,
      new cmd heading: 122.381976 deg.

2025-01-09T05:44:49.631Z,1736401489.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.135968 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:49.864Z,1736401489.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510161
2025-01-09T05:44:49.897Z,1736401489.897 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:44:50.019Z,1736401490.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:50.028Z,1736401490.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:50.031Z,1736401490.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 136.086349 m,
      bearing: 128.135984 deg,
      approach rate: -0.613227 m/s,
      LOS rate: 0.065304 deg/s,
      cmd heading: 122.381977 deg,
      new cmd heading: 122.465263 deg.

2025-01-09T05:44:50.032Z,1736401490.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.137422 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:50.116Z,1736401490.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762226
2025-01-09T05:44:50.369Z,1736401490.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015079
2025-01-09T05:44:50.427Z,1736401490.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:50.439Z,1736401490.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:50.441Z,1736401490.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 135.836685 m,
      bearing: 128.162508 deg,
      approach rate: -0.606130 m/s,
      LOS rate: 0.064513 deg/s,
      cmd heading: 122.465264 deg,
      new cmd heading: 122.544983 deg.

2025-01-09T05:44:50.447Z,1736401490.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.138813 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:50.620Z,1736401490.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266127
2025-01-09T05:44:50.875Z,1736401490.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520974
2025-01-09T05:44:50.960Z,1736401490.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:50.985Z,1736401490.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:50.996Z,1736401490.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:50.998Z,1736401490.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 135.510223 m,
      bearing: 128.196942 deg,
      approach rate: -0.595472 m/s,
      LOS rate: 0.062960 deg/s,
      cmd heading: 122.544986 deg,
      new cmd heading: 122.648537 deg.

2025-01-09T05:44:51.008Z,1736401491.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.140621 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:51.129Z,1736401491.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775351
2025-01-09T05:44:51.350Z,1736401491.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:51.360Z,1736401491.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:51.367Z,1736401491.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 135.275116 m,
      bearing: 128.225592 deg,
      approach rate: -0.629991 m/s,
      LOS rate: 0.076904 deg/s,
      cmd heading: 122.648532 deg,
      new cmd heading: 122.734632 deg.

2025-01-09T05:44:51.368Z,1736401491.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.142123 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:51.379Z,1736401491.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026002
2025-01-09T05:44:51.632Z,1736401491.632 [DAT](INFO): DAT read: Rx Time:05:44:50.2151

2025-01-09T05:44:51.632Z,1736401491.632 [DAT](INFO): Rx dataTimestamp_ set to:1736401491.631783
2025-01-09T05:44:51.633Z,1736401491.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279125
2025-01-09T05:44:51.782Z,1736401491.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:51.791Z,1736401491.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.80 m.
2025-01-09T05:44:51.793Z,1736401491.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.800003 m,
      nav range: 135.014816 m,
      bearing: 128.257150 deg,
      approach rate: -0.604604 m/s,
      LOS rate: 0.073442 deg/s,
      cmd heading: 122.734633 deg,
      new cmd heading: 122.829490 deg.

2025-01-09T05:44:51.796Z,1736401491.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.143779 target range: 144.800003 and range: 144.80 m.
2025-01-09T05:44:51.889Z,1736401491.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535428
2025-01-09T05:44:52.151Z,1736401492.151 [DAT](INFO): DAT read: 05:44:50.2151 LVL= 28912, 30673, 22706, 32755, AGC= 65, IDX= 347, 0.50, 2.001, 0.197, 1.686, 1.208, PHS= 0.880,-0.964, 0.474, RAW= 137.9,  -4.7, CAL= 143.5, -14.5, ROT=   6.5,  14.5

2025-01-09T05:44:52.152Z,1736401492.152 [DAT](INFO): got valid direction response:
 05:44:50.2151 LVL= 28912, 30673, 22706, 32755, AGC= 65, IDX= 347, 0.50, 2.001, 0.197, 1.686, 1.208, PHS= 0.880,-0.964, 0.474, RAW= 137.9,  -4.7, CAL= 143.5, -14.5, ROT=   6.5,  14.5

2025-01-09T05:44:52.153Z,1736401492.153 [DAT](INFO): DAT read: Bearing   6.5,  14.5 (Local)

2025-01-09T05:44:52.153Z,1736401492.153 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.5,  14.5 (Local)

2025-01-09T05:44:52.163Z,1736401492.163 [DAT](INFO): DAT read: Range 10 to 50 : 135.9 m  (Round-trip  181.2 ms) speed  0.7 m/s

2025-01-09T05:44:52.164Z,1736401492.164 [DAT](INFO): DAT read: user:152>

2025-01-09T05:44:52.165Z,1736401492.165 [DAT](INFO): DAT read: Tx time:05:44:51.3297

2025-01-09T05:44:52.165Z,1736401492.165 [DAT](INFO): Ping request sent.
2025-01-09T05:44:52.165Z,1736401492.165 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:52.165Z,1736401492.165 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:44:52.166Z,1736401492.166 [DAT](INFO): direction in FSK: [0.961924,0.109597,-0.250380]
2025-01-09T05:44:52.167Z,1736401492.167 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:52.167Z,1736401492.167 [DAT](INFO): publishing direction and range info
2025-01-09T05:44:52.170Z,1736401492.170 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:52.175Z,1736401492.175 [DAT](INFO): publishing direction and range info
2025-01-09T05:44:52.291Z,1736401492.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:52.322Z,1736401492.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.899994 m,
      deltaT: 14.878210 s,
      deltaX: -8.900009 m,
      approachRate: -0.598191 m/s,
      rangeRepo size: 4

2025-01-09T05:44:52.333Z,1736401492.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.899994 m,
      bearing: 130.226196 deg,
      lat: 36.903980 deg,
      lon: -122.118920 deg,
      deltaT: 14.878210 s,
      deltaX: -8.900009 m,
      approachRate: -0.598191 m/s,
      posRepo size: 4

2025-01-09T05:44:52.333Z,1736401492.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m.
2025-01-09T05:44:52.340Z,1736401492.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.899994 m,
      nav range: 135.612732 m,
      bearing: 130.225700 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.073442 deg/s,
      cmd heading: 122.829491 deg,
      new cmd heading: 122.946485 deg.

2025-01-09T05:44:52.341Z,1736401492.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.145821 target range: 135.899994 and range: 135.90 m.
2025-01-09T05:44:52.393Z,1736401492.393 [DAT](INFO): DAT read: TxSync time:05:44:51.3290

2025-01-09T05:44:52.635Z,1736401492.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:52.656Z,1736401492.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m.
2025-01-09T05:44:52.663Z,1736401492.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.899994 m,
      nav range: 135.401535 m,
      bearing: 130.253304 deg,
      approach rate: -0.631804 m/s,
      LOS rate: 0.082709 deg/s,
      cmd heading: 122.946479 deg,
      new cmd heading: 123.029422 deg.

2025-01-09T05:44:52.667Z,1736401492.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.147269 target range: 135.899994 and range: 135.90 m.
2025-01-09T05:44:53.074Z,1736401493.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:53.082Z,1736401493.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:53.085Z,1736401493.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m.
2025-01-09T05:44:53.088Z,1736401493.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.899994 m,
      nav range: 135.134781 m,
      bearing: 130.290883 deg,
      approach rate: -0.622109 m/s,
      LOS rate: 0.087812 deg/s,
      cmd heading: 123.029424 deg,
      new cmd heading: 123.142383 deg.

2025-01-09T05:44:53.089Z,1736401493.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.149240 target range: 135.899994 and range: 135.90 m.
2025-01-09T05:44:53.148Z,1736401493.148 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:53.148Z,1736401493.148 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:53.149Z,1736401493.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:53.400Z,1736401493.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234564
2025-01-09T05:44:53.436Z,1736401493.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:53.445Z,1736401493.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m.
2025-01-09T05:44:53.471Z,1736401493.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.899994 m,
      nav range: 134.914581 m,
      bearing: 130.321595 deg,
      approach rate: -0.611117 m/s,
      LOS rate: 0.085374 deg/s,
      cmd heading: 123.142382 deg,
      new cmd heading: 123.234668 deg.

2025-01-09T05:44:53.473Z,1736401493.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150851 target range: 135.899994 and range: 135.90 m.
2025-01-09T05:44:53.652Z,1736401493.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486495
2025-01-09T05:44:53.838Z,1736401493.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:53.848Z,1736401493.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m.
2025-01-09T05:44:53.851Z,1736401493.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.899994 m,
      nav range: 134.669815 m,
      bearing: 130.355255 deg,
      approach rate: -0.607366 m/s,
      LOS rate: 0.083677 deg/s,
      cmd heading: 123.234672 deg,
      new cmd heading: 123.335835 deg.

2025-01-09T05:44:53.852Z,1736401493.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.152617 target range: 135.899994 and range: 135.90 m.
2025-01-09T05:44:53.905Z,1736401493.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739574
2025-01-09T05:44:54.156Z,1736401494.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990556
2025-01-09T05:44:54.264Z,1736401494.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:54.273Z,1736401494.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m.
2025-01-09T05:44:54.276Z,1736401494.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.899994 m,
      nav range: 134.399414 m,
      bearing: 130.392843 deg,
      approach rate: -0.636582 m/s,
      LOS rate: 0.088669 deg/s,
      cmd heading: 123.335840 deg,
      new cmd heading: 123.448832 deg.

2025-01-09T05:44:54.279Z,1736401494.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.154588 target range: 135.899994 and range: 135.90 m.
2025-01-09T05:44:54.408Z,1736401494.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242565
2025-01-09T05:44:54.642Z,1736401494.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:54.660Z,1736401494.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494680
2025-01-09T05:44:54.672Z,1736401494.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m.
2025-01-09T05:44:54.679Z,1736401494.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.899994 m,
      nav range: 134.159454 m,
      bearing: 130.426222 deg,
      approach rate: -0.600282 m/s,
      LOS rate: 0.083650 deg/s,
      cmd heading: 123.448825 deg,
      new cmd heading: 123.549142 deg.

2025-01-09T05:44:54.680Z,1736401494.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156339 target range: 135.899994 and range: 135.90 m.
2025-01-09T05:44:54.912Z,1736401494.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747241
2025-01-09T05:44:55.130Z,1736401495.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:55.137Z,1736401495.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:55.139Z,1736401495.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m.
2025-01-09T05:44:55.142Z,1736401495.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.899994 m,
      nav range: 133.848373 m,
      bearing: 130.472964 deg,
      approach rate: -0.666370 m/s,
      LOS rate: 0.100358 deg/s,
      cmd heading: 123.549147 deg,
      new cmd heading: 123.689697 deg.

2025-01-09T05:44:55.159Z,1736401495.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.158792 target range: 135.899994 and range: 135.90 m.
2025-01-09T05:44:55.164Z,1736401495.164 [DAT](INFO): DAT read: Rx Time:05:44:53.9120

2025-01-09T05:44:55.164Z,1736401495.164 [DAT](INFO): Rx dataTimestamp_ set to:1736401495.163883
2025-01-09T05:44:55.165Z,1736401495.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999667
2025-01-09T05:44:55.416Z,1736401495.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250964
2025-01-09T05:44:55.493Z,1736401495.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:55.510Z,1736401495.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.90 m.
2025-01-09T05:44:55.516Z,1736401495.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.899994 m,
      nav range: 133.616440 m,
      bearing: 130.507642 deg,
      approach rate: -0.626423 m/s,
      LOS rate: 0.093823 deg/s,
      cmd heading: 123.689699 deg,
      new cmd heading: 123.793913 deg.

2025-01-09T05:44:55.517Z,1736401495.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.160611 target range: 135.899994 and range: 135.90 m.
2025-01-09T05:44:55.678Z,1736401495.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511908
2025-01-09T05:44:55.912Z,1736401495.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:55.926Z,1736401495.926 [DAT](INFO): DAT read: 05:44:53.9120 LVL= 25664, 28225, 21810, 31219, AGC= 62, IDX= 412, 0.05,-0.850,-2.596,-1.174,-1.674, PHS= 0.912,-0.874, 0.498, RAW= 137.2,  -6.7, CAL= 143.1, -17.0, ROT=   6.9,  17.0

2025-01-09T05:44:55.928Z,1736401495.928 [DAT](INFO): got valid direction response:
 05:44:53.9120 LVL= 25664, 28225, 21810, 31219, AGC= 62, IDX= 412, 0.05,-0.850,-2.596,-1.174,-1.674, PHS= 0.912,-0.874, 0.498, RAW= 137.2,  -6.7, CAL= 143.1, -17.0, ROT=   6.9,  17.0

2025-01-09T05:44:55.929Z,1736401495.929 [DAT](INFO): DAT read: Bearing   6.9,  17.0 (Local)

2025-01-09T05:44:55.929Z,1736401495.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.9,  17.0 (Local)

2025-01-09T05:44:55.932Z,1736401495.932 [DAT](INFO): DAT read: Range 10 to 50 : 133.5 m  (Round-trip  178.1 ms) speed  0.4 m/s

2025-01-09T05:44:55.933Z,1736401495.933 [DAT](INFO): DAT read: user:153>

2025-01-09T05:44:55.934Z,1736401495.934 [DAT](INFO): DAT read: Tx time:05:44:55.0297

2025-01-09T05:44:55.934Z,1736401495.934 [DAT](INFO): Ping request sent.
2025-01-09T05:44:55.934Z,1736401495.934 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:44:55.935Z,1736401495.935 [DAT](INFO): DAT read: TxSync time:05:44:55.0290

2025-01-09T05:44:55.935Z,1736401495.935 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:44:55.936Z,1736401495.936 [DAT](INFO): direction in FSK: [0.949379,0.114887,-0.292372]
2025-01-09T05:44:55.937Z,1736401495.937 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:55.937Z,1736401495.937 [DAT](INFO): publishing direction and range info
2025-01-09T05:44:55.940Z,1736401495.940 [DAT](INFO): publishing transmit ping time
2025-01-09T05:44:55.940Z,1736401495.940 [DAT](INFO): publishing direction and range info
2025-01-09T05:44:55.969Z,1736401495.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 133.500000 m,
      deltaT: 3.780373 s,
      deltaX: -2.399994 m,
      approachRate: -0.634856 m/s,
      rangeRepo size: 4

2025-01-09T05:44:56.028Z,1736401496.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.500000 m,
      bearing: 132.177095 deg,
      lat: 36.903967 deg,
      lon: -122.118932 deg,
      deltaT: 3.780373 s,
      deltaX: -2.399994 m,
      approachRate: -0.634856 m/s,
      posRepo size: 4

2025-01-09T05:44:56.030Z,1736401496.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:44:56.050Z,1736401496.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 133.478088 m,
      bearing: 131.319989 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.093823 deg/s,
      cmd heading: 123.793914 deg,
      new cmd heading: 123.922970 deg.

2025-01-09T05:44:56.059Z,1736401496.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.162864 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:44:56.406Z,1736401496.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:56.429Z,1736401496.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:44:56.436Z,1736401496.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 133.148499 m,
      bearing: 131.372993 deg,
      approach rate: -0.714967 m/s,
      LOS rate: 0.115262 deg/s,
      cmd heading: 123.922963 deg,
      new cmd heading: 124.082366 deg.

2025-01-09T05:44:56.437Z,1736401496.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.165646 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:44:56.738Z,1736401496.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:56.753Z,1736401496.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:44:56.757Z,1736401496.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 132.927582 m,
      bearing: 131.408535 deg,
      approach rate: -0.682727 m/s,
      LOS rate: 0.110022 deg/s,
      cmd heading: 124.082366 deg,
      new cmd heading: 124.189169 deg.

2025-01-09T05:44:56.759Z,1736401496.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.167510 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:44:57.181Z,1736401497.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:57.188Z,1736401497.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:57.190Z,1736401497.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:44:57.193Z,1736401497.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 132.624207 m,
      bearing: 131.459435 deg,
      approach rate: -0.694227 m/s,
      LOS rate: 0.116744 deg/s,
      cmd heading: 124.189163 deg,
      new cmd heading: 124.342213 deg.

2025-01-09T05:44:57.195Z,1736401497.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.170181 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:44:57.434Z,1736401497.434 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:57.434Z,1736401497.434 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:57.434Z,1736401497.434 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:44:57.561Z,1736401497.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:57.578Z,1736401497.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:44:57.591Z,1736401497.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 132.363602 m,
      bearing: 131.502808 deg,
      approach rate: -0.670672 m/s,
      LOS rate: 0.111842 deg/s,
      cmd heading: 124.342214 deg,
      new cmd heading: 124.472590 deg.

2025-01-09T05:44:57.592Z,1736401497.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.172457 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:44:57.685Z,1736401497.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750715
2025-01-09T05:44:57.936Z,1736401497.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001543
2025-01-09T05:44:57.948Z,1736401497.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:57.957Z,1736401497.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:44:57.960Z,1736401497.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 132.097778 m,
      bearing: 131.547252 deg,
      approach rate: -0.702000 m/s,
      LOS rate: 0.117606 deg/s,
      cmd heading: 124.472589 deg,
      new cmd heading: 124.606189 deg.

2025-01-09T05:44:57.962Z,1736401497.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174788 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:44:58.188Z,1736401498.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253466
2025-01-09T05:44:58.390Z,1736401498.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:58.399Z,1736401498.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:44:58.402Z,1736401498.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 131.784363 m,
      bearing: 131.598509 deg,
      approach rate: -0.709155 m/s,
      LOS rate: 0.116253 deg/s,
      cmd heading: 124.606187 deg,
      new cmd heading: 124.760323 deg.

2025-01-09T05:44:58.403Z,1736401498.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.177478 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:44:58.441Z,1736401498.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506612
2025-01-09T05:44:58.692Z,1736401498.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757554
2025-01-09T05:44:58.773Z,1736401498.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:58.783Z,1736401498.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:44:58.785Z,1736401498.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 131.511978 m,
      bearing: 131.643054 deg,
      approach rate: -0.710195 m/s,
      LOS rate: 0.116385 deg/s,
      cmd heading: 124.760317 deg,
      new cmd heading: 124.894230 deg.

2025-01-09T05:44:58.786Z,1736401498.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.179816 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:44:58.944Z,1736401498.944 [DAT](INFO): DAT read: Rx Time:05:44:57.6089

2025-01-09T05:44:58.945Z,1736401498.945 [DAT](INFO): Rx dataTimestamp_ set to:1736401498.944569
2025-01-09T05:44:58.945Z,1736401498.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011314
2025-01-09T05:44:59.193Z,1736401499.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:59.196Z,1736401499.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262254
2025-01-09T05:44:59.203Z,1736401499.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:44:59.205Z,1736401499.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:44:59.208Z,1736401499.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 131.212311 m,
      bearing: 131.692264 deg,
      approach rate: -0.708258 m/s,
      LOS rate: 0.116571 deg/s,
      cmd heading: 124.894230 deg,
      new cmd heading: 125.042195 deg.

2025-01-09T05:44:59.209Z,1736401499.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.182398 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:44:59.454Z,1736401499.454 [DAT](INFO): DAT read: 05:44:57.6089 LVL= 32752, 31217, 27442, 32755, AGC= 63, IDX= 413,-0.07, 2.541, 1.064, 2.241, 1.779, PHS= 0.850,-0.668, 0.458, RAW= 135.6,  -9.4, CAL= 141.5, -20.5, ROT=   8.5,  20.5

2025-01-09T05:44:59.455Z,1736401499.455 [DAT](INFO): got valid direction response:
 05:44:57.6089 LVL= 32752, 31217, 27442, 32755, AGC= 63, IDX= 413,-0.07, 2.541, 1.064, 2.241, 1.779, PHS= 0.850,-0.668, 0.458, RAW= 135.6,  -9.4, CAL= 141.5, -20.5, ROT=   8.5,  20.5

2025-01-09T05:44:59.456Z,1736401499.456 [DAT](INFO): DAT read: $Error in header

2025-01-09T05:44:59.456Z,1736401499.456 [DAT](INFO): Received a bad header
2025-01-09T05:44:59.467Z,1736401499.467 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T05:44:59.468Z,1736401499.468 [DAT](INFO): direction in FSK: [0.926384,0.138449,-0.350207]
2025-01-09T05:44:59.471Z,1736401499.471 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:59.471Z,1736401499.471 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:59.471Z,1736401499.471 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:59.586Z,1736401499.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:59.600Z,1736401499.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:44:59.611Z,1736401499.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 130.931931 m,
      bearing: 131.737819 deg,
      approach rate: -0.710255 m/s,
      LOS rate: 0.115648 deg/s,
      cmd heading: 125.042199 deg,
      new cmd heading: 125.179158 deg.

2025-01-09T05:44:59.612Z,1736401499.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.184788 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:44:59.700Z,1736401499.700 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:59.700Z,1736401499.700 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:59.700Z,1736401499.700 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:59.951Z,1736401499.951 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:44:59.952Z,1736401499.952 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:44:59.952Z,1736401499.952 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:44:59.987Z,1736401499.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:44:59.996Z,1736401499.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:44:59.000Z,1736401500.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 130.645844 m,
      bearing: 131.784143 deg,
      approach rate: -0.723056 m/s,
      LOS rate: 0.117334 deg/s,
      cmd heading: 125.179158 deg,
      new cmd heading: 125.318432 deg.

2025-01-09T05:45:00.001Z,1736401500.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.187219 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:00.203Z,1736401500.203 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:00.204Z,1736401500.204 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:00.204Z,1736401500.204 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:00.414Z,1736401500.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:00.423Z,1736401500.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:00.426Z,1736401500.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 130.349701 m,
      bearing: 131.830838 deg,
      approach rate: -0.693226 m/s,
      LOS rate: 0.109555 deg/s,
      cmd heading: 125.318426 deg,
      new cmd heading: 125.458830 deg.

2025-01-09T05:45:00.428Z,1736401500.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.189670 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:00.456Z,1736401500.456 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:00.456Z,1736401500.456 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:00.456Z,1736401500.456 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:00.707Z,1736401500.707 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:00.708Z,1736401500.708 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:00.708Z,1736401500.708 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:00.785Z,1736401500.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:00.795Z,1736401500.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:00.798Z,1736401500.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 130.092148 m,
      bearing: 131.871346 deg,
      approach rate: -0.694897 m/s,
      LOS rate: 0.109510 deg/s,
      cmd heading: 125.458827 deg,
      new cmd heading: 125.580592 deg.

2025-01-09T05:45:00.799Z,1736401500.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.191795 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:00.960Z,1736401500.960 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:00.960Z,1736401500.960 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:00.960Z,1736401500.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:01.208Z,1736401501.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:01.212Z,1736401501.212 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:01.212Z,1736401501.212 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:01.212Z,1736401501.212 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:01.223Z,1736401501.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:01.225Z,1736401501.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:01.232Z,1736401501.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 129.806320 m,
      bearing: 131.909672 deg,
      approach rate: -0.662833 m/s,
      LOS rate: 0.089073 deg/s,
      cmd heading: 125.580596 deg,
      new cmd heading: 125.695826 deg.

2025-01-09T05:45:01.233Z,1736401501.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.193806 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:01.463Z,1736401501.463 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:01.464Z,1736401501.464 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:01.464Z,1736401501.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:01.586Z,1736401501.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:01.601Z,1736401501.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:01.628Z,1736401501.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 129.549744 m,
      bearing: 131.943964 deg,
      approach rate: -0.683566 m/s,
      LOS rate: 0.091543 deg/s,
      cmd heading: 125.695821 deg,
      new cmd heading: 125.798902 deg.

2025-01-09T05:45:01.629Z,1736401501.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.195605 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:01.717Z,1736401501.717 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:01.717Z,1736401501.717 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:01.717Z,1736401501.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:01.967Z,1736401501.967 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:01.967Z,1736401501.967 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:01.968Z,1736401501.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:02.005Z,1736401502.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:02.015Z,1736401502.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:02.017Z,1736401502.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 129.266068 m,
      bearing: 131.981830 deg,
      approach rate: -0.684953 m/s,
      LOS rate: 0.091631 deg/s,
      cmd heading: 125.798902 deg,
      new cmd heading: 125.912750 deg.

2025-01-09T05:45:02.018Z,1736401502.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.197592 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:02.220Z,1736401502.220 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:02.220Z,1736401502.220 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:02.220Z,1736401502.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:02.431Z,1736401502.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:02.440Z,1736401502.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:02.443Z,1736401502.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 128.986526 m,
      bearing: 132.012770 deg,
      approach rate: -0.656844 m/s,
      LOS rate: 0.072857 deg/s,
      cmd heading: 125.912748 deg,
      new cmd heading: 126.005767 deg.

2025-01-09T05:45:02.445Z,1736401502.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199215 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:02.471Z,1736401502.471 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:02.471Z,1736401502.471 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:02.472Z,1736401502.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:02.724Z,1736401502.724 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:02.724Z,1736401502.724 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:02.724Z,1736401502.724 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:02.814Z,1736401502.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:02.831Z,1736401502.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:02.833Z,1736401502.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 128.735901 m,
      bearing: 132.040269 deg,
      approach rate: -0.655458 m/s,
      LOS rate: 0.072057 deg/s,
      cmd heading: 126.005761 deg,
      new cmd heading: 126.088418 deg.

2025-01-09T05:45:02.839Z,1736401502.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200658 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:02.976Z,1736401502.976 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:02.976Z,1736401502.976 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:02.976Z,1736401502.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:03.228Z,1736401503.228 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:03.228Z,1736401503.228 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:03.229Z,1736401503.229 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:03.239Z,1736401503.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:03.268Z,1736401503.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:03.270Z,1736401503.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:03.278Z,1736401503.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 128.471420 m,
      bearing: 132.066577 deg,
      approach rate: -0.590783 m/s,
      LOS rate: 0.058886 deg/s,
      cmd heading: 126.088420 deg,
      new cmd heading: 126.167506 deg.

2025-01-09T05:45:03.283Z,1736401503.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202038 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:03.479Z,1736401503.479 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:03.479Z,1736401503.479 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:03.480Z,1736401503.480 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:03.659Z,1736401503.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:03.668Z,1736401503.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:03.671Z,1736401503.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 128.210541 m,
      bearing: 132.092635 deg,
      approach rate: -0.656202 m/s,
      LOS rate: 0.065678 deg/s,
      cmd heading: 126.167500 deg,
      new cmd heading: 126.245833 deg.

2025-01-09T05:45:03.672Z,1736401503.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203405 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:03.732Z,1736401503.732 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:03.732Z,1736401503.732 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:03.732Z,1736401503.732 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:03.983Z,1736401503.983 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:03.983Z,1736401503.983 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:03.984Z,1736401503.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:04.026Z,1736401504.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:04.035Z,1736401504.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:04.038Z,1736401504.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 127.982941 m,
      bearing: 132.115350 deg,
      approach rate: -0.619219 m/s,
      LOS rate: 0.061911 deg/s,
      cmd heading: 126.245829 deg,
      new cmd heading: 126.314097 deg.

2025-01-09T05:45:04.039Z,1736401504.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204597 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:04.235Z,1736401504.235 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:04.235Z,1736401504.235 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:04.236Z,1736401504.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:04.436Z,1736401504.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:04.464Z,1736401504.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:04.472Z,1736401504.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 127.747482 m,
      bearing: 132.134706 deg,
      approach rate: -0.548649 m/s,
      LOS rate: 0.045183 deg/s,
      cmd heading: 126.314103 deg,
      new cmd heading: 126.372276 deg.

2025-01-09T05:45:04.472Z,1736401504.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205612 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:04.488Z,1736401504.488 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:04.488Z,1736401504.488 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:04.488Z,1736401504.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:04.740Z,1736401504.740 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:04.740Z,1736401504.740 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:04.741Z,1736401504.741 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:04.836Z,1736401504.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:04.845Z,1736401504.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:04.848Z,1736401504.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 127.517540 m,
      bearing: 132.153678 deg,
      approach rate: -0.604024 m/s,
      LOS rate: 0.049928 deg/s,
      cmd heading: 126.372269 deg,
      new cmd heading: 126.429290 deg.

2025-01-09T05:45:04.849Z,1736401504.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.206607 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:04.991Z,1736401504.991 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:04.991Z,1736401504.991 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:04.992Z,1736401504.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:05.239Z,1736401505.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:05.244Z,1736401505.244 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:05.244Z,1736401505.244 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:05.244Z,1736401505.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:05.269Z,1736401505.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:05.278Z,1736401505.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 127.295616 m,
      bearing: 132.168996 deg,
      approach rate: -0.523741 m/s,
      LOS rate: 0.036214 deg/s,
      cmd heading: 126.429288 deg,
      new cmd heading: 126.475323 deg.

2025-01-09T05:45:05.283Z,1736401505.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.207411 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:05.497Z,1736401505.497 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:05.497Z,1736401505.497 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:05.497Z,1736401505.497 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:05.705Z,1736401505.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:05.712Z,1736401505.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:05.718Z,1736401505.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:05.745Z,1736401505.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 127.038460 m,
      bearing: 132.186818 deg,
      approach rate: -0.574165 m/s,
      LOS rate: 0.039872 deg/s,
      cmd heading: 126.475323 deg,
      new cmd heading: 126.528896 deg.

2025-01-09T05:45:05.748Z,1736401505.748 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:05.748Z,1736401505.748 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:05.748Z,1736401505.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:05.751Z,1736401505.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208346 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:05.000Z,1736401506.000 [DAT](INFO): Reached modem response timeout
2025-01-09T05:45:05.000Z,1736401506.000 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:45:06.000Z,1736401506.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:06.107Z,1736401506.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:06.202Z,1736401506.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:06.205Z,1736401506.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 126.816933 m,
      bearing: 132.202166 deg,
      approach rate: -0.459690 m/s,
      LOS rate: 0.031904 deg/s,
      cmd heading: 126.528899 deg,
      new cmd heading: 126.575024 deg.

2025-01-09T05:45:06.206Z,1736401506.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209151 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:06.251Z,1736401506.251 [DAT](INFO): Reached modem response timeout
2025-01-09T05:45:06.252Z,1736401506.252 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:45:06.252Z,1736401506.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:06.506Z,1736401506.506 [DAT](INFO): Reached modem response timeout
2025-01-09T05:45:06.507Z,1736401506.507 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:45:06.507Z,1736401506.507 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:06.673Z,1736401506.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:06.717Z,1736401506.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:06.724Z,1736401506.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 126.511948 m,
      bearing: 132.226546 deg,
      approach rate: -0.595986 m/s,
      LOS rate: 0.047756 deg/s,
      cmd heading: 126.575030 deg,
      new cmd heading: 126.648345 deg.

2025-01-09T05:45:06.725Z,1736401506.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210431 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:06.758Z,1736401506.758 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:45:06.759Z,1736401506.759 [DAT](INFO): response not received
2025-01-09T05:45:06.759Z,1736401506.759 [DAT](INFO): DAT read: user:155>

2025-01-09T05:45:06.760Z,1736401506.760 [DAT](INFO): DAT read: Tx time:05:45:05.9798

2025-01-09T05:45:06.760Z,1736401506.760 [DAT](INFO): Ping request sent.
2025-01-09T05:45:06.761Z,1736401506.761 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:45:06.761Z,1736401506.761 [DAT](INFO): publishing transmit ping time
2025-01-09T05:45:06.762Z,1736401506.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001450
2025-01-09T05:45:07.008Z,1736401507.008 [DAT](INFO): DAT read: TxSync time:05:45:05.9791

2025-01-09T05:45:07.009Z,1736401507.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248547
2025-01-09T05:45:07.093Z,1736401507.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:07.102Z,1736401507.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:07.105Z,1736401507.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 126.286072 m,
      bearing: 132.244679 deg,
      approach rate: -0.576267 m/s,
      LOS rate: 0.046345 deg/s,
      cmd heading: 126.648346 deg,
      new cmd heading: 126.702842 deg.

2025-01-09T05:45:07.106Z,1736401507.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.211382 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:07.262Z,1736401507.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500735
2025-01-09T05:45:07.501Z,1736401507.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:07.510Z,1736401507.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:07.513Z,1736401507.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752189
2025-01-09T05:45:07.516Z,1736401507.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 126.067009 m,
      bearing: 132.263277 deg,
      approach rate: -0.537525 m/s,
      LOS rate: 0.045715 deg/s,
      cmd heading: 126.702837 deg,
      new cmd heading: 126.758728 deg.

2025-01-09T05:45:07.517Z,1736401507.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.212357 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:07.764Z,1736401507.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003883
2025-01-09T05:45:07.884Z,1736401507.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:07.891Z,1736401507.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:07.893Z,1736401507.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:07.896Z,1736401507.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 125.861153 m,
      bearing: 132.280660 deg,
      approach rate: -0.537585 m/s,
      LOS rate: 0.045468 deg/s,
      cmd heading: 126.758735 deg,
      new cmd heading: 126.810968 deg.

2025-01-09T05:45:07.897Z,1736401507.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.213269 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:08.016Z,1736401508.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255179
2025-01-09T05:45:08.268Z,1736401508.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507412
2025-01-09T05:45:08.326Z,1736401508.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:08.336Z,1736401508.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:08.338Z,1736401508.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 125.609962 m,
      bearing: 132.306694 deg,
      approach rate: -0.567328 m/s,
      LOS rate: 0.058918 deg/s,
      cmd heading: 126.810972 deg,
      new cmd heading: 126.889232 deg.

2025-01-09T05:45:08.340Z,1736401508.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214635 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:08.524Z,1736401508.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762991
2025-01-09T05:45:08.691Z,1736401508.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:08.699Z,1736401508.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:08.702Z,1736401508.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 125.402260 m,
      bearing: 132.328381 deg,
      approach rate: -0.571230 m/s,
      LOS rate: 0.059742 deg/s,
      cmd heading: 126.889233 deg,
      new cmd heading: 126.954400 deg.

2025-01-09T05:45:08.720Z,1736401508.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.215772 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:08.772Z,1736401508.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011181
2025-01-09T05:45:09.024Z,1736401509.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263060
2025-01-09T05:45:09.097Z,1736401509.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:09.106Z,1736401509.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:09.109Z,1736401509.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 125.171173 m,
      bearing: 132.352658 deg,
      approach rate: -0.568466 m/s,
      LOS rate: 0.059832 deg/s,
      cmd heading: 126.954406 deg,
      new cmd heading: 127.027373 deg.

2025-01-09T05:45:09.110Z,1736401509.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217046 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:09.276Z,1736401509.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515242
2025-01-09T05:45:09.529Z,1736401509.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768595
2025-01-09T05:45:09.538Z,1736401509.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:09.573Z,1736401509.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:09.580Z,1736401509.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 124.910919 m,
      bearing: 132.385676 deg,
      approach rate: -0.556650 m/s,
      LOS rate: 0.070767 deg/s,
      cmd heading: 127.027366 deg,
      new cmd heading: 127.126624 deg.

2025-01-09T05:45:09.581Z,1736401509.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.218778 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:09.781Z,1736401509.781 [DAT](INFO): DAT read: Rx Time:05:45:08.5497

2025-01-09T05:45:09.782Z,1736401509.782 [DAT](INFO): Rx dataTimestamp_ set to:1736401509.781031
2025-01-09T05:45:09.783Z,1736401509.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022171
2025-01-09T05:45:09.900Z,1736401509.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:09.907Z,1736401509.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:09.909Z,1736401509.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:09.929Z,1736401509.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 124.697617 m,
      bearing: 132.412660 deg,
      approach rate: -0.635342 m/s,
      LOS rate: 0.080513 deg/s,
      cmd heading: 127.126623 deg,
      new cmd heading: 127.207714 deg.

2025-01-09T05:45:09.930Z,1736401509.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.220193 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:10.032Z,1736401510.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271144
2025-01-09T05:45:10.287Z,1736401510.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525840
2025-01-09T05:45:10.381Z,1736401510.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:10.396Z,1736401510.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.50 m.
2025-01-09T05:45:10.398Z,1736401510.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.500000 m,
      nav range: 124.393257 m,
      bearing: 132.456755 deg,
      approach rate: -0.625348 m/s,
      LOS rate: 0.090820 deg/s,
      cmd heading: 127.207711 deg,
      new cmd heading: 127.340318 deg.

2025-01-09T05:45:10.400Z,1736401510.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.222508 target range: 133.500000 and range: 133.50 m.
2025-01-09T05:45:10.542Z,1736401510.542 [DAT](INFO): DAT read: 05:45:08.5497 LVL= 26432, 29889, 23922, 32755, AGC= 64, IDX= 348, 0.19,-0.405,-1.837,-0.550,-0.981, PHS= 0.664,-0.809, 0.429, RAW= 141.4,  -4.2, CAL= 146.8, -13.5, ROT=   3.2,  13.5

2025-01-09T05:45:10.547Z,1736401510.547 [DAT](INFO): got valid direction response:
 05:45:08.5497 LVL= 26432, 29889, 23922, 32755, AGC= 64, IDX= 348, 0.19,-0.405,-1.837,-0.550,-0.981, PHS= 0.664,-0.809, 0.429, RAW= 141.4,  -4.2, CAL= 146.8, -13.5, ROT=   3.2,  13.5

2025-01-09T05:45:10.548Z,1736401510.548 [DAT](INFO): DAT read: Bearing   3.2,  13.5 (Local)

2025-01-09T05:45:10.549Z,1736401510.549 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2,  13.5 (Local)

2025-01-09T05:45:10.550Z,1736401510.550 [DAT](INFO): DAT read: Range 10 to 50 : 124.2 m  (Round-trip  165.7 ms) speed  0.7 m/s

2025-01-09T05:45:10.551Z,1736401510.551 [DAT](INFO): DAT read: user:156>

2025-01-09T05:45:10.552Z,1736401510.552 [DAT](INFO): DAT read: Tx time:05:45:09.6298

2025-01-09T05:45:10.552Z,1736401510.552 [DAT](INFO): Ping request sent.
2025-01-09T05:45:10.552Z,1736401510.552 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:45:10.553Z,1736401510.553 [DAT](INFO): DAT read: TxSync time:05:45:09.6291

2025-01-09T05:45:10.553Z,1736401510.553 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:45:10.554Z,1736401510.554 [DAT](INFO): direction in FSK: [0.970854,0.054279,-0.233445]
2025-01-09T05:45:10.555Z,1736401510.555 [DAT](INFO): publishing transmit ping time
2025-01-09T05:45:10.555Z,1736401510.555 [DAT](INFO): publishing direction and range info
2025-01-09T05:45:10.565Z,1736401510.565 [DAT](INFO): publishing transmit ping time
2025-01-09T05:45:10.565Z,1736401510.565 [DAT](INFO): publishing direction and range info
2025-01-09T05:45:10.727Z,1736401510.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:10.770Z,1736401510.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 124.199997 m,
      deltaT: 14.615940 s,
      deltaX: -9.300003 m,
      approachRate: -0.636292 m/s,
      rangeRepo size: 4

2025-01-09T05:45:10.777Z,1736401510.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.199997 m,
      bearing: 131.069191 deg,
      lat: 36.903980 deg,
      lon: -122.118931 deg,
      deltaT: 14.615940 s,
      deltaX: -9.300003 m,
      approachRate: -0.636292 m/s,
      posRepo size: 4

2025-01-09T05:45:10.777Z,1736401510.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m.
2025-01-09T05:45:10.784Z,1736401510.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.199997 m,
      nav range: 123.266350 m,
      bearing: 131.967222 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.090820 deg/s,
      cmd heading: 127.340312 deg,
      new cmd heading: 127.442183 deg.

2025-01-09T05:45:10.785Z,1736401510.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.224286 target range: 124.199997 and range: 124.20 m.
2025-01-09T05:45:11.115Z,1736401511.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:11.125Z,1736401511.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m.
2025-01-09T05:45:11.133Z,1736401511.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.199997 m,
      nav range: 123.020393 m,
      bearing: 132.001483 deg,
      approach rate: -0.691935 m/s,
      LOS rate: 0.096579 deg/s,
      cmd heading: 127.442177 deg,
      new cmd heading: 127.545168 deg.

2025-01-09T05:45:11.134Z,1736401511.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.226083 target range: 124.199997 and range: 124.20 m.
2025-01-09T05:45:11.556Z,1736401511.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:11.566Z,1736401511.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m.
2025-01-09T05:45:11.569Z,1736401511.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.199997 m,
      nav range: 122.722916 m,
      bearing: 132.049012 deg,
      approach rate: -0.674554 m/s,
      LOS rate: 0.108037 deg/s,
      cmd heading: 127.545163 deg,
      new cmd heading: 127.688095 deg.

2025-01-09T05:45:11.570Z,1736401511.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.228578 target range: 124.199997 and range: 124.20 m.
2025-01-09T05:45:11.921Z,1736401511.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:11.929Z,1736401511.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:11.931Z,1736401511.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m.
2025-01-09T05:45:11.934Z,1736401511.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.199997 m,
      nav range: 122.476532 m,
      bearing: 132.087414 deg,
      approach rate: -0.675088 m/s,
      LOS rate: 0.105432 deg/s,
      cmd heading: 127.688092 deg,
      new cmd heading: 127.803528 deg.

2025-01-09T05:45:11.935Z,1736401511.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.230592 target range: 124.199997 and range: 124.20 m.
2025-01-09T05:45:12.047Z,1736401512.047 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:12.048Z,1736401512.048 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:12.048Z,1736401512.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:12.300Z,1736401512.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747639
2025-01-09T05:45:12.369Z,1736401512.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:12.399Z,1736401512.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m.
2025-01-09T05:45:12.402Z,1736401512.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.199997 m,
      nav range: 122.160446 m,
      bearing: 132.138214 deg,
      approach rate: -0.675475 m/s,
      LOS rate: 0.108841 deg/s,
      cmd heading: 127.803522 deg,
      new cmd heading: 127.956317 deg.

2025-01-09T05:45:12.407Z,1736401512.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233259 target range: 124.199997 and range: 124.20 m.
2025-01-09T05:45:12.552Z,1736401512.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999583
2025-01-09T05:45:12.742Z,1736401512.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:12.775Z,1736401512.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m.
2025-01-09T05:45:12.784Z,1736401512.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.199997 m,
      nav range: 121.897903 m,
      bearing: 132.180352 deg,
      approach rate: -0.708204 m/s,
      LOS rate: 0.113911 deg/s,
      cmd heading: 127.956313 deg,
      new cmd heading: 128.082999 deg.

2025-01-09T05:45:12.791Z,1736401512.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.235470 target range: 124.199997 and range: 124.20 m.
2025-01-09T05:45:12.804Z,1736401512.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251379
2025-01-09T05:45:13.056Z,1736401513.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503309
2025-01-09T05:45:13.152Z,1736401513.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:13.162Z,1736401513.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m.
2025-01-09T05:45:13.169Z,1736401513.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.199997 m,
      nav range: 121.607552 m,
      bearing: 132.226774 deg,
      approach rate: -0.741408 m/s,
      LOS rate: 0.118821 deg/s,
      cmd heading: 128.082999 deg,
      new cmd heading: 128.222598 deg.

2025-01-09T05:45:13.171Z,1736401513.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237906 target range: 124.199997 and range: 124.20 m.
2025-01-09T05:45:13.308Z,1736401513.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755470
2025-01-09T05:45:13.564Z,1736401513.564 [DAT](INFO): DAT read: Rx Time:05:45:12.1964

2025-01-09T05:45:13.565Z,1736401513.565 [DAT](INFO): Rx dataTimestamp_ set to:1736401513.564757
2025-01-09T05:45:13.566Z,1736401513.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013238
2025-01-09T05:45:13.625Z,1736401513.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:13.647Z,1736401513.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m.
2025-01-09T05:45:13.650Z,1736401513.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.199997 m,
      nav range: 121.264671 m,
      bearing: 132.283338 deg,
      approach rate: -0.712640 m/s,
      LOS rate: 0.117894 deg/s,
      cmd heading: 128.222595 deg,
      new cmd heading: 128.392766 deg.

2025-01-09T05:45:13.655Z,1736401513.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240876 target range: 124.199997 and range: 124.20 m.
2025-01-09T05:45:13.813Z,1736401513.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260274
2025-01-09T05:45:14.004Z,1736401514.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:14.013Z,1736401514.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:14.015Z,1736401514.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.20 m.
2025-01-09T05:45:14.018Z,1736401514.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.199997 m,
      nav range: 120.988914 m,
      bearing: 132.328211 deg,
      approach rate: -0.739657 m/s,
      LOS rate: 0.120634 deg/s,
      cmd heading: 128.392762 deg,
      new cmd heading: 128.527686 deg.

2025-01-09T05:45:14.019Z,1736401514.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.243231 target range: 124.199997 and range: 124.20 m.
2025-01-09T05:45:14.073Z,1736401514.073 [DAT](INFO): DAT read: 05:45:12.1964 LVL= 23312, 27937, 20850, 30915, AGC= 64, IDX= 410, 0.49, 2.551, 0.961, 2.431, 1.968, PHS= 0.671,-0.960, 0.460, RAW= 143.2,  -2.3, CAL= 147.9, -11.4, ROT=   2.1,  11.4

2025-01-09T05:45:14.076Z,1736401514.076 [DAT](INFO): got valid direction response:
 05:45:12.1964 LVL= 23312, 27937, 20850, 30915, AGC= 64, IDX= 410, 0.49, 2.551, 0.961, 2.431, 1.968, PHS= 0.671,-0.960, 0.460, RAW= 143.2,  -2.3, CAL= 147.9, -11.4, ROT=   2.1,  11.4

2025-01-09T05:45:14.078Z,1736401514.078 [DAT](INFO): DAT read: Bearing   2.1,  11.4 (Local)

2025-01-09T05:45:14.078Z,1736401514.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,  11.4 (Local)

2025-01-09T05:45:14.080Z,1736401514.080 [DAT](INFO): DAT read: Range 10 to 50 : 121.8 m  (Round-trip  162.4 ms) speed  0.6 m/s

2025-01-09T05:45:14.082Z,1736401514.082 [DAT](INFO): DAT read: user:157>

2025-01-09T05:45:14.095Z,1736401514.095 [DAT](INFO): DAT read: Tx time:05:45:13.2799

2025-01-09T05:45:14.095Z,1736401514.095 [DAT](INFO): Ping request sent.
2025-01-09T05:45:14.095Z,1736401514.095 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:45:14.096Z,1736401514.096 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:45:14.097Z,1736401514.097 [DAT](INFO): direction in FSK: [0.979613,0.035921,-0.197657]
2025-01-09T05:45:14.097Z,1736401514.097 [DAT](INFO): publishing transmit ping time
2025-01-09T05:45:14.097Z,1736401514.097 [DAT](INFO): publishing direction and range info
2025-01-09T05:45:14.110Z,1736401514.110 [DAT](INFO): publishing transmit ping time
2025-01-09T05:45:14.110Z,1736401514.110 [DAT](INFO): publishing direction and range info
2025-01-09T05:45:14.318Z,1736401514.318 [DAT](INFO): DAT read: TxSync time:05:45:13.2791

2025-01-09T05:45:14.436Z,1736401514.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:14.472Z,1736401514.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 121.800003 m,
      deltaT: 3.528315 s,
      deltaX: -2.399994 m,
      approachRate: -0.680210 m/s,
      rangeRepo size: 4

2025-01-09T05:45:14.479Z,1736401514.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 121.800003 m,
      bearing: 131.325567 deg,
      lat: 36.903980 deg,
      lon: -122.118931 deg,
      deltaT: 3.528315 s,
      deltaX: -2.399994 m,
      approachRate: -0.680210 m/s,
      posRepo size: 4

2025-01-09T05:45:14.480Z,1736401514.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:14.487Z,1736401514.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 120.678261 m,
      bearing: 132.376354 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.120634 deg/s,
      cmd heading: 128.527686 deg,
      new cmd heading: 128.692921 deg.

2025-01-09T05:45:14.488Z,1736401514.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.246115 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:14.780Z,1736401514.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:14.813Z,1736401514.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:14.823Z,1736401514.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 120.430908 m,
      bearing: 132.414434 deg,
      approach rate: -0.725378 m/s,
      LOS rate: 0.111902 deg/s,
      cmd heading: 128.692922 deg,
      new cmd heading: 128.807397 deg.

2025-01-09T05:45:14.824Z,1736401514.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.248113 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:15.193Z,1736401515.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:15.225Z,1736401515.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:15.232Z,1736401515.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 120.133293 m,
      bearing: 132.459990 deg,
      approach rate: -0.726349 m/s,
      LOS rate: 0.111458 deg/s,
      cmd heading: 128.807396 deg,
      new cmd heading: 128.944402 deg.

2025-01-09T05:45:15.235Z,1736401515.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250504 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:15.692Z,1736401515.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:15.702Z,1736401515.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:15.705Z,1736401515.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 119.786011 m,
      bearing: 132.513427 deg,
      approach rate: -0.724037 m/s,
      LOS rate: 0.111732 deg/s,
      cmd heading: 128.944396 deg,
      new cmd heading: 129.105171 deg.

2025-01-09T05:45:15.706Z,1736401515.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.253310 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:16.170Z,1736401516.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:16.193Z,1736401516.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:16.200Z,1736401516.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:16.207Z,1736401516.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 119.453964 m,
      bearing: 132.565006 deg,
      approach rate: -0.666495 m/s,
      LOS rate: 0.103818 deg/s,
      cmd heading: 129.105165 deg,
      new cmd heading: 129.260330 deg.

2025-01-09T05:45:16.208Z,1736401516.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.256018 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:16.334Z,1736401516.334 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:16.335Z,1736401516.335 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:16.336Z,1736401516.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:16.584Z,1736401516.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488096
2025-01-09T05:45:16.681Z,1736401516.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:16.690Z,1736401516.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:16.693Z,1736401516.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 119.115677 m,
      bearing: 132.613900 deg,
      approach rate: -0.690935 m/s,
      LOS rate: 0.100148 deg/s,
      cmd heading: 129.260333 deg,
      new cmd heading: 129.407432 deg.

2025-01-09T05:45:16.695Z,1736401516.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.258586 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:16.836Z,1736401516.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740717
2025-01-09T05:45:17.043Z,1736401517.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:17.056Z,1736401517.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:17.059Z,1736401517.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 118.876770 m,
      bearing: 132.648806 deg,
      approach rate: -0.652222 m/s,
      LOS rate: 0.095486 deg/s,
      cmd heading: 129.407428 deg,
      new cmd heading: 129.512357 deg.

2025-01-09T05:45:17.060Z,1736401517.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.260417 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:17.089Z,1736401517.089 [DAT](INFO): DAT read: Rx Time:05:45:15.8433

2025-01-09T05:45:17.090Z,1736401517.090 [DAT](INFO): Rx dataTimestamp_ set to:1736401517.089136
2025-01-09T05:45:17.091Z,1736401517.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994866
2025-01-09T05:45:17.343Z,1736401517.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246751
2025-01-09T05:45:17.484Z,1736401517.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:17.516Z,1736401517.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:17.518Z,1736401517.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 118.603569 m,
      bearing: 132.685276 deg,
      approach rate: -0.594538 m/s,
      LOS rate: 0.079549 deg/s,
      cmd heading: 129.512353 deg,
      new cmd heading: 129.622016 deg.

2025-01-09T05:45:17.520Z,1736401517.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262331 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:17.593Z,1736401517.593 [DAT](INFO): DAT read: $Error in header

2025-01-09T05:45:17.594Z,1736401517.594 [DAT](INFO): Received a bad header
2025-01-09T05:45:17.607Z,1736401517.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511774
2025-01-09T05:45:17.844Z,1736401517.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.748215
2025-01-09T05:45:17.844Z,1736401517.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:17.853Z,1736401517.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:17.856Z,1736401517.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 118.380257 m,
      bearing: 132.715103 deg,
      approach rate: -0.662626 m/s,
      LOS rate: 0.088670 deg/s,
      cmd heading: 129.622019 deg,
      new cmd heading: 129.711667 deg.

2025-01-09T05:45:17.857Z,1736401517.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263896 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:18.096Z,1736401518.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000486
2025-01-09T05:45:18.255Z,1736401518.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:18.263Z,1736401518.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:18.265Z,1736401518.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:18.268Z,1736401518.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 118.126282 m,
      bearing: 132.749051 deg,
      approach rate: -0.616136 m/s,
      LOS rate: 0.082536 deg/s,
      cmd heading: 129.711672 deg,
      new cmd heading: 129.813737 deg.

2025-01-09T05:45:18.269Z,1736401518.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.265677 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:18.351Z,1736401518.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.254476
2025-01-09T05:45:18.600Z,1736401518.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.504097
2025-01-09T05:45:18.689Z,1736401518.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:18.730Z,1736401518.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:18.743Z,1736401518.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 117.880585 m,
      bearing: 132.778489 deg,
      approach rate: -0.528042 m/s,
      LOS rate: 0.063397 deg/s,
      cmd heading: 129.813742 deg,
      new cmd heading: 129.902237 deg.

2025-01-09T05:45:18.746Z,1736401518.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.267222 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:18.852Z,1736401518.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.756187
2025-01-09T05:45:19.055Z,1736401519.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:19.065Z,1736401519.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:19.068Z,1736401519.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 117.673561 m,
      bearing: 132.803246 deg,
      approach rate: -0.619101 m/s,
      LOS rate: 0.074166 deg/s,
      cmd heading: 129.902234 deg,
      new cmd heading: 129.976636 deg.

2025-01-09T05:45:19.069Z,1736401519.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.268520 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:19.104Z,1736401519.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.008272
2025-01-09T05:45:19.362Z,1736401519.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.262537
2025-01-09T05:45:19.513Z,1736401519.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:19.530Z,1736401519.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:19.533Z,1736401519.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 117.429062 m,
      bearing: 132.828853 deg,
      approach rate: -0.525485 m/s,
      LOS rate: 0.055150 deg/s,
      cmd heading: 129.976642 deg,
      new cmd heading: 130.053623 deg.

2025-01-09T05:45:19.534Z,1736401519.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269864 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:19.608Z,1736401519.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.512625
2025-01-09T05:45:19.860Z,1736401519.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.764303
2025-01-09T05:45:19.885Z,1736401519.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:19.895Z,1736401519.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:19.903Z,1736401519.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 117.230324 m,
      bearing: 132.849535 deg,
      approach rate: -0.546135 m/s,
      LOS rate: 0.056933 deg/s,
      cmd heading: 130.053618 deg,
      new cmd heading: 130.115772 deg.

2025-01-09T05:45:19.906Z,1736401519.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270949 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:20.032Z,1736401520.032 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:45:20.112Z,1736401520.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.016742
2025-01-09T05:45:20.276Z,1736401520.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:20.284Z,1736401520.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:20.286Z,1736401520.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:20.289Z,1736401520.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 117.021820 m,
      bearing: 132.871190 deg,
      approach rate: -0.532113 m/s,
      LOS rate: 0.055362 deg/s,
      cmd heading: 130.115773 deg,
      new cmd heading: 130.180853 deg.

2025-01-09T05:45:20.290Z,1736401520.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272084 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:20.368Z,1736401520.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.271799
2025-01-09T05:45:20.616Z,1736401520.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.520233
2025-01-09T05:45:20.703Z,1736401520.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:20.714Z,1736401520.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:20.717Z,1736401520.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 116.803963 m,
      bearing: 132.890994 deg,
      approach rate: -0.509201 m/s,
      LOS rate: 0.046374 deg/s,
      cmd heading: 130.180851 deg,
      new cmd heading: 130.240373 deg.

2025-01-09T05:45:20.718Z,1736401520.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.273123 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:20.868Z,1736401520.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.772202
2025-01-09T05:45:21.035Z,1736401521.035 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:45:21.080Z,1736401521.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:21.089Z,1736401521.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:21.092Z,1736401521.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 116.611679 m,
      bearing: 132.908269 deg,
      approach rate: -0.512594 m/s,
      LOS rate: 0.046128 deg/s,
      cmd heading: 130.240369 deg,
      new cmd heading: 130.292280 deg.

2025-01-09T05:45:21.093Z,1736401521.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.274029 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:21.121Z,1736401521.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.025913
2025-01-09T05:45:21.376Z,1736401521.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.279847
2025-01-09T05:45:21.512Z,1736401521.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:21.521Z,1736401521.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:21.524Z,1736401521.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 116.388611 m,
      bearing: 132.927662 deg,
      approach rate: -0.516145 m/s,
      LOS rate: 0.044959 deg/s,
      cmd heading: 130.292279 deg,
      new cmd heading: 130.350570 deg.

2025-01-09T05:45:21.525Z,1736401521.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275047 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:21.624Z,1736401521.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.528547
2025-01-09T05:45:21.876Z,1736401521.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.780046
2025-01-09T05:45:21.888Z,1736401521.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:21.896Z,1736401521.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:21.899Z,1736401521.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 116.194450 m,
      bearing: 132.944390 deg,
      approach rate: -0.517178 m/s,
      LOS rate: 0.044632 deg/s,
      cmd heading: 130.350568 deg,
      new cmd heading: 130.400836 deg.

2025-01-09T05:45:21.900Z,1736401521.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275924 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:22.129Z,1736401522.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.033523
2025-01-09T05:45:22.290Z,1736401522.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:22.298Z,1736401522.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:22.301Z,1736401522.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:22.303Z,1736401522.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 115.986603 m,
      bearing: 132.962187 deg,
      approach rate: -0.514040 m/s,
      LOS rate: 0.044095 deg/s,
      cmd heading: 130.400838 deg,
      new cmd heading: 130.454325 deg.

2025-01-09T05:45:22.304Z,1736401522.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276858 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:22.384Z,1736401522.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.287923
2025-01-09T05:45:22.632Z,1736401522.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.536194
2025-01-09T05:45:22.744Z,1736401522.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:22.772Z,1736401522.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:22.795Z,1736401522.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 115.744507 m,
      bearing: 132.983158 deg,
      approach rate: -0.513698 m/s,
      LOS rate: 0.044589 deg/s,
      cmd heading: 130.454332 deg,
      new cmd heading: 130.517374 deg.

2025-01-09T05:45:22.796Z,1736401522.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277958 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:22.888Z,1736401522.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.792675
2025-01-09T05:45:23.108Z,1736401523.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:23.117Z,1736401523.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:23.122Z,1736401523.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 115.550201 m,
      bearing: 132.999555 deg,
      approach rate: -0.562511 m/s,
      LOS rate: 0.047549 deg/s,
      cmd heading: 130.517375 deg,
      new cmd heading: 130.566648 deg.

2025-01-09T05:45:23.123Z,1736401523.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278818 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:23.140Z,1736401523.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.044103
2025-01-09T05:45:23.395Z,1736401523.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.298997
2025-01-09T05:45:23.542Z,1736401523.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:23.553Z,1736401523.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:23.556Z,1736401523.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 115.306190 m,
      bearing: 133.021083 deg,
      approach rate: -0.560283 m/s,
      LOS rate: 0.049538 deg/s,
      cmd heading: 130.566647 deg,
      new cmd heading: 130.631371 deg.

2025-01-09T05:45:23.557Z,1736401523.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279948 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:23.646Z,1736401523.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.550046
2025-01-09T05:45:23.896Z,1736401523.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.800896
2025-01-09T05:45:23.913Z,1736401523.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:23.921Z,1736401523.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:23.924Z,1736401523.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 115.097572 m,
      bearing: 133.038963 deg,
      approach rate: -0.566757 m/s,
      LOS rate: 0.048661 deg/s,
      cmd heading: 130.631370 deg,
      new cmd heading: 130.685105 deg.

2025-01-09T05:45:23.925Z,1736401523.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280885 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:24.148Z,1736401524.148 [DAT](INFO): Reached modem response timeout
2025-01-09T05:45:24.148Z,1736401524.148 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:45:24.148Z,1736401524.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:24.328Z,1736401524.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:24.336Z,1736401524.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:24.338Z,1736401524.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:24.340Z,1736401524.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 114.863693 m,
      bearing: 133.058749 deg,
      approach rate: -0.561189 m/s,
      LOS rate: 0.047574 deg/s,
      cmd heading: 130.685110 deg,
      new cmd heading: 130.744591 deg.

2025-01-09T05:45:24.341Z,1736401524.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281924 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:24.403Z,1736401524.403 [DAT](INFO): Reached modem response timeout
2025-01-09T05:45:24.404Z,1736401524.404 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:45:24.404Z,1736401524.404 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:24.651Z,1736401524.651 [DAT](INFO): Reached modem response timeout
2025-01-09T05:45:24.651Z,1736401524.651 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:45:24.652Z,1736401524.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:24.768Z,1736401524.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:24.780Z,1736401524.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:24.783Z,1736401524.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 114.603195 m,
      bearing: 133.085723 deg,
      approach rate: -0.588622 m/s,
      LOS rate: 0.061089 deg/s,
      cmd heading: 130.744588 deg,
      new cmd heading: 130.825693 deg.

2025-01-09T05:45:24.784Z,1736401524.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283339 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:24.904Z,1736401524.904 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:45:24.904Z,1736401524.904 [DAT](INFO): response not received
2025-01-09T05:45:24.904Z,1736401524.904 [DAT](INFO): DAT read: user:159>

2025-01-09T05:45:24.905Z,1736401524.905 [DAT](INFO): DAT read: Tx time:05:45:24.2300

2025-01-09T05:45:24.905Z,1736401524.905 [DAT](INFO): Ping request sent.
2025-01-09T05:45:24.905Z,1736401524.905 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:45:24.906Z,1736401524.906 [DAT](INFO): publishing transmit ping time
2025-01-09T05:45:24.906Z,1736401524.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-01-09T05:45:25.132Z,1736401525.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:25.140Z,1736401525.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:25.156Z,1736401525.156 [DAT](INFO): DAT read: TxSync time:05:45:24.2292

2025-01-09T05:45:25.157Z,1736401525.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251098
2025-01-09T05:45:25.163Z,1736401525.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 114.388016 m,
      bearing: 133.107792 deg,
      approach rate: -0.597639 m/s,
      LOS rate: 0.061410 deg/s,
      cmd heading: 130.825689 deg,
      new cmd heading: 130.892021 deg.

2025-01-09T05:45:25.164Z,1736401525.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284497 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:25.411Z,1736401525.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504266
2025-01-09T05:45:25.558Z,1736401525.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:25.568Z,1736401525.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:25.591Z,1736401525.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 114.119339 m,
      bearing: 133.139854 deg,
      approach rate: -0.627499 m/s,
      LOS rate: 0.075058 deg/s,
      cmd heading: 130.892024 deg,
      new cmd heading: 130.988437 deg.

2025-01-09T05:45:25.592Z,1736401525.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286180 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:25.661Z,1736401525.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755551
2025-01-09T05:45:25.912Z,1736401525.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006638
2025-01-09T05:45:25.954Z,1736401525.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:25.963Z,1736401525.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:25.966Z,1736401525.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 113.869408 m,
      bearing: 133.168863 deg,
      approach rate: -0.634145 m/s,
      LOS rate: 0.073764 deg/s,
      cmd heading: 130.988439 deg,
      new cmd heading: 131.075656 deg.

2025-01-09T05:45:25.967Z,1736401525.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287702 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:26.164Z,1736401526.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258424
2025-01-09T05:45:26.355Z,1736401526.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:26.364Z,1736401526.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:26.366Z,1736401526.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:26.385Z,1736401526.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 113.616318 m,
      bearing: 133.198371 deg,
      approach rate: -0.627241 m/s,
      LOS rate: 0.073296 deg/s,
      cmd heading: 131.075661 deg,
      new cmd heading: 131.164384 deg.

2025-01-09T05:45:26.386Z,1736401526.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289250 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:26.416Z,1736401526.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510188
2025-01-09T05:45:26.668Z,1736401526.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762213
2025-01-09T05:45:26.788Z,1736401526.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:26.800Z,1736401526.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:26.803Z,1736401526.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 113.328590 m,
      bearing: 133.233824 deg,
      approach rate: -0.663671 m/s,
      LOS rate: 0.081982 deg/s,
      cmd heading: 131.164385 deg,
      new cmd heading: 131.271012 deg.

2025-01-09T05:45:26.804Z,1736401526.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.291111 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:26.920Z,1736401526.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014037
2025-01-09T05:45:27.159Z,1736401527.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:27.169Z,1736401527.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:27.172Z,1736401527.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266447
2025-01-09T05:45:27.174Z,1736401527.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 113.082657 m,
      bearing: 133.264383 deg,
      approach rate: -0.665832 m/s,
      LOS rate: 0.082915 deg/s,
      cmd heading: 131.271018 deg,
      new cmd heading: 131.362895 deg.

2025-01-09T05:45:27.175Z,1736401527.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.292715 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:27.424Z,1736401527.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518098
2025-01-09T05:45:27.584Z,1736401527.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:27.620Z,1736401527.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:27.629Z,1736401527.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 112.796562 m,
      bearing: 133.301273 deg,
      approach rate: -0.642286 m/s,
      LOS rate: 0.083028 deg/s,
      cmd heading: 131.362897 deg,
      new cmd heading: 131.473847 deg.

2025-01-09T05:45:27.630Z,1736401527.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.294652 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:27.677Z,1736401527.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771294
2025-01-09T05:45:27.929Z,1736401527.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023373
2025-01-09T05:45:27.950Z,1736401527.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:27.958Z,1736401527.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:27.977Z,1736401527.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 112.549507 m,
      bearing: 133.332964 deg,
      approach rate: -0.718369 m/s,
      LOS rate: 0.092352 deg/s,
      cmd heading: 131.473847 deg,
      new cmd heading: 131.569129 deg.

2025-01-09T05:45:27.978Z,1736401527.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296314 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:28.180Z,1736401528.180 [DAT](INFO): DAT read: Rx Time:05:45:26.7843

2025-01-09T05:45:28.180Z,1736401528.180 [DAT](INFO): Rx dataTimestamp_ set to:1736401528.179938
2025-01-09T05:45:28.181Z,1736401528.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275213
2025-01-09T05:45:28.352Z,1736401528.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:28.363Z,1736401528.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.80 m.
2025-01-09T05:45:28.365Z,1736401528.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.800003 m,
      nav range: 112.277847 m,
      bearing: 133.367480 deg,
      approach rate: -0.672226 m/s,
      LOS rate: 0.085616 deg/s,
      cmd heading: 131.569128 deg,
      new cmd heading: 131.672926 deg.

2025-01-09T05:45:28.367Z,1736401528.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.298126 target range: 121.800003 and range: 121.80 m.
2025-01-09T05:45:28.433Z,1736401528.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527163
2025-01-09T05:45:28.689Z,1736401528.689 [DAT](INFO): DAT read: 05:45:26.7843 LVL= 29328, 30449, 24354, 32755, AGC= 64, IDX= 349, 0.29,-1.300,-2.624,-1.176,-1.604, PHS= 0.392,-0.973, 0.425, RAW= 151.2,   2.3, CAL= 153.6,  -6.6, ROT= 356.4,   6.6

2025-01-09T05:45:28.690Z,1736401528.690 [DAT](INFO): got valid direction response:
 05:45:26.7843 LVL= 29328, 30449, 24354, 32755, AGC= 64, IDX= 349, 0.29,-1.300,-2.624,-1.176,-1.604, PHS= 0.392,-0.973, 0.425, RAW= 151.2,   2.3, CAL= 153.6,  -6.6, ROT= 356.4,   6.6

2025-01-09T05:45:28.691Z,1736401528.691 [DAT](INFO): DAT read: Range 10 to 50 : 112.5 m  (Round-trip  150.1 ms) speed  0.4 m/s

2025-01-09T05:45:28.692Z,1736401528.692 [DAT](INFO): DAT read: user:160>

2025-01-09T05:45:28.693Z,1736401528.693 [DAT](INFO): DAT read: Tx time:05:45:27.8800

2025-01-09T05:45:28.694Z,1736401528.694 [DAT](INFO): Ping request sent.
2025-01-09T05:45:28.694Z,1736401528.694 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:45:28.715Z,1736401528.715 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:45:28.717Z,1736401528.717 [DAT](INFO): direction in FSK: [0.991413,-0.062375,-0.114937]
2025-01-09T05:45:28.717Z,1736401528.717 [DAT](INFO): publishing transmit ping time
2025-01-09T05:45:28.718Z,1736401528.718 [DAT](INFO): publishing direction and range info
2025-01-09T05:45:28.724Z,1736401528.724 [DAT](INFO): publishing transmit ping time
2025-01-09T05:45:28.724Z,1736401528.724 [DAT](INFO): publishing direction and range info
2025-01-09T05:45:28.852Z,1736401528.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:28.887Z,1736401528.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.500000 m,
      deltaT: 14.619387 s,
      deltaX: -9.300003 m,
      approachRate: -0.636142 m/s,
      rangeRepo size: 4

2025-01-09T05:45:28.889Z,1736401528.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 112.500000 m,
      bearing: 128.414339 deg,
      lat: 36.903999 deg,
      lon: -122.118920 deg,
      deltaT: 14.619387 s,
      deltaX: -9.300003 m,
      approachRate: -0.636142 m/s,
      posRepo size: 4

2025-01-09T05:45:28.890Z,1736401528.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:28.897Z,1736401528.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 111.234360 m,
      bearing: 132.282517 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.085616 deg/s,
      cmd heading: 131.672920 deg,
      new cmd heading: 131.805098 deg.

2025-01-09T05:45:28.903Z,1736401528.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300433 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:28.936Z,1736401528.936 [DAT](INFO): DAT read: TxSync time:05:45:27.8792

2025-01-09T05:45:29.200Z,1736401529.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:29.207Z,1736401529.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:29.209Z,1736401529.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:29.213Z,1736401529.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 110.997086 m,
      bearing: 132.309382 deg,
      approach rate: -0.714100 m/s,
      LOS rate: 0.081026 deg/s,
      cmd heading: 131.805097 deg,
      new cmd heading: 131.885865 deg.

2025-01-09T05:45:29.214Z,1736401529.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301843 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:29.442Z,1736401529.442 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:29.443Z,1736401529.443 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:29.444Z,1736401529.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:29.637Z,1736401529.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:29.647Z,1736401529.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:29.650Z,1736401529.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 110.701851 m,
      bearing: 132.342755 deg,
      approach rate: -0.674980 m/s,
      LOS rate: 0.076500 deg/s,
      cmd heading: 131.885871 deg,
      new cmd heading: 131.986255 deg.

2025-01-09T05:45:29.651Z,1736401529.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303595 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:29.692Z,1736401529.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998014
2025-01-09T05:45:29.944Z,1736401529.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250559
2025-01-09T05:45:30.010Z,1736401530.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:30.034Z,1736401530.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:30.037Z,1736401530.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 110.449669 m,
      bearing: 132.370671 deg,
      approach rate: -0.650967 m/s,
      LOS rate: 0.072226 deg/s,
      cmd heading: 131.986261 deg,
      new cmd heading: 132.070201 deg.

2025-01-09T05:45:30.038Z,1736401530.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305060 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:30.196Z,1736401530.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502010
2025-01-09T05:45:30.416Z,1736401530.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:30.424Z,1736401530.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:30.428Z,1736401530.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 110.174713 m,
      bearing: 132.400840 deg,
      approach rate: -0.704467 m/s,
      LOS rate: 0.077490 deg/s,
      cmd heading: 132.070204 deg,
      new cmd heading: 132.160938 deg.

2025-01-09T05:45:30.429Z,1736401530.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.306643 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:30.449Z,1736401530.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755230
2025-01-09T05:45:30.700Z,1736401530.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005804
2025-01-09T05:45:30.844Z,1736401530.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:45:30.844Z,1736401530.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:30.867Z,1736401530.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:30.869Z,1736401530.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 109.885536 m,
      bearing: 132.432738 deg,
      approach rate: -0.654135 m/s,
      LOS rate: 0.072345 deg/s,
      cmd heading: 132.160937 deg,
      new cmd heading: 132.256882 deg.

2025-01-09T05:45:30.871Z,1736401530.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308318 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:30.954Z,1736401530.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259752
2025-01-09T05:45:31.204Z,1736401531.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510000
2025-01-09T05:45:31.224Z,1736401531.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:45:31.224Z,1736401531.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:31.232Z,1736401531.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:31.234Z,1736401531.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:31.237Z,1736401531.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 109.627731 m,
      bearing: 132.461094 deg,
      approach rate: -0.701092 m/s,
      LOS rate: 0.077294 deg/s,
      cmd heading: 132.256887 deg,
      new cmd heading: 132.342155 deg.

2025-01-09T05:45:31.238Z,1736401531.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309806 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:31.456Z,1736401531.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762396
2025-01-09T05:45:31.654Z,1736401531.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:31.664Z,1736401531.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:31.687Z,1736401531.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 109.352165 m,
      bearing: 132.488683 deg,
      approach rate: -0.643020 m/s,
      LOS rate: 0.064540 deg/s,
      cmd heading: 132.342155 deg,
      new cmd heading: 132.425131 deg.

2025-01-09T05:45:31.688Z,1736401531.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311255 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:31.708Z,1736401531.708 [DAT](INFO): DAT read: Rx Time:05:45:30.4316

2025-01-09T05:45:31.709Z,1736401531.709 [DAT](INFO): Rx dataTimestamp_ set to:1736401531.708242
2025-01-09T05:45:31.709Z,1736401531.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015334
2025-01-09T05:45:31.960Z,1736401531.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265913
2025-01-09T05:45:32.023Z,1736401532.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:32.048Z,1736401532.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:32.051Z,1736401532.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 109.115707 m,
      bearing: 132.512317 deg,
      approach rate: -0.613448 m/s,
      LOS rate: 0.061446 deg/s,
      cmd heading: 132.425128 deg,
      new cmd heading: 132.496182 deg.

2025-01-09T05:45:32.052Z,1736401532.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312495 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:32.226Z,1736401532.226 [DAT](INFO): DAT read: 05:45:30.4316 LVL= 27280, 32753, 25298, 32755, AGC= 62, IDX= 417,-0.43,-0.995,-2.172,-0.806,-1.255, PHS= 0.349,-0.869, 0.446, RAW= 153.8,   1.2, CAL= 156.3,  -7.7, ROT= 353.7,   7.7

2025-01-09T05:45:32.228Z,1736401532.228 [DAT](INFO): got valid direction response:
 05:45:30.4316 LVL= 27280, 32753, 25298, 32755, AGC= 62, IDX= 417,-0.43,-0.995,-2.172,-0.806,-1.255, PHS= 0.349,-0.869, 0.446, RAW= 153.8,   1.2, CAL= 156.3,  -7.7, ROT= 353.7,   7.7

2025-01-09T05:45:32.229Z,1736401532.229 [DAT](INFO): DAT read: $Error in header

2025-01-09T05:45:32.229Z,1736401532.229 [DAT](INFO): Received a bad header
2025-01-09T05:45:32.260Z,1736401532.260 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T05:45:32.262Z,1736401532.262 [DAT](INFO): direction in FSK: [0.984999,-0.108745,-0.133986]
2025-01-09T05:45:32.278Z,1736401532.278 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:32.283Z,1736401532.283 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:32.283Z,1736401532.283 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:32.426Z,1736401532.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:32.436Z,1736401532.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:32.439Z,1736401532.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 108.857063 m,
      bearing: 132.538257 deg,
      approach rate: -0.667524 m/s,
      LOS rate: 0.067108 deg/s,
      cmd heading: 132.496176 deg,
      new cmd heading: 132.574183 deg.

2025-01-09T05:45:32.440Z,1736401532.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313856 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:32.464Z,1736401532.464 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:32.464Z,1736401532.464 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:32.464Z,1736401532.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:32.715Z,1736401532.715 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:32.716Z,1736401532.716 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:32.716Z,1736401532.716 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:32.858Z,1736401532.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:32.867Z,1736401532.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:32.870Z,1736401532.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 108.596146 m,
      bearing: 132.564130 deg,
      approach rate: -0.604478 m/s,
      LOS rate: 0.060085 deg/s,
      cmd heading: 132.574177 deg,
      new cmd heading: 132.651982 deg.

2025-01-09T05:45:32.871Z,1736401532.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315214 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:32.968Z,1736401532.968 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:32.968Z,1736401532.968 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:32.968Z,1736401532.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:33.220Z,1736401533.220 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:33.220Z,1736401533.220 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:33.221Z,1736401533.221 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:33.273Z,1736401533.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:33.308Z,1736401533.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:33.309Z,1736401533.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:33.316Z,1736401533.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 108.345268 m,
      bearing: 132.589001 deg,
      approach rate: -0.567275 m/s,
      LOS rate: 0.056366 deg/s,
      cmd heading: 132.651986 deg,
      new cmd heading: 132.726770 deg.

2025-01-09T05:45:33.317Z,1736401533.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.316519 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:33.471Z,1736401533.471 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:33.471Z,1736401533.471 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:33.472Z,1736401533.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:33.685Z,1736401533.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:33.723Z,1736401533.723 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:33.724Z,1736401533.724 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:33.724Z,1736401533.724 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:33.726Z,1736401533.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:33.734Z,1736401533.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 108.105927 m,
      bearing: 132.610611 deg,
      approach rate: -0.575183 m/s,
      LOS rate: 0.052049 deg/s,
      cmd heading: 132.726777 deg,
      new cmd heading: 132.791752 deg.

2025-01-09T05:45:33.736Z,1736401533.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.317653 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:33.978Z,1736401533.978 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:33.978Z,1736401533.978 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:33.978Z,1736401533.978 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:34.048Z,1736401534.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:34.057Z,1736401534.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:34.061Z,1736401534.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 107.894554 m,
      bearing: 132.629669 deg,
      approach rate: -0.637813 m/s,
      LOS rate: 0.057620 deg/s,
      cmd heading: 132.791746 deg,
      new cmd heading: 132.849031 deg.

2025-01-09T05:45:34.065Z,1736401534.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318653 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:34.227Z,1736401534.227 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:34.227Z,1736401534.227 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:34.228Z,1736401534.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:34.448Z,1736401534.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:34.457Z,1736401534.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:34.459Z,1736401534.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 107.662216 m,
      bearing: 132.650708 deg,
      approach rate: -0.581521 m/s,
      LOS rate: 0.052772 deg/s,
      cmd heading: 132.849037 deg,
      new cmd heading: 132.912289 deg.

2025-01-09T05:45:34.461Z,1736401534.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319757 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:34.484Z,1736401534.484 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:34.484Z,1736401534.484 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:34.484Z,1736401534.484 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:34.732Z,1736401534.732 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:34.732Z,1736401534.732 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:34.732Z,1736401534.732 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:34.892Z,1736401534.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:34.918Z,1736401534.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:34.925Z,1736401534.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 107.408333 m,
      bearing: 132.669821 deg,
      approach rate: -0.550198 m/s,
      LOS rate: 0.041519 deg/s,
      cmd heading: 132.912285 deg,
      new cmd heading: 132.969761 deg.

2025-01-09T05:45:34.926Z,1736401534.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320760 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:34.985Z,1736401534.985 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:34.985Z,1736401534.985 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:34.985Z,1736401534.985 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:35.235Z,1736401535.235 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:35.235Z,1736401535.235 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:35.236Z,1736401535.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:35.284Z,1736401535.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:35.305Z,1736401535.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:35.320Z,1736401535.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 107.183655 m,
      bearing: 132.686876 deg,
      approach rate: -0.580637 m/s,
      LOS rate: 0.044166 deg/s,
      cmd heading: 132.969768 deg,
      new cmd heading: 133.021038 deg.

2025-01-09T05:45:35.321Z,1736401535.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321655 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:35.488Z,1736401535.488 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:35.488Z,1736401535.488 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:35.488Z,1736401535.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:35.689Z,1736401535.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:35.697Z,1736401535.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:35.700Z,1736401535.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:35.723Z,1736401535.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 106.957909 m,
      bearing: 132.705505 deg,
      approach rate: -0.571818 m/s,
      LOS rate: 0.047289 deg/s,
      cmd heading: 133.021035 deg,
      new cmd heading: 133.077042 deg.

2025-01-09T05:45:35.724Z,1736401535.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.322633 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:35.740Z,1736401535.740 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:35.740Z,1736401535.740 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:35.740Z,1736401535.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:35.991Z,1736401535.991 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:35.991Z,1736401535.991 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:35.992Z,1736401535.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:36.068Z,1736401536.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:36.093Z,1736401536.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:36.103Z,1736401536.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 106.746719 m,
      bearing: 132.723062 deg,
      approach rate: -0.537134 m/s,
      LOS rate: 0.044743 deg/s,
      cmd heading: 133.077043 deg,
      new cmd heading: 133.129818 deg.

2025-01-09T05:45:36.104Z,1736401536.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323554 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:36.243Z,1736401536.243 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:36.243Z,1736401536.243 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:36.244Z,1736401536.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:36.475Z,1736401536.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:36.484Z,1736401536.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:36.496Z,1736401536.496 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:36.496Z,1736401536.496 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:36.496Z,1736401536.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:36.512Z,1736401536.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 106.520439 m,
      bearing: 132.741899 deg,
      approach rate: -0.577885 m/s,
      LOS rate: 0.048209 deg/s,
      cmd heading: 133.129813 deg,
      new cmd heading: 133.186443 deg.

2025-01-09T05:45:36.513Z,1736401536.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324542 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:36.749Z,1736401536.749 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:36.749Z,1736401536.749 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:36.749Z,1736401536.749 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:36.908Z,1736401536.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:36.918Z,1736401536.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:36.921Z,1736401536.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 106.271698 m,
      bearing: 132.762942 deg,
      approach rate: -0.574359 m/s,
      LOS rate: 0.048703 deg/s,
      cmd heading: 133.186449 deg,
      new cmd heading: 133.249724 deg.

2025-01-09T05:45:36.922Z,1736401536.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325646 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:37.001Z,1736401537.001 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:37.001Z,1736401537.001 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:37.001Z,1736401537.001 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:37.251Z,1736401537.251 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:37.252Z,1736401537.252 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:37.252Z,1736401537.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:37.299Z,1736401537.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:37.313Z,1736401537.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:37.316Z,1736401537.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 106.047371 m,
      bearing: 132.781915 deg,
      approach rate: -0.567170 m/s,
      LOS rate: 0.048071 deg/s,
      cmd heading: 133.249723 deg,
      new cmd heading: 133.306763 deg.

2025-01-09T05:45:37.317Z,1736401537.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.326642 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:37.507Z,1736401537.507 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:37.507Z,1736401537.507 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:37.507Z,1736401537.507 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:37.700Z,1736401537.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:37.724Z,1736401537.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:37.730Z,1736401537.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:37.744Z,1736401537.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 105.812622 m,
      bearing: 132.799640 deg,
      approach rate: -0.563885 m/s,
      LOS rate: 0.042673 deg/s,
      cmd heading: 133.306769 deg,
      new cmd heading: 133.360064 deg.

2025-01-09T05:45:37.751Z,1736401537.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327572 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:37.761Z,1736401537.761 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:37.761Z,1736401537.761 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:37.761Z,1736401537.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:38.012Z,1736401538.012 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:38.012Z,1736401538.012 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:38.012Z,1736401538.012 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:38.098Z,1736401538.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:38.106Z,1736401538.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:38.109Z,1736401538.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 105.586906 m,
      bearing: 132.816594 deg,
      approach rate: -0.599003 m/s,
      LOS rate: 0.045088 deg/s,
      cmd heading: 133.360058 deg,
      new cmd heading: 133.411028 deg.

2025-01-09T05:45:38.111Z,1736401538.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328462 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:38.263Z,1736401538.263 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:38.263Z,1736401538.263 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:38.264Z,1736401538.264 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:38.488Z,1736401538.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:38.497Z,1736401538.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:38.500Z,1736401538.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 105.352493 m,
      bearing: 132.834216 deg,
      approach rate: -0.599933 m/s,
      LOS rate: 0.045200 deg/s,
      cmd heading: 133.411025 deg,
      new cmd heading: 133.464009 deg.

2025-01-09T05:45:38.501Z,1736401538.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329386 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:38.515Z,1736401538.515 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:38.516Z,1736401538.516 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:38.516Z,1736401538.516 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:38.768Z,1736401538.768 [DAT](INFO): Reached modem response timeout
2025-01-09T05:45:38.768Z,1736401538.768 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:45:38.768Z,1736401538.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:38.913Z,1736401538.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:45:38.914Z,1736401538.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:38.922Z,1736401538.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:38.925Z,1736401538.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 105.104012 m,
      bearing: 132.852830 deg,
      approach rate: -0.584142 m/s,
      LOS rate: 0.043861 deg/s,
      cmd heading: 133.464014 deg,
      new cmd heading: 133.519987 deg.

2025-01-09T05:45:38.926Z,1736401538.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330363 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:39.020Z,1736401539.020 [DAT](INFO): Reached modem response timeout
2025-01-09T05:45:39.020Z,1736401539.020 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:45:39.021Z,1736401539.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:39.271Z,1736401539.271 [DAT](INFO): Reached modem response timeout
2025-01-09T05:45:39.271Z,1736401539.271 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:45:39.272Z,1736401539.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:39.320Z,1736401539.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:45:39.320Z,1736401539.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:39.345Z,1736401539.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:39.352Z,1736401539.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 104.866730 m,
      bearing: 132.870439 deg,
      approach rate: -0.561472 m/s,
      LOS rate: 0.041763 deg/s,
      cmd heading: 133.519980 deg,
      new cmd heading: 133.572928 deg.

2025-01-09T05:45:39.353Z,1736401539.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331287 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:39.524Z,1736401539.524 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:45:39.524Z,1736401539.524 [DAT](INFO): response not received
2025-01-09T05:45:39.524Z,1736401539.524 [DAT](INFO): DAT read: user:162>

2025-01-09T05:45:39.525Z,1736401539.525 [DAT](INFO): DAT read: Tx time:05:45:38.8302

2025-01-09T05:45:39.525Z,1736401539.525 [DAT](INFO): Ping request sent.
2025-01-09T05:45:39.525Z,1736401539.525 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:45:39.526Z,1736401539.526 [DAT](INFO): publishing transmit ping time
2025-01-09T05:45:39.526Z,1736401539.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-01-09T05:45:39.776Z,1736401539.776 [DAT](INFO): DAT read: TxSync time:05:45:38.8294

2025-01-09T05:45:39.777Z,1736401539.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251486
2025-01-09T05:45:39.788Z,1736401539.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:39.808Z,1736401539.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:39.810Z,1736401539.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:39.817Z,1736401539.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 104.570099 m,
      bearing: 132.898211 deg,
      approach rate: -0.638255 m/s,
      LOS rate: 0.059926 deg/s,
      cmd heading: 133.572928 deg,
      new cmd heading: 133.656480 deg.

2025-01-09T05:45:39.818Z,1736401539.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332746 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:40.028Z,1736401540.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502870
2025-01-09T05:45:40.107Z,1736401540.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:40.136Z,1736401540.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:40.141Z,1736401540.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 104.368484 m,
      bearing: 132.916559 deg,
      approach rate: -0.617084 m/s,
      LOS rate: 0.056267 deg/s,
      cmd heading: 133.656475 deg,
      new cmd heading: 133.711625 deg.

2025-01-09T05:45:40.142Z,1736401540.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333708 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:40.282Z,1736401540.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755928
2025-01-09T05:45:40.506Z,1736401540.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:40.520Z,1736401540.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:40.523Z,1736401540.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 104.116058 m,
      bearing: 132.939418 deg,
      approach rate: -0.657678 m/s,
      LOS rate: 0.059701 deg/s,
      cmd heading: 133.711622 deg,
      new cmd heading: 133.780364 deg.

2025-01-09T05:45:40.524Z,1736401540.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334908 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:40.532Z,1736401540.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006233
2025-01-09T05:45:40.784Z,1736401540.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258202
2025-01-09T05:45:40.938Z,1736401540.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:40.948Z,1736401540.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:40.951Z,1736401540.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 103.838188 m,
      bearing: 132.962218 deg,
      approach rate: -0.649269 m/s,
      LOS rate: 0.053417 deg/s,
      cmd heading: 133.780361 deg,
      new cmd heading: 133.848944 deg.

2025-01-09T05:45:40.952Z,1736401540.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336105 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:41.037Z,1736401541.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510982
2025-01-09T05:45:41.288Z,1736401541.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762079
2025-01-09T05:45:41.332Z,1736401541.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:41.340Z,1736401541.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:41.343Z,1736401541.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 103.584579 m,
      bearing: 132.983136 deg,
      approach rate: -0.646793 m/s,
      LOS rate: 0.053479 deg/s,
      cmd heading: 133.848950 deg,
      new cmd heading: 133.911857 deg.

2025-01-09T05:45:41.344Z,1736401541.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.337203 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:41.540Z,1736401541.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014145
2025-01-09T05:45:41.779Z,1736401541.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:41.792Z,1736401541.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266289
2025-01-09T05:45:41.797Z,1736401541.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:41.804Z,1736401541.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 103.286156 m,
      bearing: 133.009268 deg,
      approach rate: -0.653130 m/s,
      LOS rate: 0.057357 deg/s,
      cmd heading: 133.911856 deg,
      new cmd heading: 133.990477 deg.

2025-01-09T05:45:41.805Z,1736401541.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.338575 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:42.045Z,1736401542.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518803
2025-01-09T05:45:42.143Z,1736401542.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:42.152Z,1736401542.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:42.155Z,1736401542.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:42.157Z,1736401542.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 103.043777 m,
      bearing: 133.030604 deg,
      approach rate: -0.678556 m/s,
      LOS rate: 0.059872 deg/s,
      cmd heading: 133.990471 deg,
      new cmd heading: 134.054630 deg.

2025-01-09T05:45:42.158Z,1736401542.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.339695 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:42.296Z,1736401542.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770461
2025-01-09T05:45:42.532Z,1736401542.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:42.548Z,1736401542.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022409
2025-01-09T05:45:42.565Z,1736401542.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:42.572Z,1736401542.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 102.783737 m,
      bearing: 133.053180 deg,
      approach rate: -0.633588 m/s,
      LOS rate: 0.055147 deg/s,
      cmd heading: 134.054634 deg,
      new cmd heading: 134.122535 deg.

2025-01-09T05:45:42.573Z,1736401542.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340880 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:42.801Z,1736401542.801 [DAT](INFO): DAT read: Rx Time:05:45:41.3723

2025-01-09T05:45:42.802Z,1736401542.802 [DAT](INFO): Rx dataTimestamp_ set to:1736401542.801459
2025-01-09T05:45:42.802Z,1736401542.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276796
2025-01-09T05:45:42.951Z,1736401542.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:42.976Z,1736401542.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-01-09T05:45:42.981Z,1736401542.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.500000 m,
      nav range: 102.505753 m,
      bearing: 133.076576 deg,
      approach rate: -0.676887 m/s,
      LOS rate: 0.057123 deg/s,
      cmd heading: 134.122540 deg,
      new cmd heading: 134.192918 deg.

2025-01-09T05:45:42.982Z,1736401542.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342108 target range: 112.500000 and range: 112.50 m.
2025-01-09T05:45:43.052Z,1736401543.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526652
2025-01-09T05:45:43.309Z,1736401543.309 [DAT](INFO): DAT read: 05:45:41.3723 LVL= 26080, 27361, 19874, 32755, AGC= 64, IDX= 353, 0.08,-0.929,-2.238,-0.678,-1.116, PHS= 0.274,-1.075, 0.435, RAW= 155.5,   5.2, CAL= 156.6,  -4.0, ROT= 353.4,   4.0

2025-01-09T05:45:43.314Z,1736401543.314 [DAT](INFO): got valid direction response:
 05:45:41.3723 LVL= 26080, 27361, 19874, 32755, AGC= 64, IDX= 353, 0.08,-0.929,-2.238,-0.678,-1.116, PHS= 0.274,-1.075, 0.435, RAW= 155.5,   5.2, CAL= 156.6,  -4.0, ROT= 353.4,   4.0

2025-01-09T05:45:43.315Z,1736401543.315 [DAT](INFO): DAT read: Bearing 353.4,   4.0 (Local)

2025-01-09T05:45:43.316Z,1736401543.316 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.4,   4.0 (Local)

2025-01-09T05:45:43.317Z,1736401543.317 [DAT](INFO): DAT read: Range 10 to 50 : 103.4 m  (Round-trip  137.9 ms) speed  0.6 m/s

2025-01-09T05:45:43.318Z,1736401543.318 [DAT](INFO): DAT read: user:163>

2025-01-09T05:45:43.319Z,1736401543.319 [DAT](INFO): DAT read: Tx time:05:45:42.4802

2025-01-09T05:45:43.319Z,1736401543.319 [DAT](INFO): Ping request sent.
2025-01-09T05:45:43.319Z,1736401543.319 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:45:43.319Z,1736401543.319 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:45:43.320Z,1736401543.320 [DAT](INFO): direction in FSK: [0.990953,-0.114657,-0.069756]
2025-01-09T05:45:43.321Z,1736401543.321 [DAT](INFO): publishing transmit ping time
2025-01-09T05:45:43.321Z,1736401543.321 [DAT](INFO): publishing direction and range info
2025-01-09T05:45:43.324Z,1736401543.324 [DAT](INFO): publishing transmit ping time
2025-01-09T05:45:43.324Z,1736401543.324 [DAT](INFO): publishing direction and range info
2025-01-09T05:45:43.463Z,1736401543.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:43.545Z,1736401543.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.400002 m,
      deltaT: 14.620073 s,
      deltaX: -9.099998 m,
      approachRate: -0.622432 m/s,
      rangeRepo size: 4

2025-01-09T05:45:43.556Z,1736401543.556 [DAT](INFO): DAT read: TxSync time:05:45:42.4794

2025-01-09T05:45:43.587Z,1736401543.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.400002 m,
      bearing: 127.947987 deg,
      lat: 36.904003 deg,
      lon: -122.118920 deg,
      deltaT: 14.620073 s,
      deltaX: -9.099998 m,
      approachRate: -0.622432 m/s,
      posRepo size: 4

2025-01-09T05:45:43.588Z,1736401543.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:43.599Z,1736401543.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 101.842087 m,
      bearing: 132.910631 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.057123 deg/s,
      cmd heading: 134.192918 deg,
      new cmd heading: 134.290202 deg.

2025-01-09T05:45:43.601Z,1736401543.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.343806 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:43.981Z,1736401543.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:44.003Z,1736401544.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:44.006Z,1736401544.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 101.507996 m,
      bearing: 132.938987 deg,
      approach rate: -0.726214 m/s,
      LOS rate: 0.061840 deg/s,
      cmd heading: 134.290207 deg,
      new cmd heading: 134.375554 deg.

2025-01-09T05:45:44.012Z,1736401544.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.345296 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:44.319Z,1736401544.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:44.326Z,1736401544.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:44.328Z,1736401544.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:44.331Z,1736401544.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 101.290001 m,
      bearing: 132.957236 deg,
      approach rate: -0.671073 m/s,
      LOS rate: 0.056298 deg/s,
      cmd heading: 134.375557 deg,
      new cmd heading: 134.430422 deg.

2025-01-09T05:45:44.332Z,1736401544.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.346253 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:44.564Z,1736401544.564 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:44.564Z,1736401544.564 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:44.565Z,1736401544.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:44.770Z,1736401544.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:44.788Z,1736401544.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:44.795Z,1736401544.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 100.999474 m,
      bearing: 132.981620 deg,
      approach rate: -0.631830 m/s,
      LOS rate: 0.053184 deg/s,
      cmd heading: 134.430417 deg,
      new cmd heading: 134.503782 deg.

2025-01-09T05:45:44.796Z,1736401544.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.347534 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:44.816Z,1736401544.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496833
2025-01-09T05:45:45.068Z,1736401545.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748306
2025-01-09T05:45:45.206Z,1736401545.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:45.216Z,1736401545.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:45.219Z,1736401545.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 100.726212 m,
      bearing: 133.008618 deg,
      approach rate: -0.637843 m/s,
      LOS rate: 0.063188 deg/s,
      cmd heading: 134.503787 deg,
      new cmd heading: 134.585000 deg.

2025-01-09T05:45:45.220Z,1736401545.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.348951 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:45.322Z,1736401545.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002496
2025-01-09T05:45:45.572Z,1736401545.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252516
2025-01-09T05:45:45.584Z,1736401545.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:45.593Z,1736401545.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:45.597Z,1736401545.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 100.489273 m,
      bearing: 133.032014 deg,
      approach rate: -0.629479 m/s,
      LOS rate: 0.062302 deg/s,
      cmd heading: 134.584998 deg,
      new cmd heading: 134.655350 deg.

2025-01-09T05:45:45.598Z,1736401545.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.350179 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:45.824Z,1736401545.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505110
2025-01-09T05:45:46.018Z,1736401546.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:46.026Z,1736401546.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:46.030Z,1736401546.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 100.219055 m,
      bearing: 133.058344 deg,
      approach rate: -0.623772 m/s,
      LOS rate: 0.060946 deg/s,
      cmd heading: 134.655349 deg,
      new cmd heading: 134.734554 deg.

2025-01-09T05:45:46.031Z,1736401546.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.351562 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:46.078Z,1736401546.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758404
2025-01-09T05:45:46.330Z,1736401546.330 [DAT](INFO): DAT read: Rx Time:05:45:45.0196

2025-01-09T05:45:46.331Z,1736401546.331 [DAT](INFO): Rx dataTimestamp_ set to:1736401546.329915
2025-01-09T05:45:46.332Z,1736401546.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012927
2025-01-09T05:45:46.399Z,1736401546.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:46.409Z,1736401546.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:46.412Z,1736401546.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:46.416Z,1736401546.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 99.981010 m,
      bearing: 133.081408 deg,
      approach rate: -0.616957 m/s,
      LOS rate: 0.059919 deg/s,
      cmd heading: 134.734552 deg,
      new cmd heading: 134.803909 deg.

2025-01-09T05:45:46.417Z,1736401546.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.352772 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:46.580Z,1736401546.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260387
2025-01-09T05:45:46.838Z,1736401546.838 [DAT](INFO): DAT read: 05:45:45.0196 LVL= 24976, 32753, 21714, 32755, AGC= 62, IDX= 421,-0.02,-0.056,-1.251, 0.183,-0.244, PHS= 0.276,-0.960, 0.424, RAW= 155.6,   4.0, CAL= 157.0,  -5.1, ROT= 353.0,   5.1

2025-01-09T05:45:46.839Z,1736401546.839 [DAT](INFO): got valid direction response:
 05:45:45.0196 LVL= 24976, 32753, 21714, 32755, AGC= 62, IDX= 421,-0.02,-0.056,-1.251, 0.183,-0.244, PHS= 0.276,-0.960, 0.424, RAW= 155.6,   4.0, CAL= 157.0,  -5.1, ROT= 353.0,   5.1

2025-01-09T05:45:46.840Z,1736401546.840 [DAT](INFO): DAT read: $Error in header

2025-01-09T05:45:46.840Z,1736401546.840 [DAT](INFO): Received a bad header
2025-01-09T05:45:46.851Z,1736401546.851 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T05:45:46.852Z,1736401546.852 [DAT](INFO): direction in FSK: [0.988617,-0.121387,-0.088894]
2025-01-09T05:45:46.855Z,1736401546.855 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:46.855Z,1736401546.855 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:46.855Z,1736401546.855 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:46.904Z,1736401546.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:46.933Z,1736401546.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:46.940Z,1736401546.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 99.678627 m,
      bearing: 133.110941 deg,
      approach rate: -0.580163 m/s,
      LOS rate: 0.056835 deg/s,
      cmd heading: 134.803906 deg,
      new cmd heading: 134.892773 deg.

2025-01-09T05:45:46.941Z,1736401546.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.354323 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:47.083Z,1736401547.083 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:47.083Z,1736401547.083 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:47.084Z,1736401547.084 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:47.336Z,1736401547.336 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:47.336Z,1736401547.336 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:47.336Z,1736401547.336 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:47.402Z,1736401547.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:47.419Z,1736401547.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:47.435Z,1736401547.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 99.380333 m,
      bearing: 133.139960 deg,
      approach rate: -0.619527 m/s,
      LOS rate: 0.060449 deg/s,
      cmd heading: 134.892766 deg,
      new cmd heading: 134.980083 deg.

2025-01-09T05:45:47.436Z,1736401547.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.355847 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:47.587Z,1736401547.587 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:47.588Z,1736401547.588 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:47.588Z,1736401547.588 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:47.840Z,1736401547.840 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:47.840Z,1736401547.840 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:47.840Z,1736401547.840 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:47.897Z,1736401547.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:47.933Z,1736401547.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:47.941Z,1736401547.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 99.087143 m,
      bearing: 133.165358 deg,
      approach rate: -0.565150 m/s,
      LOS rate: 0.049103 deg/s,
      cmd heading: 134.980084 deg,
      new cmd heading: 135.056505 deg.

2025-01-09T05:45:47.942Z,1736401547.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.357181 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:48.091Z,1736401548.091 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:48.091Z,1736401548.091 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:48.092Z,1736401548.092 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:48.255Z,1736401548.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:48.265Z,1736401548.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:48.268Z,1736401548.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 98.875504 m,
      bearing: 133.183601 deg,
      approach rate: -0.638010 m/s,
      LOS rate: 0.055113 deg/s,
      cmd heading: 135.056500 deg,
      new cmd heading: 135.111346 deg.

2025-01-09T05:45:48.269Z,1736401548.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.358138 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:48.344Z,1736401548.344 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:48.344Z,1736401548.344 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:48.345Z,1736401548.345 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:48.596Z,1736401548.596 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:48.596Z,1736401548.596 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:48.596Z,1736401548.596 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:48.696Z,1736401548.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:48.703Z,1736401548.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:48.705Z,1736401548.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:48.733Z,1736401548.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 98.614014 m,
      bearing: 133.206258 deg,
      approach rate: -0.594309 m/s,
      LOS rate: 0.051631 deg/s,
      cmd heading: 135.111346 deg,
      new cmd heading: 135.179497 deg.

2025-01-09T05:45:48.734Z,1736401548.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.359327 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:48.849Z,1736401548.849 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:48.849Z,1736401548.849 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:48.849Z,1736401548.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:49.099Z,1736401549.099 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:49.100Z,1736401549.100 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:49.100Z,1736401549.100 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:49.121Z,1736401549.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:49.157Z,1736401549.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:49.164Z,1736401549.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 98.364372 m,
      bearing: 133.225721 deg,
      approach rate: -0.552509 m/s,
      LOS rate: 0.043186 deg/s,
      cmd heading: 135.179498 deg,
      new cmd heading: 135.238036 deg.

2025-01-09T05:45:49.165Z,1736401549.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.360349 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:49.351Z,1736401549.351 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:49.352Z,1736401549.352 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:49.352Z,1736401549.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:49.494Z,1736401549.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:49.523Z,1736401549.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:49.525Z,1736401549.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 98.145416 m,
      bearing: 133.242803 deg,
      approach rate: -0.598371 m/s,
      LOS rate: 0.046785 deg/s,
      cmd heading: 135.238032 deg,
      new cmd heading: 135.289391 deg.

2025-01-09T05:45:49.527Z,1736401549.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.361245 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:49.603Z,1736401549.603 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:49.604Z,1736401549.604 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:49.604Z,1736401549.604 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:49.855Z,1736401549.855 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:49.856Z,1736401549.856 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:49.856Z,1736401549.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:49.945Z,1736401549.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:49.954Z,1736401549.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:49.957Z,1736401549.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 97.887970 m,
      bearing: 133.260413 deg,
      approach rate: -0.596818 m/s,
      LOS rate: 0.040932 deg/s,
      cmd heading: 135.289395 deg,
      new cmd heading: 135.342366 deg.

2025-01-09T05:45:49.958Z,1736401549.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.362170 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:50.107Z,1736401550.107 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:50.108Z,1736401550.108 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:50.108Z,1736401550.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:50.297Z,1736401550.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:50.322Z,1736401550.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:50.325Z,1736401550.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 97.687416 m,
      bearing: 133.274262 deg,
      approach rate: -0.545701 m/s,
      LOS rate: 0.037759 deg/s,
      cmd heading: 135.342370 deg,
      new cmd heading: 135.384001 deg.

2025-01-09T05:45:50.326Z,1736401550.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.362897 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:50.359Z,1736401550.359 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:50.360Z,1736401550.360 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:50.360Z,1736401550.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:50.613Z,1736401550.613 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:50.613Z,1736401550.613 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:50.613Z,1736401550.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:50.712Z,1736401550.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:50.719Z,1736401550.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:50.721Z,1736401550.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:50.724Z,1736401550.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 97.450851 m,
      bearing: 133.290628 deg,
      approach rate: -0.592273 m/s,
      LOS rate: 0.041074 deg/s,
      cmd heading: 135.384007 deg,
      new cmd heading: 135.433224 deg.

2025-01-09T05:45:50.725Z,1736401550.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.363756 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:50.864Z,1736401550.864 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:50.864Z,1736401550.864 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:50.864Z,1736401550.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:51.116Z,1736401551.116 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:51.116Z,1736401551.116 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:51.116Z,1736401551.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:51.130Z,1736401551.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:51.139Z,1736401551.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:51.141Z,1736401551.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 97.210442 m,
      bearing: 133.306534 deg,
      approach rate: -0.575780 m/s,
      LOS rate: 0.038189 deg/s,
      cmd heading: 135.433226 deg,
      new cmd heading: 135.481062 deg.

2025-01-09T05:45:51.142Z,1736401551.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.364591 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:51.171Z,1736401551.171 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:45:51.368Z,1736401551.368 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:51.368Z,1736401551.368 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:51.368Z,1736401551.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:51.524Z,1736401551.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:51.533Z,1736401551.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:51.536Z,1736401551.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 96.983124 m,
      bearing: 133.321578 deg,
      approach rate: -0.576593 m/s,
      LOS rate: 0.038247 deg/s,
      cmd heading: 135.481064 deg,
      new cmd heading: 135.526301 deg.

2025-01-09T05:45:51.538Z,1736401551.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.365380 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:51.621Z,1736401551.621 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:51.621Z,1736401551.621 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:51.621Z,1736401551.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:51.871Z,1736401551.871 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:51.871Z,1736401551.871 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:51.872Z,1736401551.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:51.953Z,1736401551.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:51.963Z,1736401551.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:51.966Z,1736401551.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 96.731071 m,
      bearing: 133.338444 deg,
      approach rate: -0.586236 m/s,
      LOS rate: 0.039331 deg/s,
      cmd heading: 135.526307 deg,
      new cmd heading: 135.577038 deg.

2025-01-09T05:45:51.967Z,1736401551.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.366266 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:52.123Z,1736401552.123 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:52.124Z,1736401552.124 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:52.124Z,1736401552.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:52.179Z,1736401552.179 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:45:52.327Z,1736401552.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:52.336Z,1736401552.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:52.339Z,1736401552.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 96.510941 m,
      bearing: 133.353175 deg,
      approach rate: -0.589547 m/s,
      LOS rate: 0.039543 deg/s,
      cmd heading: 135.577042 deg,
      new cmd heading: 135.621337 deg.

2025-01-09T05:45:52.340Z,1736401552.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.367039 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:52.376Z,1736401552.376 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:52.377Z,1736401552.377 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:52.377Z,1736401552.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:52.628Z,1736401552.628 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:52.628Z,1736401552.628 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:52.628Z,1736401552.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:52.729Z,1736401552.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:52.739Z,1736401552.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:52.743Z,1736401552.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:52.748Z,1736401552.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 96.274284 m,
      bearing: 133.369031 deg,
      approach rate: -0.582841 m/s,
      LOS rate: 0.039147 deg/s,
      cmd heading: 135.621343 deg,
      new cmd heading: 135.669028 deg.

2025-01-09T05:45:52.750Z,1736401552.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.367871 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:52.882Z,1736401552.882 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:52.883Z,1736401552.883 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:52.883Z,1736401552.883 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:53.132Z,1736401553.132 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:53.132Z,1736401553.132 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:53.132Z,1736401553.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:53.175Z,1736401553.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:53.185Z,1736401553.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:53.188Z,1736401553.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 96.002808 m,
      bearing: 133.387439 deg,
      approach rate: -0.612546 m/s,
      LOS rate: 0.041652 deg/s,
      cmd heading: 135.669031 deg,
      new cmd heading: 135.724411 deg.

2025-01-09T05:45:53.189Z,1736401553.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.368838 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:53.384Z,1736401553.384 [DAT](INFO): Reached modem response timeout
2025-01-09T05:45:53.384Z,1736401553.384 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:45:53.385Z,1736401553.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:53.636Z,1736401553.636 [DAT](INFO): Reached modem response timeout
2025-01-09T05:45:53.637Z,1736401553.637 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:45:53.637Z,1736401553.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:53.691Z,1736401553.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:53.704Z,1736401553.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:53.712Z,1736401553.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 95.688484 m,
      bearing: 133.408749 deg,
      approach rate: -0.605827 m/s,
      LOS rate: 0.041207 deg/s,
      cmd heading: 135.724410 deg,
      new cmd heading: 135.788548 deg.

2025-01-09T05:45:53.713Z,1736401553.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.369957 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:53.888Z,1736401553.888 [DAT](INFO): Reached modem response timeout
2025-01-09T05:45:53.888Z,1736401553.888 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:45:53.888Z,1736401553.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:45:54.140Z,1736401554.140 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:45:54.140Z,1736401554.140 [DAT](INFO): response not received
2025-01-09T05:45:54.140Z,1736401554.140 [DAT](INFO): DAT read: user:165>

2025-01-09T05:45:54.141Z,1736401554.141 [DAT](INFO): DAT read: Tx time:05:45:53.4303

2025-01-09T05:45:54.141Z,1736401554.141 [DAT](INFO): Ping request sent.
2025-01-09T05:45:54.141Z,1736401554.141 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:45:54.142Z,1736401554.142 [DAT](INFO): publishing transmit ping time
2025-01-09T05:45:54.142Z,1736401554.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000706
2025-01-09T05:45:54.245Z,1736401554.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:54.268Z,1736401554.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:54.270Z,1736401554.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 95.348808 m,
      bearing: 133.434521 deg,
      approach rate: -0.603016 m/s,
      LOS rate: 0.045915 deg/s,
      cmd heading: 135.788546 deg,
      new cmd heading: 135.866137 deg.

2025-01-09T05:45:54.279Z,1736401554.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.371311 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:54.392Z,1736401554.392 [DAT](INFO): DAT read: TxSync time:05:45:53.4295

2025-01-09T05:45:54.393Z,1736401554.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251073
2025-01-09T05:45:54.645Z,1736401554.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503447
2025-01-09T05:45:54.759Z,1736401554.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:54.779Z,1736401554.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:54.781Z,1736401554.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:54.788Z,1736401554.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 95.036461 m,
      bearing: 133.457411 deg,
      approach rate: -0.607732 m/s,
      LOS rate: 0.044683 deg/s,
      cmd heading: 135.866137 deg,
      new cmd heading: 135.935032 deg.

2025-01-09T05:45:54.789Z,1736401554.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.372514 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:54.900Z,1736401554.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757888
2025-01-09T05:45:55.140Z,1736401555.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:55.148Z,1736401555.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006520
2025-01-09T05:45:55.152Z,1736401555.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:55.157Z,1736401555.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 94.791946 m,
      bearing: 133.478129 deg,
      approach rate: -0.659901 m/s,
      LOS rate: 0.056059 deg/s,
      cmd heading: 135.935026 deg,
      new cmd heading: 135.997341 deg.

2025-01-09T05:45:55.158Z,1736401555.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373601 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:55.404Z,1736401555.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261998
2025-01-09T05:45:55.530Z,1736401555.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:55.555Z,1736401555.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:55.558Z,1736401555.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 94.544571 m,
      bearing: 133.498814 deg,
      approach rate: -0.639329 m/s,
      LOS rate: 0.053600 deg/s,
      cmd heading: 135.997345 deg,
      new cmd heading: 136.059563 deg.

2025-01-09T05:45:55.559Z,1736401555.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.374687 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:55.652Z,1736401555.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510299
2025-01-09T05:45:55.906Z,1736401555.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764163
2025-01-09T05:45:55.978Z,1736401555.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:55.987Z,1736401555.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:55.990Z,1736401555.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 94.252647 m,
      bearing: 133.528127 deg,
      approach rate: -0.651675 m/s,
      LOS rate: 0.065638 deg/s,
      cmd heading: 136.059568 deg,
      new cmd heading: 136.147777 deg.

2025-01-09T05:45:55.996Z,1736401555.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376227 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:56.157Z,1736401556.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015771
2025-01-09T05:45:56.324Z,1736401556.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:56.350Z,1736401556.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:56.353Z,1736401556.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 94.026497 m,
      bearing: 133.550968 deg,
      approach rate: -0.623561 m/s,
      LOS rate: 0.063131 deg/s,
      cmd heading: 136.147773 deg,
      new cmd heading: 136.216461 deg.

2025-01-09T05:45:56.354Z,1736401556.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.377426 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:56.408Z,1736401556.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266198
2025-01-09T05:45:56.660Z,1736401556.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518112
2025-01-09T05:45:56.738Z,1736401556.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:56.752Z,1736401556.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:56.756Z,1736401556.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 93.756676 m,
      bearing: 133.578132 deg,
      approach rate: -0.670731 m/s,
      LOS rate: 0.067719 deg/s,
      cmd heading: 136.216457 deg,
      new cmd heading: 136.298183 deg.

2025-01-09T05:45:56.758Z,1736401556.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.378852 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:56.916Z,1736401556.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773964
2025-01-09T05:45:57.164Z,1736401557.164 [DAT](INFO): DAT read: Rx Time:05:45:55.9603

2025-01-09T05:45:57.164Z,1736401557.164 [DAT](INFO): Rx dataTimestamp_ set to:1736401557.164117
2025-01-09T05:45:57.165Z,1736401557.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023451
2025-01-09T05:45:57.169Z,1736401557.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:57.176Z,1736401557.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:57.179Z,1736401557.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:57.182Z,1736401557.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 93.471718 m,
      bearing: 133.607172 deg,
      approach rate: -0.667602 m/s,
      LOS rate: 0.068244 deg/s,
      cmd heading: 136.298187 deg,
      new cmd heading: 136.385574 deg.

2025-01-09T05:45:57.183Z,1736401557.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.380377 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:57.416Z,1736401557.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274455
2025-01-09T05:45:57.550Z,1736401557.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:57.559Z,1736401557.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:57.561Z,1736401557.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 93.218979 m,
      bearing: 133.632631 deg,
      approach rate: -0.665213 m/s,
      LOS rate: 0.067188 deg/s,
      cmd heading: 136.385573 deg,
      new cmd heading: 136.462154 deg.

2025-01-09T05:45:57.588Z,1736401557.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.381714 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:57.668Z,1736401557.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526343
2025-01-09T05:45:57.950Z,1736401557.950 [DAT](INFO): DAT read: 05:45:55.9603 LVL= 28784, 32753, 24818, 32755, AGC= 66, IDX= 341,-0.33,-0.647,-1.985,-0.337,-0.749, PHS= 0.190,-1.189, 0.409, RAW= 157.3,   7.9, CAL= 157.2,  -1.6, ROT= 352.8,   1.6

2025-01-09T05:45:57.951Z,1736401557.951 [DAT](INFO): got valid direction response:
 05:45:55.9603 LVL= 28784, 32753, 24818, 32755, AGC= 66, IDX= 341,-0.33,-0.647,-1.985,-0.337,-0.749, PHS= 0.190,-1.189, 0.409, RAW= 157.3,   7.9, CAL= 157.2,  -1.6, ROT= 352.8,   1.6

2025-01-09T05:45:57.952Z,1736401557.952 [DAT](INFO): DAT read: $Error in header

2025-01-09T05:45:57.952Z,1736401557.952 [DAT](INFO): Received a bad header
2025-01-09T05:45:57.972Z,1736401557.972 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T05:45:57.973Z,1736401557.973 [DAT](INFO): direction in FSK: [0.991728,-0.125285,-0.027922]
2025-01-09T05:45:57.976Z,1736401557.976 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:57.977Z,1736401557.977 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:57.977Z,1736401557.977 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:58.070Z,1736401558.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:58.091Z,1736401558.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:58.095Z,1736401558.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 92.874123 m,
      bearing: 133.675658 deg,
      approach rate: -0.651934 m/s,
      LOS rate: 0.081644 deg/s,
      cmd heading: 136.462153 deg,
      new cmd heading: 136.591715 deg.

2025-01-09T05:45:58.096Z,1736401558.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.383975 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:58.174Z,1736401558.174 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:58.174Z,1736401558.174 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:58.174Z,1736401558.174 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:58.376Z,1736401558.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:58.385Z,1736401558.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:58.388Z,1736401558.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 92.671143 m,
      bearing: 133.701136 deg,
      approach rate: -0.681562 m/s,
      LOS rate: 0.085737 deg/s,
      cmd heading: 136.591721 deg,
      new cmd heading: 136.668323 deg.

2025-01-09T05:45:58.389Z,1736401558.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385312 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:58.429Z,1736401558.429 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:58.429Z,1736401558.429 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:58.429Z,1736401558.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:58.679Z,1736401558.679 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:58.680Z,1736401558.680 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:58.680Z,1736401558.680 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:58.783Z,1736401558.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:58.791Z,1736401558.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:58.795Z,1736401558.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 92.400909 m,
      bearing: 133.734182 deg,
      approach rate: -0.666658 m/s,
      LOS rate: 0.081762 deg/s,
      cmd heading: 136.668329 deg,
      new cmd heading: 136.767757 deg.

2025-01-09T05:45:58.796Z,1736401558.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387048 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:58.934Z,1736401558.934 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:58.935Z,1736401558.935 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:58.935Z,1736401558.935 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:59.184Z,1736401559.184 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:59.184Z,1736401559.184 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:59.184Z,1736401559.184 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:59.235Z,1736401559.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:59.252Z,1736401559.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:45:59.254Z,1736401559.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:59.262Z,1736401559.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 92.111382 m,
      bearing: 133.771717 deg,
      approach rate: -0.625283 m/s,
      LOS rate: 0.081317 deg/s,
      cmd heading: 136.767763 deg,
      new cmd heading: 136.880721 deg.

2025-01-09T05:45:59.272Z,1736401559.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389019 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:59.435Z,1736401559.435 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:59.435Z,1736401559.435 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:59.436Z,1736401559.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:59.580Z,1736401559.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:45:59.606Z,1736401559.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:45:59.620Z,1736401559.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 91.886292 m,
      bearing: 133.800205 deg,
      approach rate: -0.639478 m/s,
      LOS rate: 0.081131 deg/s,
      cmd heading: 136.880720 deg,
      new cmd heading: 136.966392 deg.

2025-01-09T05:45:59.621Z,1736401559.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.390515 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:45:59.688Z,1736401559.688 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:59.688Z,1736401559.688 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:59.689Z,1736401559.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:45:59.943Z,1736401559.943 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:45:59.943Z,1736401559.943 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:45:59.944Z,1736401559.944 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:00.037Z,1736401560.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:00.047Z,1736401560.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:00.050Z,1736401560.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 91.597565 m,
      bearing: 133.835091 deg,
      approach rate: -0.654689 m/s,
      LOS rate: 0.079353 deg/s,
      cmd heading: 136.966398 deg,
      new cmd heading: 137.071386 deg.

2025-01-09T05:46:00.051Z,1736401560.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392347 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:00.191Z,1736401560.191 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:00.191Z,1736401560.191 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:00.192Z,1736401560.192 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:00.384Z,1736401560.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:00.393Z,1736401560.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:00.396Z,1736401560.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 91.379066 m,
      bearing: 133.861262 deg,
      approach rate: -0.631958 m/s,
      LOS rate: 0.075876 deg/s,
      cmd heading: 137.071392 deg,
      new cmd heading: 137.150094 deg.

2025-01-09T05:46:00.397Z,1736401560.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.393721 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:00.445Z,1736401560.445 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:00.445Z,1736401560.445 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:00.445Z,1736401560.445 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:00.697Z,1736401560.697 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:00.697Z,1736401560.697 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:00.697Z,1736401560.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:00.796Z,1736401560.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:00.821Z,1736401560.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:00.829Z,1736401560.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 91.119339 m,
      bearing: 133.892016 deg,
      approach rate: -0.606683 m/s,
      LOS rate: 0.072042 deg/s,
      cmd heading: 137.150089 deg,
      new cmd heading: 137.242615 deg.

2025-01-09T05:46:00.830Z,1736401560.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395335 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:00.950Z,1736401560.950 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:00.951Z,1736401560.951 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:00.951Z,1736401560.951 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:01.199Z,1736401561.199 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:01.200Z,1736401561.200 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:01.200Z,1736401561.200 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:01.237Z,1736401561.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:01.256Z,1736401561.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:01.258Z,1736401561.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 90.842575 m,
      bearing: 133.924112 deg,
      approach rate: -0.649418 m/s,
      LOS rate: 0.075539 deg/s,
      cmd heading: 137.242611 deg,
      new cmd heading: 137.339189 deg.

2025-01-09T05:46:01.263Z,1736401561.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.397021 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:01.451Z,1736401561.451 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:01.452Z,1736401561.452 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:01.452Z,1736401561.452 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:01.592Z,1736401561.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:01.625Z,1736401561.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:01.631Z,1736401561.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:01.634Z,1736401561.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 90.620308 m,
      bearing: 133.949636 deg,
      approach rate: -0.577814 m/s,
      LOS rate: 0.066516 deg/s,
      cmd heading: 137.339190 deg,
      new cmd heading: 137.415950 deg.

2025-01-09T05:46:01.639Z,1736401561.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398361 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:01.706Z,1736401561.706 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:01.706Z,1736401561.706 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:01.706Z,1736401561.706 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:01.958Z,1736401561.958 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:01.958Z,1736401561.958 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:01.959Z,1736401561.959 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:02.065Z,1736401562.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:02.074Z,1736401562.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:02.079Z,1736401562.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 90.337646 m,
      bearing: 133.975792 deg,
      approach rate: -0.638887 m/s,
      LOS rate: 0.059305 deg/s,
      cmd heading: 137.415948 deg,
      new cmd heading: 137.494662 deg.

2025-01-09T05:46:02.080Z,1736401562.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.399734 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:02.208Z,1736401562.208 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:02.208Z,1736401562.208 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:02.208Z,1736401562.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:02.412Z,1736401562.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:02.421Z,1736401562.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:02.424Z,1736401562.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 90.130608 m,
      bearing: 133.994669 deg,
      approach rate: -0.596790 m/s,
      LOS rate: 0.054539 deg/s,
      cmd heading: 137.494659 deg,
      new cmd heading: 137.551420 deg.

2025-01-09T05:46:02.425Z,1736401562.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.400725 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:02.459Z,1736401562.459 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:02.460Z,1736401562.460 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:02.460Z,1736401562.460 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:02.711Z,1736401562.711 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:02.711Z,1736401562.711 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:02.712Z,1736401562.712 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:02.819Z,1736401562.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:02.849Z,1736401562.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:02.852Z,1736401562.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 89.887062 m,
      bearing: 134.016776 deg,
      approach rate: -0.568548 m/s,
      LOS rate: 0.051746 deg/s,
      cmd heading: 137.551418 deg,
      new cmd heading: 137.617916 deg.

2025-01-09T05:46:02.853Z,1736401562.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.401886 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:02.964Z,1736401562.964 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:02.964Z,1736401562.964 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:02.964Z,1736401562.964 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:03.215Z,1736401563.215 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:03.216Z,1736401563.216 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:03.216Z,1736401563.216 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:03.234Z,1736401563.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:03.244Z,1736401563.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:03.248Z,1736401563.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 89.647018 m,
      bearing: 134.033262 deg,
      approach rate: -0.609024 m/s,
      LOS rate: 0.041940 deg/s,
      cmd heading: 137.617916 deg,
      new cmd heading: 137.667508 deg.

2025-01-09T05:46:03.249Z,1736401563.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402751 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:03.471Z,1736401563.471 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:03.471Z,1736401563.471 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:03.471Z,1736401563.471 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:03.615Z,1736401563.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:03.670Z,1736401563.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:03.672Z,1736401563.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:03.687Z,1736401563.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 89.426598 m,
      bearing: 134.048193 deg,
      approach rate: -0.514090 m/s,
      LOS rate: 0.034910 deg/s,
      cmd heading: 137.667503 deg,
      new cmd heading: 137.712408 deg.

2025-01-09T05:46:03.696Z,1736401563.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.403535 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:03.719Z,1736401563.719 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:03.720Z,1736401563.720 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:03.720Z,1736401563.720 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:03.973Z,1736401563.973 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:03.974Z,1736401563.974 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:03.974Z,1736401563.974 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:04.116Z,1736401564.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:04.140Z,1736401564.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:04.147Z,1736401564.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 89.148483 m,
      bearing: 134.057735 deg,
      approach rate: -0.593988 m/s,
      LOS rate: 0.020442 deg/s,
      cmd heading: 137.712405 deg,
      new cmd heading: 137.741118 deg.

2025-01-09T05:46:04.148Z,1736401564.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404036 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:04.224Z,1736401564.224 [DAT](INFO): Reached modem response timeout
2025-01-09T05:46:04.224Z,1736401564.224 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:46:04.225Z,1736401564.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:04.437Z,1736401564.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:04.447Z,1736401564.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:04.450Z,1736401564.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 88.968758 m,
      bearing: 134.063797 deg,
      approach rate: -0.585088 m/s,
      LOS rate: 0.019775 deg/s,
      cmd heading: 137.741119 deg,
      new cmd heading: 137.759342 deg.

2025-01-09T05:46:04.451Z,1736401564.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404354 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:04.475Z,1736401564.475 [DAT](INFO): Reached modem response timeout
2025-01-09T05:46:04.476Z,1736401564.476 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:46:04.476Z,1736401564.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:04.728Z,1736401564.728 [DAT](INFO): Reached modem response timeout
2025-01-09T05:46:04.728Z,1736401564.728 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:46:04.729Z,1736401564.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:04.863Z,1736401564.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:04.875Z,1736401564.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:04.880Z,1736401564.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 88.731781 m,
      bearing: 134.071862 deg,
      approach rate: -0.557648 m/s,
      LOS rate: 0.019028 deg/s,
      cmd heading: 137.759342 deg,
      new cmd heading: 137.783601 deg.

2025-01-09T05:46:04.881Z,1736401564.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404778 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:04.982Z,1736401564.982 [DAT](INFO): Reached modem response timeout
2025-01-09T05:46:04.983Z,1736401564.983 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:46:04.984Z,1736401564.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:05.232Z,1736401565.232 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:46:05.232Z,1736401565.232 [DAT](INFO): response not received
2025-01-09T05:46:05.232Z,1736401565.232 [DAT](INFO): DAT read: user:167>

2025-01-09T05:46:05.233Z,1736401565.233 [DAT](INFO): DAT read: Tx time:05:46:04.3804

2025-01-09T05:46:05.233Z,1736401565.233 [DAT](INFO): Ping request sent.
2025-01-09T05:46:05.233Z,1736401565.233 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:46:05.234Z,1736401565.234 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:05.234Z,1736401565.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-01-09T05:46:05.328Z,1736401565.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:05.337Z,1736401565.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:05.340Z,1736401565.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 88.479553 m,
      bearing: 134.074694 deg,
      approach rate: -0.542937 m/s,
      LOS rate: 0.006115 deg/s,
      cmd heading: 137.783603 deg,
      new cmd heading: 137.792125 deg.

2025-01-09T05:46:05.341Z,1736401565.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404926 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:05.484Z,1736401565.484 [DAT](INFO): DAT read: TxSync time:05:46:04.3796

2025-01-09T05:46:05.485Z,1736401565.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251503
2025-01-09T05:46:05.660Z,1736401565.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:05.679Z,1736401565.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:05.683Z,1736401565.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:05.686Z,1736401565.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 88.299858 m,
      bearing: 134.076557 deg,
      approach rate: -0.519893 m/s,
      LOS rate: 0.005401 deg/s,
      cmd heading: 137.792127 deg,
      new cmd heading: 137.797728 deg.

2025-01-09T05:46:05.687Z,1736401565.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405024 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:05.739Z,1736401565.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504973
2025-01-09T05:46:05.988Z,1736401565.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754237
2025-01-09T05:46:06.161Z,1736401566.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:06.172Z,1736401566.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:06.175Z,1736401566.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 88.029945 m,
      bearing: 134.079283 deg,
      approach rate: -0.551356 m/s,
      LOS rate: 0.005584 deg/s,
      cmd heading: 137.797728 deg,
      new cmd heading: 137.805928 deg.

2025-01-09T05:46:06.176Z,1736401566.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405167 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:06.240Z,1736401566.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006372
2025-01-09T05:46:06.492Z,1736401566.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258160
2025-01-09T05:46:06.540Z,1736401566.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:06.550Z,1736401566.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:06.553Z,1736401566.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 87.826180 m,
      bearing: 134.081518 deg,
      approach rate: -0.539608 m/s,
      LOS rate: 0.005933 deg/s,
      cmd heading: 137.805924 deg,
      new cmd heading: 137.812645 deg.

2025-01-09T05:46:06.554Z,1736401566.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405284 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:06.745Z,1736401566.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510950
2025-01-09T05:46:06.939Z,1736401566.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:06.966Z,1736401566.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:06.973Z,1736401566.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 87.611687 m,
      bearing: 134.084431 deg,
      approach rate: -0.515939 m/s,
      LOS rate: 0.007024 deg/s,
      cmd heading: 137.812645 deg,
      new cmd heading: 137.821405 deg.

2025-01-09T05:46:06.974Z,1736401566.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405437 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:06.996Z,1736401566.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762809
2025-01-09T05:46:07.248Z,1736401567.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014109
2025-01-09T05:46:07.368Z,1736401567.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:07.378Z,1736401567.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:07.381Z,1736401567.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 87.379578 m,
      bearing: 134.086108 deg,
      approach rate: -0.564539 m/s,
      LOS rate: 0.004091 deg/s,
      cmd heading: 137.821401 deg,
      new cmd heading: 137.826447 deg.

2025-01-09T05:46:07.382Z,1736401567.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405525 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:07.500Z,1736401567.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266206
2025-01-09T05:46:07.753Z,1736401567.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519238
2025-01-09T05:46:07.813Z,1736401567.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:07.839Z,1736401567.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:07.841Z,1736401567.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:07.848Z,1736401567.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 87.139183 m,
      bearing: 134.088006 deg,
      approach rate: -0.517647 m/s,
      LOS rate: 0.004098 deg/s,
      cmd heading: 137.826442 deg,
      new cmd heading: 137.832151 deg.

2025-01-09T05:46:07.849Z,1736401567.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405625 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:08.004Z,1736401568.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770361
2025-01-09T05:46:08.237Z,1736401568.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:08.256Z,1736401568.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022173
2025-01-09T05:46:08.267Z,1736401568.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:08.270Z,1736401568.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 86.901100 m,
      bearing: 134.090551 deg,
      approach rate: -0.564539 m/s,
      LOS rate: 0.006051 deg/s,
      cmd heading: 137.832152 deg,
      new cmd heading: 137.839808 deg.

2025-01-09T05:46:08.275Z,1736401568.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405758 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:08.508Z,1736401568.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274280
2025-01-09T05:46:08.612Z,1736401568.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:08.621Z,1736401568.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:08.624Z,1736401568.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 86.691292 m,
      bearing: 134.092805 deg,
      approach rate: -0.586104 m/s,
      LOS rate: 0.006313 deg/s,
      cmd heading: 137.839802 deg,
      new cmd heading: 137.846581 deg.

2025-01-09T05:46:08.625Z,1736401568.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405877 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:08.761Z,1736401568.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527291
2025-01-09T05:46:08.000Z,1736401569.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:09.012Z,1736401569.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778663
2025-01-09T05:46:09.029Z,1736401569.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:09.047Z,1736401569.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 86.474342 m,
      bearing: 134.094890 deg,
      approach rate: -0.531639 m/s,
      LOS rate: 0.005122 deg/s,
      cmd heading: 137.846577 deg,
      new cmd heading: 137.852848 deg.

2025-01-09T05:46:09.048Z,1736401569.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405986 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:09.264Z,1736401569.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030108
2025-01-09T05:46:09.427Z,1736401569.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:09.436Z,1736401569.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:09.439Z,1736401569.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 86.223862 m,
      bearing: 134.102363 deg,
      approach rate: -0.615223 m/s,
      LOS rate: 0.018408 deg/s,
      cmd heading: 137.852847 deg,
      new cmd heading: 137.875331 deg.

2025-01-09T05:46:09.440Z,1736401569.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.406379 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:09.516Z,1736401569.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282626
2025-01-09T05:46:09.768Z,1736401569.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534829
2025-01-09T05:46:09.819Z,1736401569.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:09.827Z,1736401569.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:09.830Z,1736401569.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 85.994713 m,
      bearing: 134.109088 deg,
      approach rate: -0.586567 m/s,
      LOS rate: 0.017259 deg/s,
      cmd heading: 137.875332 deg,
      new cmd heading: 137.895560 deg.

2025-01-09T05:46:09.832Z,1736401569.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.406732 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:10.020Z,1736401570.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786132
2025-01-09T05:46:10.213Z,1736401570.213 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 78
Device respsone is::TS,25010821471520,35.0, +10.9,   0.0,  89.71,  78.50,  89.03,  79.18
2025-01-09T05:46:10.222Z,1736401570.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:46:10.223Z,1736401570.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:10.230Z,1736401570.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:10.233Z,1736401570.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:10.236Z,1736401570.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 85.758217 m,
      bearing: 134.115913 deg,
      approach rate: -0.582633 m/s,
      LOS rate: 0.016861 deg/s,
      cmd heading: 137.895563 deg,
      new cmd heading: 137.916096 deg.

2025-01-09T05:46:10.237Z,1736401570.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407090 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:10.272Z,1736401570.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038269
2025-01-09T05:46:10.524Z,1736401570.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290206
2025-01-09T05:46:10.636Z,1736401570.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:46:10.636Z,1736401570.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:10.673Z,1736401570.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:10.680Z,1736401570.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 85.515808 m,
      bearing: 134.122948 deg,
      approach rate: -0.550602 m/s,
      LOS rate: 0.016025 deg/s,
      cmd heading: 137.916095 deg,
      new cmd heading: 137.937260 deg.

2025-01-09T05:46:10.681Z,1736401570.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407459 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:10.776Z,1736401570.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542240
2025-01-09T05:46:11.028Z,1736401571.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794541
2025-01-09T05:46:11.034Z,1736401571.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:46:11.034Z,1736401571.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:11.043Z,1736401571.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:11.046Z,1736401571.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 85.282372 m,
      bearing: 134.129488 deg,
      approach rate: -0.631345 m/s,
      LOS rate: 0.017735 deg/s,
      cmd heading: 137.937255 deg,
      new cmd heading: 137.956928 deg.

2025-01-09T05:46:11.047Z,1736401571.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407803 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:11.280Z,1736401571.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046260
2025-01-09T05:46:11.464Z,1736401571.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:11.481Z,1736401571.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:11.488Z,1736401571.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 85.004402 m,
      bearing: 134.154301 deg,
      approach rate: -0.634477 m/s,
      LOS rate: 0.056824 deg/s,
      cmd heading: 137.956926 deg,
      new cmd heading: 138.031610 deg.

2025-01-09T05:46:11.488Z,1736401571.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.409106 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:11.532Z,1736401571.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298223
2025-01-09T05:46:11.784Z,1736401571.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550292
2025-01-09T05:46:11.836Z,1736401571.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:11.848Z,1736401571.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:11.851Z,1736401571.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 84.763809 m,
      bearing: 134.175741 deg,
      approach rate: -0.654125 m/s,
      LOS rate: 0.058457 deg/s,
      cmd heading: 138.031607 deg,
      new cmd heading: 138.096110 deg.

2025-01-09T05:46:11.852Z,1736401571.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410232 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:12.039Z,1736401572.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804952
2025-01-09T05:46:12.254Z,1736401572.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:12.281Z,1736401572.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:12.288Z,1736401572.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054260
2025-01-09T05:46:12.288Z,1736401572.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:12.295Z,1736401572.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 84.485374 m,
      bearing: 134.207085 deg,
      approach rate: -0.641448 m/s,
      LOS rate: 0.072445 deg/s,
      cmd heading: 138.096111 deg,
      new cmd heading: 138.190451 deg.

2025-01-09T05:46:12.296Z,1736401572.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.411878 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:12.540Z,1736401572.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306663
2025-01-09T05:46:12.658Z,1736401572.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:12.667Z,1736401572.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:12.670Z,1736401572.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 84.216072 m,
      bearing: 134.237600 deg,
      approach rate: -0.699928 m/s,
      LOS rate: 0.079564 deg/s,
      cmd heading: 138.190450 deg,
      new cmd heading: 138.282288 deg.

2025-01-09T05:46:12.673Z,1736401572.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413481 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:12.792Z,1736401572.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558364
2025-01-09T05:46:13.039Z,1736401573.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:13.044Z,1736401573.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810919
2025-01-09T05:46:13.049Z,1736401573.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:13.052Z,1736401573.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 83.962189 m,
      bearing: 134.265969 deg,
      approach rate: -0.664453 m/s,
      LOS rate: 0.074472 deg/s,
      cmd heading: 138.282289 deg,
      new cmd heading: 138.367655 deg.

2025-01-09T05:46:13.053Z,1736401573.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.414971 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:13.296Z,1736401573.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062931
2025-01-09T05:46:13.480Z,1736401573.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:13.488Z,1736401573.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:13.491Z,1736401573.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 83.661369 m,
      bearing: 134.306118 deg,
      approach rate: -0.685372 m/s,
      LOS rate: 0.091802 deg/s,
      cmd heading: 138.367652 deg,
      new cmd heading: 138.488532 deg.

2025-01-09T05:46:13.492Z,1736401573.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417081 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:13.549Z,1736401573.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315068
2025-01-09T05:46:13.801Z,1736401573.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567443
2025-01-09T05:46:13.869Z,1736401573.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:13.881Z,1736401573.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:13.884Z,1736401573.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 83.396004 m,
      bearing: 134.341406 deg,
      approach rate: -0.675146 m/s,
      LOS rate: 0.090064 deg/s,
      cmd heading: 138.488533 deg,
      new cmd heading: 138.594732 deg.

2025-01-09T05:46:13.885Z,1736401573.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418934 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:14.052Z,1736401574.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818142
2025-01-09T05:46:14.280Z,1736401574.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:14.287Z,1736401574.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:14.289Z,1736401574.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:14.292Z,1736401574.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 83.114822 m,
      bearing: 134.380129 deg,
      approach rate: -0.689378 m/s,
      LOS rate: 0.095259 deg/s,
      cmd heading: 138.594729 deg,
      new cmd heading: 138.711290 deg.

2025-01-09T05:46:14.294Z,1736401574.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420969 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:14.304Z,1736401574.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070291
2025-01-09T05:46:14.556Z,1736401574.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322073
2025-01-09T05:46:14.656Z,1736401574.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:14.669Z,1736401574.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:14.672Z,1736401574.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 82.857986 m,
      bearing: 134.415575 deg,
      approach rate: -0.676466 m/s,
      LOS rate: 0.093650 deg/s,
      cmd heading: 138.711293 deg,
      new cmd heading: 138.817962 deg.

2025-01-09T05:46:14.673Z,1736401574.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422831 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:14.808Z,1736401574.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574415
2025-01-09T05:46:15.058Z,1736401575.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:15.060Z,1736401575.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826677
2025-01-09T05:46:15.069Z,1736401575.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:15.072Z,1736401575.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 82.582710 m,
      bearing: 134.453636 deg,
      approach rate: -0.687974 m/s,
      LOS rate: 0.095439 deg/s,
      cmd heading: 138.817967 deg,
      new cmd heading: 138.932530 deg.

2025-01-09T05:46:15.073Z,1736401575.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424830 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:15.311Z,1736401575.311 [DAT](INFO): Reached modem response timeout
2025-01-09T05:46:15.311Z,1736401575.311 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:46:15.312Z,1736401575.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:15.497Z,1736401575.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:15.505Z,1736401575.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:15.508Z,1736401575.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 82.283684 m,
      bearing: 134.493053 deg,
      approach rate: -0.685690 m/s,
      LOS rate: 0.090715 deg/s,
      cmd heading: 138.932536 deg,
      new cmd heading: 139.051217 deg.

2025-01-09T05:46:15.509Z,1736401575.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426902 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:15.564Z,1736401575.564 [DAT](INFO): Reached modem response timeout
2025-01-09T05:46:15.565Z,1736401575.565 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:46:15.565Z,1736401575.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:15.815Z,1736401575.815 [DAT](INFO): Reached modem response timeout
2025-01-09T05:46:15.816Z,1736401575.816 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:46:15.816Z,1736401575.816 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:15.888Z,1736401575.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:15.896Z,1736401575.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:15.899Z,1736401575.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 82.016594 m,
      bearing: 134.528305 deg,
      approach rate: -0.682960 m/s,
      LOS rate: 0.090433 deg/s,
      cmd heading: 139.051218 deg,
      new cmd heading: 139.157316 deg.

2025-01-09T05:46:15.900Z,1736401575.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428753 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:16.068Z,1736401576.068 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:46:16.068Z,1736401576.068 [DAT](INFO): response not received
2025-01-09T05:46:16.068Z,1736401576.068 [DAT](INFO): DAT read: user:168>

2025-01-09T05:46:16.069Z,1736401576.069 [DAT](INFO): DAT read: Tx time:05:46:15.3305

2025-01-09T05:46:16.069Z,1736401576.069 [DAT](INFO): Ping request sent.
2025-01-09T05:46:16.069Z,1736401576.069 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:46:16.070Z,1736401576.070 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:16.070Z,1736401576.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715
2025-01-09T05:46:16.304Z,1736401576.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:16.323Z,1736401576.323 [DAT](INFO): DAT read: TxSync time:05:46:15.3297

2025-01-09T05:46:16.324Z,1736401576.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254773
2025-01-09T05:46:16.331Z,1736401576.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:16.333Z,1736401576.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:16.338Z,1736401576.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 81.745255 m,
      bearing: 134.559559 deg,
      approach rate: -0.620843 m/s,
      LOS rate: 0.071749 deg/s,
      cmd heading: 139.157318 deg,
      new cmd heading: 139.251391 deg.

2025-01-09T05:46:16.347Z,1736401576.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430395 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:16.573Z,1736401576.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503555
2025-01-09T05:46:16.681Z,1736401576.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:16.690Z,1736401576.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:16.692Z,1736401576.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 81.498817 m,
      bearing: 134.587917 deg,
      approach rate: -0.691610 m/s,
      LOS rate: 0.079827 deg/s,
      cmd heading: 139.251397 deg,
      new cmd heading: 139.336730 deg.

2025-01-09T05:46:16.715Z,1736401576.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431885 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:16.824Z,1736401576.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754221
2025-01-09T05:46:17.076Z,1736401577.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006217
2025-01-09T05:46:17.084Z,1736401577.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:17.092Z,1736401577.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:17.096Z,1736401577.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 81.235741 m,
      bearing: 134.617951 deg,
      approach rate: -0.653436 m/s,
      LOS rate: 0.074840 deg/s,
      cmd heading: 139.336733 deg,
      new cmd heading: 139.427126 deg.

2025-01-09T05:46:17.097Z,1736401577.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433462 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:17.329Z,1736401577.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259275
2025-01-09T05:46:17.529Z,1736401577.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:17.537Z,1736401577.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:17.541Z,1736401577.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 80.947639 m,
      bearing: 134.645369 deg,
      approach rate: -0.647056 m/s,
      LOS rate: 0.061798 deg/s,
      cmd heading: 139.427124 deg,
      new cmd heading: 139.509671 deg.

2025-01-09T05:46:17.542Z,1736401577.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434903 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:17.580Z,1736401577.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510943
2025-01-09T05:46:17.832Z,1736401577.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762129
2025-01-09T05:46:17.911Z,1736401577.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:17.923Z,1736401577.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:17.926Z,1736401577.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 80.700363 m,
      bearing: 134.669059 deg,
      approach rate: -0.641723 m/s,
      LOS rate: 0.061669 deg/s,
      cmd heading: 139.509674 deg,
      new cmd heading: 139.580962 deg.

2025-01-09T05:46:17.927Z,1736401577.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436147 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:18.084Z,1736401578.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014323
2025-01-09T05:46:18.318Z,1736401578.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:18.336Z,1736401578.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266217
2025-01-09T05:46:18.357Z,1736401578.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:18.364Z,1736401578.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:18.383Z,1736401578.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 80.442589 m,
      bearing: 134.684722 deg,
      approach rate: -0.584612 m/s,
      LOS rate: 0.035636 deg/s,
      cmd heading: 139.580967 deg,
      new cmd heading: 139.628107 deg.

2025-01-09T05:46:18.384Z,1736401578.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436970 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:18.588Z,1736401578.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518130
2025-01-09T05:46:18.739Z,1736401578.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:18.761Z,1736401578.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:18.769Z,1736401578.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 80.179169 m,
      bearing: 134.700708 deg,
      approach rate: -0.663122 m/s,
      LOS rate: 0.040375 deg/s,
      cmd heading: 139.628109 deg,
      new cmd heading: 139.676226 deg.

2025-01-09T05:46:18.770Z,1736401578.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437810 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:18.841Z,1736401578.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771148
2025-01-09T05:46:19.092Z,1736401579.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022211
2025-01-09T05:46:19.117Z,1736401579.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:19.125Z,1736401579.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:19.129Z,1736401579.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 79.937477 m,
      bearing: 134.715478 deg,
      approach rate: -0.664108 m/s,
      LOS rate: 0.040707 deg/s,
      cmd heading: 139.676221 deg,
      new cmd heading: 139.720665 deg.

2025-01-09T05:46:19.130Z,1736401579.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438586 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:19.344Z,1736401579.344 [DAT](INFO): DAT read: Rx Time:05:46:17.8924

2025-01-09T05:46:19.345Z,1736401579.345 [DAT](INFO): Rx dataTimestamp_ set to:1736401579.344398
2025-01-09T05:46:19.345Z,1736401579.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275793
2025-01-09T05:46:19.542Z,1736401579.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:19.552Z,1736401579.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:19.555Z,1736401579.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 79.670303 m,
      bearing: 134.723572 deg,
      approach rate: -0.625745 m/s,
      LOS rate: 0.019020 deg/s,
      cmd heading: 139.720672 deg,
      new cmd heading: 139.745034 deg.

2025-01-09T05:46:19.556Z,1736401579.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439011 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:19.596Z,1736401579.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526432
2025-01-09T05:46:19.853Z,1736401579.853 [DAT](INFO): DAT read: 05:46:17.8924 LVL= 26400, 30817, 20338, 32755, AGC= 65, IDX= 219, 0.09,-0.716,-2.061,-0.391,-0.884, PHS= 0.256,-1.129, 0.490, RAW= 157.7,   5.1, CAL= 158.5,  -4.1, ROT= 351.5,   4.1

2025-01-09T05:46:19.854Z,1736401579.854 [DAT](INFO): got valid direction response:
 05:46:17.8924 LVL= 26400, 30817, 20338, 32755, AGC= 65, IDX= 219, 0.09,-0.716,-2.061,-0.391,-0.884, PHS= 0.256,-1.129, 0.490, RAW= 157.7,   5.1, CAL= 158.5,  -4.1, ROT= 351.5,   4.1

2025-01-09T05:46:19.855Z,1736401579.855 [DAT](INFO): DAT read: $Error in header

2025-01-09T05:46:19.855Z,1736401579.855 [DAT](INFO): Received a bad header
2025-01-09T05:46:19.867Z,1736401579.867 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T05:46:19.868Z,1736401579.868 [DAT](INFO): direction in FSK: [0.986485,-0.147431,-0.071497]
2025-01-09T05:46:19.892Z,1736401579.892 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:19.892Z,1736401579.892 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:19.892Z,1736401579.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:19.934Z,1736401579.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:19.961Z,1736401579.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:19.968Z,1736401579.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 79.423828 m,
      bearing: 134.731153 deg,
      approach rate: -0.602856 m/s,
      LOS rate: 0.018599 deg/s,
      cmd heading: 139.745028 deg,
      new cmd heading: 139.767841 deg.

2025-01-09T05:46:19.969Z,1736401579.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439409 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:20.099Z,1736401580.099 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:20.099Z,1736401580.099 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:20.100Z,1736401580.100 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:20.352Z,1736401580.352 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:20.352Z,1736401580.352 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:20.352Z,1736401580.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:20.422Z,1736401580.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:20.429Z,1736401580.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:20.432Z,1736401580.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:20.444Z,1736401580.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 79.123695 m,
      bearing: 134.730521 deg,
      approach rate: -0.636828 m/s,
      LOS rate: -0.001346 deg/s,
      cmd heading: 139.767841 deg,
      new cmd heading: 139.765937 deg.

2025-01-09T05:46:20.445Z,1736401580.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439376 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:20.605Z,1736401580.605 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:20.606Z,1736401580.606 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:20.606Z,1736401580.606 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:20.786Z,1736401580.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:20.796Z,1736401580.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:20.798Z,1736401580.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 78.899551 m,
      bearing: 134.730229 deg,
      approach rate: -0.616614 m/s,
      LOS rate: -0.000806 deg/s,
      cmd heading: 139.765942 deg,
      new cmd heading: 139.765064 deg.

2025-01-09T05:46:20.800Z,1736401580.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439361 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:20.856Z,1736401580.856 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:20.856Z,1736401580.856 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:20.856Z,1736401580.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:21.107Z,1736401581.107 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:21.107Z,1736401581.107 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:21.108Z,1736401581.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:21.188Z,1736401581.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:21.198Z,1736401581.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:21.200Z,1736401581.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 78.652107 m,
      bearing: 134.729991 deg,
      approach rate: -0.615323 m/s,
      LOS rate: -0.000592 deg/s,
      cmd heading: 139.765068 deg,
      new cmd heading: 139.764354 deg.

2025-01-09T05:46:21.201Z,1736401581.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439348 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:21.360Z,1736401581.360 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:21.360Z,1736401581.360 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:21.360Z,1736401581.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:21.611Z,1736401581.611 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:21.612Z,1736401581.612 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:21.612Z,1736401581.612 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:21.628Z,1736401581.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:21.641Z,1736401581.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:21.652Z,1736401581.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 78.385582 m,
      bearing: 134.726971 deg,
      approach rate: -0.601444 m/s,
      LOS rate: -0.006839 deg/s,
      cmd heading: 139.764358 deg,
      new cmd heading: 139.755265 deg.

2025-01-09T05:46:21.653Z,1736401581.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439189 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:21.863Z,1736401581.863 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:21.864Z,1736401581.864 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:21.864Z,1736401581.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:22.024Z,1736401582.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:22.032Z,1736401582.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:22.035Z,1736401582.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 78.145157 m,
      bearing: 134.724263 deg,
      approach rate: -0.614110 m/s,
      LOS rate: -0.006937 deg/s,
      cmd heading: 139.755260 deg,
      new cmd heading: 139.747113 deg.

2025-01-09T05:46:22.037Z,1736401582.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439047 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:22.116Z,1736401582.116 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:22.116Z,1736401582.116 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:22.116Z,1736401582.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:22.305Z,1736401582.305 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:46:22.367Z,1736401582.367 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:22.368Z,1736401582.368 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:22.368Z,1736401582.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:22.453Z,1736401582.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:22.461Z,1736401582.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:22.464Z,1736401582.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:22.466Z,1736401582.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 77.880905 m,
      bearing: 134.716471 deg,
      approach rate: -0.612557 m/s,
      LOS rate: -0.018125 deg/s,
      cmd heading: 139.747118 deg,
      new cmd heading: 139.723661 deg.

2025-01-09T05:46:22.467Z,1736401582.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438638 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:22.620Z,1736401582.620 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:22.620Z,1736401582.620 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:22.620Z,1736401582.620 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:22.808Z,1736401582.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:22.834Z,1736401582.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:22.841Z,1736401582.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 77.662758 m,
      bearing: 134.709883 deg,
      approach rate: -0.589469 m/s,
      LOS rate: -0.017852 deg/s,
      cmd heading: 139.723664 deg,
      new cmd heading: 139.703844 deg.

2025-01-09T05:46:22.842Z,1736401582.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438292 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:22.873Z,1736401582.873 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:22.873Z,1736401582.873 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:22.874Z,1736401582.874 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:23.124Z,1736401583.124 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:23.124Z,1736401583.124 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:23.124Z,1736401583.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:23.221Z,1736401583.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:23.231Z,1736401583.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:23.233Z,1736401583.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 77.408157 m,
      bearing: 134.702130 deg,
      approach rate: -0.641804 m/s,
      LOS rate: -0.019607 deg/s,
      cmd heading: 139.703842 deg,
      new cmd heading: 139.680508 deg.

2025-01-09T05:46:23.234Z,1736401583.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437885 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:23.308Z,1736401583.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:46:23.376Z,1736401583.376 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:23.376Z,1736401583.376 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:23.376Z,1736401583.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:23.628Z,1736401583.628 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:23.628Z,1736401583.628 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:23.628Z,1736401583.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:23.648Z,1736401583.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:23.685Z,1736401583.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:23.696Z,1736401583.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 77.146721 m,
      bearing: 134.693574 deg,
      approach rate: -0.574555 m/s,
      LOS rate: -0.018868 deg/s,
      cmd heading: 139.680510 deg,
      new cmd heading: 139.654754 deg.

2025-01-09T05:46:23.697Z,1736401583.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437435 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:23.880Z,1736401583.880 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:23.880Z,1736401583.880 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:23.880Z,1736401583.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:24.029Z,1736401584.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:24.041Z,1736401584.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:24.045Z,1736401584.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 76.913002 m,
      bearing: 134.685724 deg,
      approach rate: -0.657820 m/s,
      LOS rate: -0.022162 deg/s,
      cmd heading: 139.654761 deg,
      new cmd heading: 139.631139 deg.

2025-01-09T05:46:24.046Z,1736401584.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437023 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:24.132Z,1736401584.132 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:24.132Z,1736401584.132 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:24.132Z,1736401584.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:24.383Z,1736401584.383 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:24.383Z,1736401584.383 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:24.384Z,1736401584.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:24.454Z,1736401584.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:24.462Z,1736401584.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:24.464Z,1736401584.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:24.467Z,1736401584.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 76.659729 m,
      bearing: 134.679628 deg,
      approach rate: -0.597758 m/s,
      LOS rate: -0.014435 deg/s,
      cmd heading: 139.631142 deg,
      new cmd heading: 139.612793 deg.

2025-01-09T05:46:24.468Z,1736401584.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436703 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:24.635Z,1736401584.635 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:24.635Z,1736401584.635 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:24.636Z,1736401584.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:24.825Z,1736401584.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:24.835Z,1736401584.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:24.837Z,1736401584.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 76.438705 m,
      bearing: 134.674259 deg,
      approach rate: -0.597004 m/s,
      LOS rate: -0.014544 deg/s,
      cmd heading: 139.612796 deg,
      new cmd heading: 139.596643 deg.

2025-01-09T05:46:24.839Z,1736401584.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436421 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:24.889Z,1736401584.889 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:24.889Z,1736401584.889 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:24.889Z,1736401584.889 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:25.140Z,1736401585.140 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:25.140Z,1736401585.140 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:25.140Z,1736401585.140 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:25.234Z,1736401585.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:25.243Z,1736401585.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:25.246Z,1736401585.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 76.194298 m,
      bearing: 134.668288 deg,
      approach rate: -0.599212 m/s,
      LOS rate: -0.014686 deg/s,
      cmd heading: 139.596649 deg,
      new cmd heading: 139.578679 deg.

2025-01-09T05:46:25.263Z,1736401585.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436107 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:25.392Z,1736401585.392 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:25.392Z,1736401585.392 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:25.392Z,1736401585.392 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:25.645Z,1736401585.645 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:25.645Z,1736401585.645 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:25.645Z,1736401585.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:25.683Z,1736401585.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:25.701Z,1736401585.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:25.714Z,1736401585.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 75.926949 m,
      bearing: 134.665310 deg,
      approach rate: -0.583510 m/s,
      LOS rate: -0.006521 deg/s,
      cmd heading: 139.578672 deg,
      new cmd heading: 139.569709 deg.

2025-01-09T05:46:25.719Z,1736401585.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435951 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:25.896Z,1736401585.896 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:25.896Z,1736401585.896 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:25.896Z,1736401585.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-09T05:46:26.041Z,1736401586.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:26.053Z,1736401586.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:26.056Z,1736401586.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 75.714363 m,
      bearing: 134.662914 deg,
      approach rate: -0.603327 m/s,
      LOS rate: -0.006820 deg/s,
      cmd heading: 139.569711 deg,
      new cmd heading: 139.562501 deg.

2025-01-09T05:46:26.057Z,1736401586.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435825 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:26.148Z,1736401586.148 [DAT](INFO): Reached modem response timeout
2025-01-09T05:46:26.148Z,1736401586.148 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:46:26.149Z,1736401586.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:26.399Z,1736401586.399 [DAT](INFO): Reached modem response timeout
2025-01-09T05:46:26.400Z,1736401586.400 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:46:26.400Z,1736401586.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:26.487Z,1736401586.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:26.495Z,1736401586.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:26.497Z,1736401586.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:26.500Z,1736401586.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 75.438736 m,
      bearing: 134.667898 deg,
      approach rate: -0.621150 m/s,
      LOS rate: 0.011272 deg/s,
      cmd heading: 139.562498 deg,
      new cmd heading: 139.577504 deg.

2025-01-09T05:46:26.501Z,1736401586.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436087 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:26.651Z,1736401586.651 [DAT](INFO): Reached modem response timeout
2025-01-09T05:46:26.652Z,1736401586.652 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:46:26.652Z,1736401586.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:26.849Z,1736401586.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:26.857Z,1736401586.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:26.861Z,1736401586.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 75.214813 m,
      bearing: 134.672017 deg,
      approach rate: -0.621495 m/s,
      LOS rate: 0.011466 deg/s,
      cmd heading: 139.577511 deg,
      new cmd heading: 139.589904 deg.

2025-01-09T05:46:26.862Z,1736401586.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436303 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:26.907Z,1736401586.907 [DAT](INFO): DAT read: Response Not Received

2025-01-09T05:46:26.907Z,1736401586.907 [DAT](INFO): response not received
2025-01-09T05:46:26.908Z,1736401586.908 [DAT](INFO): DAT read: user:170>

2025-01-09T05:46:26.908Z,1736401586.908 [DAT](ERROR): No response from remote modem.
2025-01-09T05:46:26.908Z,1736401586.908 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:46:26.909Z,1736401586.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:27.156Z,1736401587.156 [DAT](INFO): DAT read: Tx time:05:46:26.2807

2025-01-09T05:46:27.156Z,1736401587.156 [DAT](INFO): Ping request sent.
2025-01-09T05:46:27.156Z,1736401587.156 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:46:27.157Z,1736401587.157 [DAT](INFO): DAT read: TxSync time:05:46:26.2799

2025-01-09T05:46:27.157Z,1736401587.157 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:27.158Z,1736401587.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001531
2025-01-09T05:46:27.272Z,1736401587.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:27.281Z,1736401587.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:27.284Z,1736401587.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 74.953133 m,
      bearing: 134.676724 deg,
      approach rate: -0.616842 m/s,
      LOS rate: 0.011134 deg/s,
      cmd heading: 139.589901 deg,
      new cmd heading: 139.604072 deg.

2025-01-09T05:46:27.285Z,1736401587.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436551 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:27.408Z,1736401587.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251439
2025-01-09T05:46:27.660Z,1736401587.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503144
2025-01-09T05:46:27.697Z,1736401587.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:27.705Z,1736401587.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:27.708Z,1736401587.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 74.684822 m,
      bearing: 134.691711 deg,
      approach rate: -0.632741 m/s,
      LOS rate: 0.035470 deg/s,
      cmd heading: 139.604067 deg,
      new cmd heading: 139.649190 deg.

2025-01-09T05:46:27.709Z,1736401587.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437338 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:27.912Z,1736401587.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756034
2025-01-09T05:46:28.086Z,1736401588.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:28.113Z,1736401588.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:28.116Z,1736401588.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 74.438751 m,
      bearing: 134.705551 deg,
      approach rate: -0.603892 m/s,
      LOS rate: 0.034079 deg/s,
      cmd heading: 139.649187 deg,
      new cmd heading: 139.690846 deg.

2025-01-09T05:46:28.117Z,1736401588.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438065 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:28.165Z,1736401588.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008951
2025-01-09T05:46:28.416Z,1736401588.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259308
2025-01-09T05:46:28.490Z,1736401588.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:28.499Z,1736401588.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:28.505Z,1736401588.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:28.510Z,1736401588.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 74.174416 m,
      bearing: 134.725374 deg,
      approach rate: -0.677933 m/s,
      LOS rate: 0.051021 deg/s,
      cmd heading: 139.690851 deg,
      new cmd heading: 139.750532 deg.

2025-01-09T05:46:28.529Z,1736401588.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439107 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:28.668Z,1736401588.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511949
2025-01-09T05:46:28.868Z,1736401588.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:28.877Z,1736401588.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:28.880Z,1736401588.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 73.927048 m,
      bearing: 134.743574 deg,
      approach rate: -0.662081 m/s,
      LOS rate: 0.048875 deg/s,
      cmd heading: 139.750534 deg,
      new cmd heading: 139.805316 deg.

2025-01-09T05:46:28.881Z,1736401588.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440063 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:28.920Z,1736401588.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763345
2025-01-09T05:46:29.173Z,1736401589.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016945
2025-01-09T05:46:29.271Z,1736401589.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:29.294Z,1736401589.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:29.301Z,1736401589.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 73.663025 m,
      bearing: 134.762763 deg,
      approach rate: -0.633406 m/s,
      LOS rate: 0.046200 deg/s,
      cmd heading: 139.805312 deg,
      new cmd heading: 139.863084 deg.

2025-01-09T05:46:29.302Z,1736401589.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441071 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:29.427Z,1736401589.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270170
2025-01-09T05:46:29.676Z,1736401589.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519400
2025-01-09T05:46:29.703Z,1736401589.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:29.713Z,1736401589.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:29.715Z,1736401589.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 73.367622 m,
      bearing: 134.793123 deg,
      approach rate: -0.704629 m/s,
      LOS rate: 0.072709 deg/s,
      cmd heading: 139.863081 deg,
      new cmd heading: 139.954527 deg.

2025-01-09T05:46:29.716Z,1736401589.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442667 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:29.928Z,1736401589.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771894
2025-01-09T05:46:30.084Z,1736401590.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:30.112Z,1736401590.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:30.118Z,1736401590.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 73.106468 m,
      bearing: 134.820144 deg,
      approach rate: -0.654037 m/s,
      LOS rate: 0.067915 deg/s,
      cmd heading: 139.954524 deg,
      new cmd heading: 140.035879 deg.

2025-01-09T05:46:30.119Z,1736401590.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444087 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:30.181Z,1736401590.181 [DAT](INFO): DAT read: Rx Time:05:46:28.7833

2025-01-09T05:46:30.182Z,1736401590.182 [DAT](INFO): Rx dataTimestamp_ set to:1736401590.181552
2025-01-09T05:46:30.184Z,1736401590.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027102
2025-01-09T05:46:30.432Z,1736401590.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275200
2025-01-09T05:46:30.502Z,1736401590.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:30.576Z,1736401590.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:30.583Z,1736401590.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.40 m.
2025-01-09T05:46:30.586Z,1736401590.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.400002 m,
      nav range: 72.807953 m,
      bearing: 134.855312 deg,
      approach rate: -0.639090 m/s,
      LOS rate: 0.075599 deg/s,
      cmd heading: 140.035885 deg,
      new cmd heading: 140.141821 deg.

2025-01-09T05:46:30.591Z,1736401590.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445936 target range: 103.400002 and range: 103.40 m.
2025-01-09T05:46:30.692Z,1736401590.692 [DAT](INFO): DAT read: 05:46:28.7833 LVL= 25216, 32321, 20562, 32755, AGC= 67, IDX= 349,-0.12, 0.028,-1.196, 0.392,-0.081, PHS= 0.197,-1.068, 0.470, RAW= 159.6,   5.7, CAL= 159.9,  -3.6, ROT= 350.1,   3.6

2025-01-09T05:46:30.693Z,1736401590.693 [DAT](INFO): got valid direction response:
 05:46:28.7833 LVL= 25216, 32321, 20562, 32755, AGC= 67, IDX= 349,-0.12, 0.028,-1.196, 0.392,-0.081, PHS= 0.197,-1.068, 0.470, RAW= 159.6,   5.7, CAL= 159.9,  -3.6, ROT= 350.1,   3.6

2025-01-09T05:46:30.695Z,1736401590.695 [DAT](INFO): DAT read: Bearing 350.1,   3.6 (Local)

2025-01-09T05:46:30.695Z,1736401590.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.1,   3.6 (Local)

2025-01-09T05:46:30.697Z,1736401590.697 [DAT](INFO): DAT read: Range 10 to 50 : 73.8 m  (Round-trip  98.5 ms) speed  0.5 m/s

2025-01-09T05:46:30.697Z,1736401590.697 [DAT](INFO): DAT read: user:171>

2025-01-09T05:46:30.698Z,1736401590.698 [DAT](INFO): DAT read: Tx time:05:46:29.8807

2025-01-09T05:46:30.698Z,1736401590.698 [DAT](INFO): Ping request sent.
2025-01-09T05:46:30.698Z,1736401590.698 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:46:30.707Z,1736401590.707 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:46:30.708Z,1736401590.708 [DAT](INFO): direction in FSK: [0.983165,-0.171590,-0.062791]
2025-01-09T05:46:30.708Z,1736401590.708 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:30.708Z,1736401590.708 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:30.721Z,1736401590.721 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:30.721Z,1736401590.721 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:30.904Z,1736401590.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:30.936Z,1736401590.936 [DAT](INFO): DAT read: TxSync time:05:46:29.8799

2025-01-09T05:46:30.942Z,1736401590.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.800003 m,
      deltaT: 47.380630 s,
      deltaX: -29.599998 m,
      approachRate: -0.624728 m/s,
      rangeRepo size: 4

2025-01-09T05:46:30.948Z,1736401590.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.800003 m,
      bearing: 130.550835 deg,
      lat: 36.904035 deg,
      lon: -122.118872 deg,
      deltaT: 47.380630 s,
      deltaX: -29.599998 m,
      approachRate: -0.624728 m/s,
      posRepo size: 4

2025-01-09T05:46:30.949Z,1736401590.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.80 m.
2025-01-09T05:46:30.956Z,1736401590.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.800003 m,
      nav range: 73.295891 m,
      bearing: 130.550568 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.075599 deg/s,
      cmd heading: 140.141821 deg,
      new cmd heading: 140.224010 deg.

2025-01-09T05:46:30.957Z,1736401590.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447371 target range: 73.800003 and range: 73.80 m.
2025-01-09T05:46:31.289Z,1736401591.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:31.299Z,1736401591.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.80 m.
2025-01-09T05:46:31.302Z,1736401591.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.800003 m,
      nav range: 73.018517 m,
      bearing: 130.566724 deg,
      approach rate: -0.776278 m/s,
      LOS rate: 0.045387 deg/s,
      cmd heading: 140.224016 deg,
      new cmd heading: 140.272668 deg.

2025-01-09T05:46:31.303Z,1736401591.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448220 target range: 73.800003 and range: 73.80 m.
2025-01-09T05:46:31.750Z,1736401591.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:31.768Z,1736401591.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.80 m.
2025-01-09T05:46:31.787Z,1736401591.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.800003 m,
      nav range: 72.676857 m,
      bearing: 130.586866 deg,
      approach rate: -0.728038 m/s,
      LOS rate: 0.043121 deg/s,
      cmd heading: 140.272674 deg,
      new cmd heading: 140.333383 deg.

2025-01-09T05:46:31.792Z,1736401591.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449280 target range: 73.800003 and range: 73.80 m.
2025-01-09T05:46:32.112Z,1736401592.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:32.123Z,1736401592.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.80 m.
2025-01-09T05:46:32.125Z,1736401592.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.800003 m,
      nav range: 72.409126 m,
      bearing: 130.602857 deg,
      approach rate: -0.755013 m/s,
      LOS rate: 0.045263 deg/s,
      cmd heading: 140.333381 deg,
      new cmd heading: 140.381532 deg.

2025-01-09T05:46:32.126Z,1736401592.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450120 target range: 73.800003 and range: 73.80 m.
2025-01-09T05:46:32.579Z,1736401592.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:32.586Z,1736401592.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:32.588Z,1736401592.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.80 m.
2025-01-09T05:46:32.591Z,1736401592.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.800003 m,
      nav range: 72.058434 m,
      bearing: 130.627619 deg,
      approach rate: -0.753645 m/s,
      LOS rate: 0.053472 deg/s,
      cmd heading: 140.381534 deg,
      new cmd heading: 140.456180 deg.

2025-01-09T05:46:32.592Z,1736401592.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451423 target range: 73.800003 and range: 73.80 m.
2025-01-09T05:46:32.700Z,1736401592.700 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:32.700Z,1736401592.700 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:32.701Z,1736401592.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:32.952Z,1736401592.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253297
2025-01-09T05:46:32.975Z,1736401592.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:32.989Z,1736401592.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.80 m.
2025-01-09T05:46:32.992Z,1736401592.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.800003 m,
      nav range: 71.767876 m,
      bearing: 130.648531 deg,
      approach rate: -0.724769 m/s,
      LOS rate: 0.052374 deg/s,
      cmd heading: 140.456174 deg,
      new cmd heading: 140.519163 deg.

2025-01-09T05:46:32.992Z,1736401592.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452522 target range: 73.800003 and range: 73.80 m.
2025-01-09T05:46:33.204Z,1736401593.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505377
2025-01-09T05:46:33.469Z,1736401593.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759614
2025-01-09T05:46:33.541Z,1736401593.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:33.551Z,1736401593.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.80 m.
2025-01-09T05:46:33.553Z,1736401593.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.800003 m,
      nav range: 71.351959 m,
      bearing: 130.669947 deg,
      approach rate: -0.740363 m/s,
      LOS rate: 0.038345 deg/s,
      cmd heading: 140.519162 deg,
      new cmd heading: 140.583785 deg.

2025-01-09T05:46:33.554Z,1736401593.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453650 target range: 73.800003 and range: 73.80 m.
2025-01-09T05:46:33.708Z,1736401593.708 [DAT](INFO): DAT read: Rx Time:05:46:32.3800

2025-01-09T05:46:33.708Z,1736401593.708 [DAT](INFO): Rx dataTimestamp_ set to:1736401593.707763
2025-01-09T05:46:33.709Z,1736401593.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010284
2025-01-09T05:46:33.864Z,1736401593.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:33.872Z,1736401593.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.80 m.
2025-01-09T05:46:33.875Z,1736401593.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.800003 m,
      nav range: 71.118202 m,
      bearing: 130.682094 deg,
      approach rate: -0.726592 m/s,
      LOS rate: 0.037880 deg/s,
      cmd heading: 140.583789 deg,
      new cmd heading: 140.620349 deg.

2025-01-09T05:46:33.876Z,1736401593.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454288 target range: 73.800003 and range: 73.80 m.
2025-01-09T05:46:33.961Z,1736401593.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262978
2025-01-09T05:46:34.218Z,1736401594.218 [DAT](INFO): DAT read: 05:46:32.3800 LVL= 23840, 32753, 19314, 32755, AGC= 67, IDX= 411,-0.08,-2.545, 2.477,-2.207,-2.650, PHS= 0.193,-1.109, 0.440, RAW= 158.5,   6.7, CAL= 158.7,  -2.7, ROT= 351.3,   2.7

2025-01-09T05:46:34.219Z,1736401594.219 [DAT](INFO): got valid direction response:
 05:46:32.3800 LVL= 23840, 32753, 19314, 32755, AGC= 67, IDX= 411,-0.08,-2.545, 2.477,-2.207,-2.650, PHS= 0.193,-1.109, 0.440, RAW= 158.5,   6.7, CAL= 158.7,  -2.7, ROT= 351.3,   2.7

2025-01-09T05:46:34.220Z,1736401594.220 [DAT](INFO): DAT read: Bearing 351.3,   2.7 (Local)

2025-01-09T05:46:34.220Z,1736401594.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.3,   2.7 (Local)

2025-01-09T05:46:34.222Z,1736401594.222 [DAT](INFO): DAT read: Range 10 to 50 : 71.4 m  (Round-trip  95.2 ms) speed  0.4 m/s

2025-01-09T05:46:34.239Z,1736401594.239 [DAT](INFO): DAT read: user:172>

2025-01-09T05:46:34.240Z,1736401594.240 [DAT](INFO): DAT read: Tx time:05:46:33.4807

2025-01-09T05:46:34.241Z,1736401594.241 [DAT](INFO): Ping request sent.
2025-01-09T05:46:34.241Z,1736401594.241 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:46:34.242Z,1736401594.242 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:46:34.243Z,1736401594.243 [DAT](INFO): direction in FSK: [0.987397,-0.151093,-0.047106]
2025-01-09T05:46:34.244Z,1736401594.244 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:34.245Z,1736401594.245 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:34.272Z,1736401594.272 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:34.272Z,1736401594.272 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:34.289Z,1736401594.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:34.328Z,1736401594.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.400002 m,
      deltaT: 3.527981 s,
      deltaX: -2.400002 m,
      approachRate: -0.680276 m/s,
      rangeRepo size: 4

2025-01-09T05:46:34.330Z,1736401594.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 71.400002 m,
      bearing: 131.787596 deg,
      lat: 36.904035 deg,
      lon: -122.118872 deg,
      deltaT: 3.527981 s,
      deltaX: -2.400002 m,
      approachRate: -0.680276 m/s,
      posRepo size: 4

2025-01-09T05:46:34.339Z,1736401594.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.40 m.
2025-01-09T05:46:34.342Z,1736401594.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.400002 m,
      nav range: 70.810234 m,
      bearing: 130.697489 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037880 deg/s,
      cmd heading: 140.620344 deg,
      new cmd heading: 140.671513 deg.

2025-01-09T05:46:34.372Z,1736401594.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455181 target range: 71.400002 and range: 71.40 m.
2025-01-09T05:46:34.467Z,1736401594.467 [DAT](INFO): DAT read: TxSync time:05:46:33.4799

2025-01-09T05:46:34.701Z,1736401594.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:34.736Z,1736401594.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:34.744Z,1736401594.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.40 m.
2025-01-09T05:46:34.752Z,1736401594.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.400002 m,
      nav range: 70.520584 m,
      bearing: 130.701926 deg,
      approach rate: -0.695620 m/s,
      LOS rate: 0.010699 deg/s,
      cmd heading: 140.671516 deg,
      new cmd heading: 140.684881 deg.

2025-01-09T05:46:34.754Z,1736401594.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455414 target range: 71.400002 and range: 71.40 m.
2025-01-09T05:46:34.968Z,1736401594.968 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:34.968Z,1736401594.968 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:34.968Z,1736401594.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:35.070Z,1736401595.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:35.080Z,1736401595.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.40 m.
2025-01-09T05:46:35.085Z,1736401595.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.400002 m,
      nav range: 70.261520 m,
      bearing: 130.705595 deg,
      approach rate: -0.759582 m/s,
      LOS rate: 0.010798 deg/s,
      cmd heading: 140.684876 deg,
      new cmd heading: 140.695925 deg.

2025-01-09T05:46:35.086Z,1736401595.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455607 target range: 71.400002 and range: 71.40 m.
2025-01-09T05:46:35.221Z,1736401595.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979219
2025-01-09T05:46:35.475Z,1736401595.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233159
2025-01-09T05:46:35.530Z,1736401595.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:35.551Z,1736401595.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.40 m.
2025-01-09T05:46:35.553Z,1736401595.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.400002 m,
      nav range: 69.938507 m,
      bearing: 130.709237 deg,
      approach rate: -0.686504 m/s,
      LOS rate: 0.007775 deg/s,
      cmd heading: 140.695927 deg,
      new cmd heading: 140.706902 deg.

2025-01-09T05:46:35.554Z,1736401595.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455799 target range: 71.400002 and range: 71.40 m.
2025-01-09T05:46:35.724Z,1736401595.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482519
2025-01-09T05:46:35.894Z,1736401595.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:35.903Z,1736401595.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.40 m.
2025-01-09T05:46:35.906Z,1736401595.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.400002 m,
      nav range: 69.692085 m,
      bearing: 130.704235 deg,
      approach rate: -0.699275 m/s,
      LOS rate: -0.014243 deg/s,
      cmd heading: 140.706897 deg,
      new cmd heading: 140.691839 deg.

2025-01-09T05:46:35.907Z,1736401595.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455536 target range: 71.400002 and range: 71.40 m.
2025-01-09T05:46:35.977Z,1736401595.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735657
2025-01-09T05:46:36.228Z,1736401596.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986574
2025-01-09T05:46:36.299Z,1736401596.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:36.307Z,1736401596.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.40 m.
2025-01-09T05:46:36.311Z,1736401596.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.400002 m,
      nav range: 69.416878 m,
      bearing: 130.698694 deg,
      approach rate: -0.680590 m/s,
      LOS rate: -0.013757 deg/s,
      cmd heading: 140.691843 deg,
      new cmd heading: 140.675154 deg.

2025-01-09T05:46:36.312Z,1736401596.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455245 target range: 71.400002 and range: 71.40 m.
2025-01-09T05:46:36.483Z,1736401596.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240964
2025-01-09T05:46:36.690Z,1736401596.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:36.717Z,1736401596.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.40 m.
2025-01-09T05:46:36.723Z,1736401596.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.400002 m,
      nav range: 69.171783 m,
      bearing: 130.684321 deg,
      approach rate: -0.598787 m/s,
      LOS rate: -0.035239 deg/s,
      cmd heading: 140.675150 deg,
      new cmd heading: 140.631878 deg.

2025-01-09T05:46:36.724Z,1736401596.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454489 target range: 71.400002 and range: 71.40 m.
2025-01-09T05:46:36.732Z,1736401596.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491385
2025-01-09T05:46:36.984Z,1736401596.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742633
2025-01-09T05:46:37.096Z,1736401597.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:37.103Z,1736401597.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:37.105Z,1736401597.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.40 m.
2025-01-09T05:46:37.108Z,1736401597.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.400002 m,
      nav range: 68.917473 m,
      bearing: 130.669299 deg,
      approach rate: -0.654155 m/s,
      LOS rate: -0.038783 deg/s,
      cmd heading: 140.631874 deg,
      new cmd heading: 140.586642 deg.

2025-01-09T05:46:37.109Z,1736401597.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453700 target range: 71.400002 and range: 71.40 m.
2025-01-09T05:46:37.236Z,1736401597.236 [DAT](INFO): DAT read: Rx Time:05:46:35.9767

2025-01-09T05:46:37.237Z,1736401597.237 [DAT](INFO): Rx dataTimestamp_ set to:1736401597.236526
2025-01-09T05:46:37.240Z,1736401597.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998446
2025-01-09T05:46:37.491Z,1736401597.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249074
2025-01-09T05:46:37.511Z,1736401597.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:37.575Z,1736401597.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.40 m.
2025-01-09T05:46:37.583Z,1736401597.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.400002 m,
      nav range: 68.658791 m,
      bearing: 130.653995 deg,
      approach rate: -0.556235 m/s,
      LOS rate: -0.033032 deg/s,
      cmd heading: 140.586644 deg,
      new cmd heading: 140.540559 deg.

2025-01-09T05:46:37.584Z,1736401597.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452895 target range: 71.400002 and range: 71.40 m.
2025-01-09T05:46:37.767Z,1736401597.767 [DAT](INFO): DAT read: 05:46:35.9767 LVL= 19360, 23761, 15250, 25539, AGC= 65, IDX= 408,-0.37, 0.059,-1.152, 0.419,-0.053, PHS= 0.199,-1.052, 0.469, RAW= 159.6,   5.5, CAL= 160.0,  -3.8, ROT= 350.0,   3.8

2025-01-09T05:46:37.768Z,1736401597.768 [DAT](INFO): got valid direction response:
 05:46:35.9767 LVL= 19360, 23761, 15250, 25539, AGC= 65, IDX= 408,-0.37, 0.059,-1.152, 0.419,-0.053, PHS= 0.199,-1.052, 0.469, RAW= 159.6,   5.5, CAL= 160.0,  -3.8, ROT= 350.0,   3.8

2025-01-09T05:46:37.769Z,1736401597.769 [DAT](INFO): DAT read: Bearing 350.0,   3.8 (Local)

2025-01-09T05:46:37.769Z,1736401597.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.0,   3.8 (Local)

2025-01-09T05:46:37.775Z,1736401597.775 [DAT](INFO): DAT read: Range 10 to 50 : 68.7 m  (Round-trip  91.7 ms) speed  0.5 m/s

2025-01-09T05:46:37.775Z,1736401597.775 [DAT](INFO): DAT read: user:173>

2025-01-09T05:46:37.777Z,1736401597.777 [DAT](INFO): DAT read: Tx time:05:46:37.0808

2025-01-09T05:46:37.777Z,1736401597.777 [DAT](INFO): Ping request sent.
2025-01-09T05:46:37.778Z,1736401597.778 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:46:37.778Z,1736401597.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:46:37.785Z,1736401597.785 [DAT](INFO): direction in FSK: [0.982643,-0.173266,-0.066274]
2025-01-09T05:46:37.786Z,1736401597.786 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:37.787Z,1736401597.787 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:37.790Z,1736401597.790 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:37.790Z,1736401597.790 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:37.982Z,1736401597.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:37.992Z,1736401597.992 [DAT](INFO): DAT read: TxSync time:05:46:37.0800

2025-01-09T05:46:38.024Z,1736401598.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.699997 m,
      deltaT: 3.528905 s,
      deltaX: -2.700005 m,
      approachRate: -0.765111 m/s,
      rangeRepo size: 4

2025-01-09T05:46:38.033Z,1736401598.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.699997 m,
      bearing: 130.960497 deg,
      lat: 36.904035 deg,
      lon: -122.118872 deg,
      deltaT: 3.528905 s,
      deltaX: -2.700005 m,
      approachRate: -0.765111 m/s,
      posRepo size: 4

2025-01-09T05:46:38.033Z,1736401598.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m.
2025-01-09T05:46:38.040Z,1736401598.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.699997 m,
      nav range: 68.375565 m,
      bearing: 130.624324 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033032 deg/s,
      cmd heading: 140.540554 deg,
      new cmd heading: 140.495619 deg.

2025-01-09T05:46:38.041Z,1736401598.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452111 target range: 68.699997 and range: 68.70 m.
2025-01-09T05:46:38.331Z,1736401598.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:38.349Z,1736401598.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m.
2025-01-09T05:46:38.383Z,1736401598.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.699997 m,
      nav range: 68.166008 m,
      bearing: 130.602257 deg,
      approach rate: -0.645159 m/s,
      LOS rate: -0.068147 deg/s,
      cmd heading: 140.495625 deg,
      new cmd heading: 140.429220 deg.

2025-01-09T05:46:38.384Z,1736401598.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450952 target range: 68.699997 and range: 68.70 m.
2025-01-09T05:46:38.825Z,1736401598.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:38.855Z,1736401598.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m.
2025-01-09T05:46:38.858Z,1736401598.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.699997 m,
      nav range: 67.881935 m,
      bearing: 130.567780 deg,
      approach rate: -0.560631 m/s,
      LOS rate: -0.068326 deg/s,
      cmd heading: 140.429222 deg,
      new cmd heading: 140.325359 deg.

2025-01-09T05:46:38.859Z,1736401598.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449140 target range: 68.699997 and range: 68.70 m.
2025-01-09T05:46:39.198Z,1736401599.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:39.224Z,1736401599.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:39.227Z,1736401599.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m.
2025-01-09T05:46:39.233Z,1736401599.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.699997 m,
      nav range: 67.667160 m,
      bearing: 130.541520 deg,
      approach rate: -0.578771 m/s,
      LOS rate: -0.070990 deg/s,
      cmd heading: 140.325362 deg,
      new cmd heading: 140.246332 deg.

2025-01-09T05:46:39.234Z,1736401599.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447760 target range: 68.699997 and range: 68.70 m.
2025-01-09T05:46:39.272Z,1736401599.272 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:39.272Z,1736401599.272 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:39.272Z,1736401599.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:39.528Z,1736401599.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750242
2025-01-09T05:46:39.645Z,1736401599.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:39.654Z,1736401599.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m.
2025-01-09T05:46:39.657Z,1736401599.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.699997 m,
      nav range: 67.409981 m,
      bearing: 130.512209 deg,
      approach rate: -0.601412 m/s,
      LOS rate: -0.068805 deg/s,
      cmd heading: 140.246337 deg,
      new cmd heading: 140.158068 deg.

2025-01-09T05:46:39.658Z,1736401599.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446220 target range: 68.699997 and range: 68.70 m.
2025-01-09T05:46:39.776Z,1736401599.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998390
2025-01-09T05:46:40.023Z,1736401600.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:40.029Z,1736401600.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251270
2025-01-09T05:46:40.034Z,1736401600.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m.
2025-01-09T05:46:40.037Z,1736401600.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.699997 m,
      nav range: 67.192368 m,
      bearing: 130.487807 deg,
      approach rate: -0.572514 m/s,
      LOS rate: -0.064407 deg/s,
      cmd heading: 140.158064 deg,
      new cmd heading: 140.084620 deg.

2025-01-09T05:46:40.038Z,1736401600.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444938 target range: 68.699997 and range: 68.70 m.
2025-01-09T05:46:40.281Z,1736401600.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503377
2025-01-09T05:46:40.425Z,1736401600.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:40.435Z,1736401600.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m.
2025-01-09T05:46:40.437Z,1736401600.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.699997 m,
      nav range: 66.961433 m,
      bearing: 130.461875 deg,
      approach rate: -0.576933 m/s,
      LOS rate: -0.065006 deg/s,
      cmd heading: 140.084625 deg,
      new cmd heading: 140.006563 deg.

2025-01-09T05:46:40.438Z,1736401600.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443576 target range: 68.699997 and range: 68.70 m.
2025-01-09T05:46:40.536Z,1736401600.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758328
2025-01-09T05:46:40.784Z,1736401600.784 [DAT](INFO): DAT read: Rx Time:05:46:39.5735

2025-01-09T05:46:40.784Z,1736401600.784 [DAT](INFO): Rx dataTimestamp_ set to:1736401600.783925
2025-01-09T05:46:40.785Z,1736401600.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007469
2025-01-09T05:46:40.879Z,1736401600.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:40.888Z,1736401600.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m.
2025-01-09T05:46:40.890Z,1736401600.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.699997 m,
      nav range: 66.692902 m,
      bearing: 130.435610 deg,
      approach rate: -0.592409 m/s,
      LOS rate: -0.058177 deg/s,
      cmd heading: 140.006570 deg,
      new cmd heading: 139.927457 deg.

2025-01-09T05:46:40.892Z,1736401600.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442195 target range: 68.699997 and range: 68.70 m.
2025-01-09T05:46:41.036Z,1736401601.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258312
2025-01-09T05:46:41.229Z,1736401601.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:41.236Z,1736401601.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:41.238Z,1736401601.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.70 m.
2025-01-09T05:46:41.241Z,1736401601.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.699997 m,
      nav range: 66.485939 m,
      bearing: 130.415274 deg,
      approach rate: -0.590771 m/s,
      LOS rate: -0.058229 deg/s,
      cmd heading: 139.927463 deg,
      new cmd heading: 139.866265 deg.

2025-01-09T05:46:41.242Z,1736401601.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441127 target range: 68.699997 and range: 68.70 m.
2025-01-09T05:46:41.289Z,1736401601.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511786
2025-01-09T05:46:41.563Z,1736401601.563 [DAT](INFO): DAT read: 05:46:39.5735 LVL= 29680, 28897, 18850, 27859, AGC= 63, IDX= 407,-0.03, 0.727,-0.546, 1.144, 0.630, PHS= 0.186,-1.129, 0.511, RAW= 160.8,   5.8, CAL= 161.0,  -3.6, ROT= 349.0,   3.6

2025-01-09T05:46:41.568Z,1736401601.568 [DAT](INFO): got valid direction response:
 05:46:39.5735 LVL= 29680, 28897, 18850, 27859, AGC= 63, IDX= 407,-0.03, 0.727,-0.546, 1.144, 0.630, PHS= 0.186,-1.129, 0.511, RAW= 160.8,   5.8, CAL= 161.0,  -3.6, ROT= 349.0,   3.6

2025-01-09T05:46:41.571Z,1736401601.571 [DAT](INFO): DAT read: Bearing 349.0,   3.6 (Local)

2025-01-09T05:46:41.572Z,1736401601.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.0,   3.6 (Local)

2025-01-09T05:46:41.578Z,1736401601.578 [DAT](INFO): DAT read: Range 10 to 50 : 66.3 m  (Round-trip  88.5 ms) speed  0.6 m/s

2025-01-09T05:46:41.581Z,1736401601.581 [DAT](INFO): DAT read: user:174>

2025-01-09T05:46:41.585Z,1736401601.585 [DAT](INFO): DAT read: Tx time:05:46:40.6808

2025-01-09T05:46:41.639Z,1736401601.639 [DAT](INFO): Ping request sent.
2025-01-09T05:46:41.639Z,1736401601.639 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:46:41.639Z,1736401601.639 [DAT](INFO): DAT read: TxSync time:05:46:40.6800

2025-01-09T05:46:41.640Z,1736401601.640 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:46:41.641Z,1736401601.641 [DAT](INFO): direction in FSK: [0.979690,-0.190433,-0.062791]
2025-01-09T05:46:41.641Z,1736401601.641 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:41.642Z,1736401601.642 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:41.649Z,1736401601.649 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:41.649Z,1736401601.649 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:41.768Z,1736401601.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:41.802Z,1736401601.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.300003 m,
      deltaT: 3.800092 s,
      deltaX: -2.399994 m,
      approachRate: -0.631562 m/s,
      rangeRepo size: 4

2025-01-09T05:46:41.808Z,1736401601.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.300003 m,
      bearing: 129.832355 deg,
      lat: 36.904035 deg,
      lon: -122.118872 deg,
      deltaT: 3.800092 s,
      deltaX: -2.399994 m,
      approachRate: -0.631562 m/s,
      posRepo size: 4

2025-01-09T05:46:41.809Z,1736401601.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-01-09T05:46:41.817Z,1736401601.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.300003 m,
      nav range: 66.141945 m,
      bearing: 130.392517 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.058229 deg/s,
      cmd heading: 139.866264 deg,
      new cmd heading: 139.767893 deg.

2025-01-09T05:46:41.819Z,1736401601.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439410 target range: 66.300003 and range: 66.30 m.
2025-01-09T05:46:42.103Z,1736401602.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:42.129Z,1736401602.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-01-09T05:46:42.132Z,1736401602.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.300003 m,
      nav range: 65.928474 m,
      bearing: 130.378274 deg,
      approach rate: -0.652312 m/s,
      LOS rate: -0.043662 deg/s,
      cmd heading: 139.767896 deg,
      new cmd heading: 139.725030 deg.

2025-01-09T05:46:42.133Z,1736401602.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438662 target range: 66.300003 and range: 66.30 m.
2025-01-09T05:46:42.498Z,1736401602.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:42.507Z,1736401602.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-01-09T05:46:42.509Z,1736401602.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.300003 m,
      nav range: 65.676491 m,
      bearing: 130.361996 deg,
      approach rate: -0.666558 m/s,
      LOS rate: -0.043225 deg/s,
      cmd heading: 139.725030 deg,
      new cmd heading: 139.676007 deg.

2025-01-09T05:46:42.511Z,1736401602.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437806 target range: 66.300003 and range: 66.30 m.
2025-01-09T05:46:42.905Z,1736401602.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:42.914Z,1736401602.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-01-09T05:46:42.937Z,1736401602.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.300003 m,
      nav range: 65.408829 m,
      bearing: 130.360658 deg,
      approach rate: -0.656991 m/s,
      LOS rate: -0.003299 deg/s,
      cmd heading: 139.676002 deg,
      new cmd heading: 139.671971 deg.

2025-01-09T05:46:42.938Z,1736401602.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437736 target range: 66.300003 and range: 66.30 m.
2025-01-09T05:46:43.296Z,1736401603.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:43.306Z,1736401603.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:43.324Z,1736401603.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-01-09T05:46:43.332Z,1736401603.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.300003 m,
      nav range: 65.151123 m,
      bearing: 130.359531 deg,
      approach rate: -0.627685 m/s,
      LOS rate: -0.002754 deg/s,
      cmd heading: 139.671973 deg,
      new cmd heading: 139.668581 deg.

2025-01-09T05:46:43.334Z,1736401603.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437677 target range: 66.300003 and range: 66.30 m.
2025-01-09T05:46:43.558Z,1736401603.558 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:43.558Z,1736401603.558 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:43.558Z,1736401603.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:43.744Z,1736401603.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:43.785Z,1736401603.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-01-09T05:46:43.792Z,1736401603.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.300003 m,
      nav range: 64.842293 m,
      bearing: 130.372880 deg,
      approach rate: -0.670775 m/s,
      LOS rate: 0.029131 deg/s,
      cmd heading: 139.668585 deg,
      new cmd heading: 139.708821 deg.

2025-01-09T05:46:43.793Z,1736401603.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438379 target range: 66.300003 and range: 66.30 m.
2025-01-09T05:46:43.808Z,1736401603.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221358
2025-01-09T05:46:44.060Z,1736401604.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473423
2025-01-09T05:46:44.100Z,1736401604.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:44.109Z,1736401604.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-01-09T05:46:44.113Z,1736401604.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.300003 m,
      nav range: 64.596519 m,
      bearing: 130.383197 deg,
      approach rate: -0.758562 m/s,
      LOS rate: 0.031964 deg/s,
      cmd heading: 139.708815 deg,
      new cmd heading: 139.739883 deg.

2025-01-09T05:46:44.114Z,1736401604.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438921 target range: 66.300003 and range: 66.30 m.
2025-01-09T05:46:44.313Z,1736401604.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726597
2025-01-09T05:46:44.503Z,1736401604.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:44.528Z,1736401604.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-01-09T05:46:44.530Z,1736401604.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.300003 m,
      nav range: 64.319389 m,
      bearing: 130.394642 deg,
      approach rate: -0.661590 m/s,
      LOS rate: 0.027440 deg/s,
      cmd heading: 139.739878 deg,
      new cmd heading: 139.774361 deg.

2025-01-09T05:46:44.536Z,1736401604.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439523 target range: 66.300003 and range: 66.30 m.
2025-01-09T05:46:44.564Z,1736401604.564 [DAT](INFO): DAT read: Rx Time:05:46:43.1704

2025-01-09T05:46:44.564Z,1736401604.564 [DAT](INFO): Rx dataTimestamp_ set to:1736401604.564039
2025-01-09T05:46:44.565Z,1736401604.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978416
2025-01-09T05:46:44.816Z,1736401604.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229150
2025-01-09T05:46:44.980Z,1736401604.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:44.988Z,1736401604.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-01-09T05:46:44.991Z,1736401604.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.300003 m,
      nav range: 63.978115 m,
      bearing: 130.414577 deg,
      approach rate: -0.740976 m/s,
      LOS rate: 0.043514 deg/s,
      cmd heading: 139.774357 deg,
      new cmd heading: 139.834482 deg.

2025-01-09T05:46:44.992Z,1736401604.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440572 target range: 66.300003 and range: 66.30 m.
2025-01-09T05:46:45.074Z,1736401605.074 [DAT](INFO): DAT read: 05:46:43.1704 LVL= 28528, 24785, 17794, 32115, AGC= 60, IDX= 407,-0.45, 2.760, 1.499,-3.117, 2.624, PHS= 0.223,-1.078, 0.538, RAW= 160.6,   4.3, CAL= 161.3,  -4.9, ROT= 348.7,   4.9

2025-01-09T05:46:45.075Z,1736401605.075 [DAT](INFO): got valid direction response:
 05:46:43.1704 LVL= 28528, 24785, 17794, 32115, AGC= 60, IDX= 407,-0.45, 2.760, 1.499,-3.117, 2.624, PHS= 0.223,-1.078, 0.538, RAW= 160.6,   4.3, CAL= 161.3,  -4.9, ROT= 348.7,   4.9

2025-01-09T05:46:45.076Z,1736401605.076 [DAT](INFO): DAT read: Bearing 348.7,   4.9 (Local)

2025-01-09T05:46:45.077Z,1736401605.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.7,   4.9 (Local)

2025-01-09T05:46:45.078Z,1736401605.078 [DAT](INFO): DAT read: Range 10 to 50 : 64.0 m  (Round-trip  85.4 ms) speed  0.6 m/s

2025-01-09T05:46:45.087Z,1736401605.087 [DAT](INFO): DAT read: user:175>

2025-01-09T05:46:45.088Z,1736401605.088 [DAT](INFO): DAT read: Tx time:05:46:44.2808

2025-01-09T05:46:45.088Z,1736401605.088 [DAT](INFO): Ping request sent.
2025-01-09T05:46:45.088Z,1736401605.088 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:46:45.089Z,1736401605.089 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:46:45.090Z,1736401605.090 [DAT](INFO): direction in FSK: [0.977031,-0.195230,-0.085417]
2025-01-09T05:46:45.090Z,1736401605.090 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:45.090Z,1736401605.090 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:45.108Z,1736401605.108 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:45.108Z,1736401605.108 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:45.321Z,1736401605.321 [DAT](INFO): DAT read: TxSync time:05:46:44.2800

2025-01-09T05:46:45.326Z,1736401605.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:45.343Z,1736401605.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.000000 m,
      deltaT: 3.526481 s,
      deltaX: -2.300003 m,
      approachRate: -0.652209 m/s,
      rangeRepo size: 4

2025-01-09T05:46:45.345Z,1736401605.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.000000 m,
      bearing: 129.836185 deg,
      lat: 36.904035 deg,
      lon: -122.118872 deg,
      deltaT: 3.526481 s,
      deltaX: -2.300003 m,
      approachRate: -0.652209 m/s,
      posRepo size: 4

2025-01-09T05:46:45.346Z,1736401605.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-01-09T05:46:45.349Z,1736401605.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.000000 m,
      nav range: 63.730274 m,
      bearing: 130.428770 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.043514 deg/s,
      cmd heading: 139.834477 deg,
      new cmd heading: 139.880691 deg.

2025-01-09T05:46:45.350Z,1736401605.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441379 target range: 64.000000 and range: 64.00 m.
2025-01-09T05:46:45.766Z,1736401605.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:45.784Z,1736401605.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:45.786Z,1736401605.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-01-09T05:46:45.794Z,1736401605.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.000000 m,
      nav range: 63.410084 m,
      bearing: 130.445463 deg,
      approach rate: -0.721283 m/s,
      LOS rate: 0.037794 deg/s,
      cmd heading: 139.880690 deg,
      new cmd heading: 139.931021 deg.

2025-01-09T05:46:45.800Z,1736401605.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442257 target range: 64.000000 and range: 64.00 m.
2025-01-09T05:46:45.824Z,1736401605.824 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:45.824Z,1736401605.824 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:45.824Z,1736401605.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:46.076Z,1736401606.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987226
2025-01-09T05:46:46.117Z,1736401606.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:46.126Z,1736401606.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-01-09T05:46:46.130Z,1736401606.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.000000 m,
      nav range: 63.153866 m,
      bearing: 130.459068 deg,
      approach rate: -0.755032 m/s,
      LOS rate: 0.040253 deg/s,
      cmd heading: 139.931028 deg,
      new cmd heading: 139.972007 deg.

2025-01-09T05:46:46.147Z,1736401606.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442972 target range: 64.000000 and range: 64.00 m.
2025-01-09T05:46:46.329Z,1736401606.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240321
2025-01-09T05:46:46.526Z,1736401606.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:46.536Z,1736401606.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-01-09T05:46:46.539Z,1736401606.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.000000 m,
      nav range: 62.855381 m,
      bearing: 130.474835 deg,
      approach rate: -0.727075 m/s,
      LOS rate: 0.038590 deg/s,
      cmd heading: 139.972009 deg,
      new cmd heading: 140.019536 deg.

2025-01-09T05:46:46.540Z,1736401606.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443802 target range: 64.000000 and range: 64.00 m.
2025-01-09T05:46:46.583Z,1736401606.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494945
2025-01-09T05:46:46.832Z,1736401606.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743230
2025-01-09T05:46:46.971Z,1736401606.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:46.980Z,1736401606.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-01-09T05:46:46.983Z,1736401606.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.000000 m,
      nav range: 62.527168 m,
      bearing: 130.497745 deg,
      approach rate: -0.738782 m/s,
      LOS rate: 0.051839 deg/s,
      cmd heading: 140.019534 deg,
      new cmd heading: 140.088625 deg.

2025-01-09T05:46:46.984Z,1736401606.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445008 target range: 64.000000 and range: 64.00 m.
2025-01-09T05:46:47.085Z,1736401607.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995743
2025-01-09T05:46:47.336Z,1736401607.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247338
2025-01-09T05:46:47.340Z,1736401607.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:47.356Z,1736401607.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-01-09T05:46:47.359Z,1736401607.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.000000 m,
      nav range: 62.253910 m,
      bearing: 130.517006 deg,
      approach rate: -0.727193 m/s,
      LOS rate: 0.051481 deg/s,
      cmd heading: 140.088628 deg,
      new cmd heading: 140.146663 deg.

2025-01-09T05:46:47.361Z,1736401607.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446021 target range: 64.000000 and range: 64.00 m.
2025-01-09T05:46:47.588Z,1736401607.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499678
2025-01-09T05:46:47.784Z,1736401607.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:47.796Z,1736401607.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:47.798Z,1736401607.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-01-09T05:46:47.805Z,1736401607.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.000000 m,
      nav range: 61.936279 m,
      bearing: 130.530296 deg,
      approach rate: -0.719098 m/s,
      LOS rate: 0.030242 deg/s,
      cmd heading: 140.146657 deg,
      new cmd heading: 140.186732 deg.

2025-01-09T05:46:47.806Z,1736401607.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446720 target range: 64.000000 and range: 64.00 m.
2025-01-09T05:46:47.840Z,1736401607.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751304
2025-01-09T05:46:48.092Z,1736401608.092 [DAT](INFO): DAT read: Rx Time:05:46:46.7672

2025-01-09T05:46:48.092Z,1736401608.092 [DAT](INFO): Rx dataTimestamp_ set to:1736401608.092173
2025-01-09T05:46:48.094Z,1736401608.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004871
2025-01-09T05:46:48.151Z,1736401608.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:48.169Z,1736401608.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-01-09T05:46:48.176Z,1736401608.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.000000 m,
      nav range: 61.673889 m,
      bearing: 130.541304 deg,
      approach rate: -0.706929 m/s,
      LOS rate: 0.029784 deg/s,
      cmd heading: 140.186737 deg,
      new cmd heading: 140.219902 deg.

2025-01-09T05:46:48.178Z,1736401608.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447299 target range: 64.000000 and range: 64.00 m.
2025-01-09T05:46:48.344Z,1736401608.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255151
2025-01-09T05:46:48.570Z,1736401608.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:48.580Z,1736401608.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.00 m.
2025-01-09T05:46:48.583Z,1736401608.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.000000 m,
      nav range: 61.374279 m,
      bearing: 130.554042 deg,
      approach rate: -0.729303 m/s,
      LOS rate: 0.031157 deg/s,
      cmd heading: 140.219904 deg,
      new cmd heading: 140.258304 deg.

2025-01-09T05:46:48.584Z,1736401608.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447969 target range: 64.000000 and range: 64.00 m.
2025-01-09T05:46:48.602Z,1736401608.602 [DAT](INFO): DAT read: 05:46:46.7673 LVL= 22288, 32753, 18546, 32755, AGC= 65, IDX= 407,-0.03, 0.883,-0.256, 1.196, 0.620, PHS= 0.350,-0.830, 0.572, RAW= 158.5,  -1.4, CAL= 161.2,  -9.9, ROT= 348.8,   9.9

2025-01-09T05:46:48.603Z,1736401608.603 [DAT](INFO): got valid direction response:
 05:46:46.7673 LVL= 22288, 32753, 18546, 32755, AGC= 65, IDX= 407,-0.03, 0.883,-0.256, 1.196, 0.620, PHS= 0.350,-0.830, 0.572, RAW= 158.5,  -1.4, CAL= 161.2,  -9.9, ROT= 348.8,   9.9

2025-01-09T05:46:48.604Z,1736401608.604 [DAT](INFO): DAT read: Bearing 348.8,   9.9 (Local)

2025-01-09T05:46:48.604Z,1736401608.604 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.8,   9.9 (Local)

2025-01-09T05:46:48.605Z,1736401608.605 [DAT](INFO): DAT read: Range 10 to 50 : 61.7 m  (Round-trip  82.3 ms) speed  0.5 m/s

2025-01-09T05:46:48.606Z,1736401608.606 [DAT](INFO): DAT read: user:176>

2025-01-09T05:46:48.624Z,1736401608.624 [DAT](INFO): DAT read: Tx time:05:46:47.8809

2025-01-09T05:46:48.624Z,1736401608.624 [DAT](INFO): Ping request sent.
2025-01-09T05:46:48.624Z,1736401608.624 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:46:48.624Z,1736401608.624 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:46:48.625Z,1736401608.625 [DAT](INFO): direction in FSK: [0.966348,-0.191342,-0.171929]
2025-01-09T05:46:48.626Z,1736401608.626 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:48.626Z,1736401608.626 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:48.708Z,1736401608.708 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:48.710Z,1736401608.710 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:48.848Z,1736401608.848 [DAT](INFO): DAT read: TxSync time:05:46:47.8801

2025-01-09T05:46:48.995Z,1736401608.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:49.034Z,1736401609.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.700001 m,
      deltaT: 3.528210 s,
      deltaX: -2.299999 m,
      approachRate: -0.651888 m/s,
      rangeRepo size: 4

2025-01-09T05:46:49.040Z,1736401609.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.700001 m,
      bearing: 130.776574 deg,
      lat: 36.904033 deg,
      lon: -122.118873 deg,
      deltaT: 3.528210 s,
      deltaX: -2.299999 m,
      approachRate: -0.651888 m/s,
      posRepo size: 4

2025-01-09T05:46:49.041Z,1736401609.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-09T05:46:49.048Z,1736401609.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 61.125591 m,
      bearing: 130.776350 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.031157 deg/s,
      cmd heading: 140.258303 deg,
      new cmd heading: 140.300672 deg.

2025-01-09T05:46:49.049Z,1736401609.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448709 target range: 61.700001 and range: 61.70 m.
2025-01-09T05:46:49.349Z,1736401609.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:49.358Z,1736401609.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-09T05:46:49.361Z,1736401609.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 60.869492 m,
      bearing: 130.788240 deg,
      approach rate: -0.788467 m/s,
      LOS rate: 0.036760 deg/s,
      cmd heading: 140.300678 deg,
      new cmd heading: 140.336498 deg.

2025-01-09T05:46:49.362Z,1736401609.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449334 target range: 61.700001 and range: 61.70 m.
2025-01-09T05:46:49.798Z,1736401609.798 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  -17,   -38,A
2025-01-09T05:46:49.805Z,1736401609.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T05:46:49.805Z,1736401609.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:49.813Z,1736401609.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:49.816Z,1736401609.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-09T05:46:49.818Z,1736401609.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 60.543030 m,
      bearing: 130.802823 deg,
      approach rate: -0.713071 m/s,
      LOS rate: 0.032026 deg/s,
      cmd heading: 140.336495 deg,
      new cmd heading: 140.380482 deg.

2025-01-09T05:46:49.856Z,1736401609.856 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:49.856Z,1736401609.856 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:49.856Z,1736401609.856 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:49.864Z,1736401609.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450102 target range: 61.700001 and range: 61.70 m.
2025-01-09T05:46:50.108Z,1736401610.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483890
2025-01-09T05:46:50.159Z,1736401610.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:46:50.159Z,1736401610.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:50.168Z,1736401610.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-09T05:46:50.171Z,1736401610.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 60.290150 m,
      bearing: 130.813984 deg,
      approach rate: -0.717091 m/s,
      LOS rate: 0.031779 deg/s,
      cmd heading: 140.380482 deg,
      new cmd heading: 140.414103 deg.

2025-01-09T05:46:50.172Z,1736401610.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450688 target range: 61.700001 and range: 61.70 m.
2025-01-09T05:46:50.360Z,1736401610.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735430
2025-01-09T05:46:50.559Z,1736401610.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:46:50.559Z,1736401610.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:50.569Z,1736401610.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-09T05:46:50.588Z,1736401610.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 60.003719 m,
      bearing: 130.827126 deg,
      approach rate: -0.715325 m/s,
      LOS rate: 0.032979 deg/s,
      cmd heading: 140.414100 deg,
      new cmd heading: 140.453716 deg.

2025-01-09T05:46:50.589Z,1736401610.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451380 target range: 61.700001 and range: 61.70 m.
2025-01-09T05:46:50.612Z,1736401610.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988011
2025-01-09T05:46:50.864Z,1736401610.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239397
2025-01-09T05:46:51.004Z,1736401611.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:51.014Z,1736401611.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-09T05:46:51.017Z,1736401611.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 59.727032 m,
      bearing: 130.811298 deg,
      approach rate: -0.621496 m/s,
      LOS rate: -0.035718 deg/s,
      cmd heading: 140.453715 deg,
      new cmd heading: 140.406011 deg.

2025-01-09T05:46:51.018Z,1736401611.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450547 target range: 61.700001 and range: 61.70 m.
2025-01-09T05:46:51.116Z,1736401611.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491487
2025-01-09T05:46:51.368Z,1736401611.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743576
2025-01-09T05:46:51.386Z,1736401611.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:51.411Z,1736401611.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-09T05:46:51.418Z,1736401611.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 59.489368 m,
      bearing: 130.797584 deg,
      approach rate: -0.624713 m/s,
      LOS rate: -0.036191 deg/s,
      cmd heading: 140.406013 deg,
      new cmd heading: 140.364708 deg.

2025-01-09T05:46:51.424Z,1736401611.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449826 target range: 61.700001 and range: 61.70 m.
2025-01-09T05:46:51.620Z,1736401611.620 [DAT](INFO): DAT read: Rx Time:05:46:50.3642

2025-01-09T05:46:51.620Z,1736401611.620 [DAT](INFO): Rx dataTimestamp_ set to:1736401611.619794
2025-01-09T05:46:51.621Z,1736401611.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996461
2025-01-09T05:46:51.817Z,1736401611.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:51.824Z,1736401611.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:51.831Z,1736401611.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-09T05:46:51.834Z,1736401611.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 59.226761 m,
      bearing: 130.774729 deg,
      approach rate: -0.608443 m/s,
      LOS rate: -0.053189 deg/s,
      cmd heading: 140.364704 deg,
      new cmd heading: 140.295834 deg.

2025-01-09T05:46:51.835Z,1736401611.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448624 target range: 61.700001 and range: 61.70 m.
2025-01-09T05:46:51.872Z,1736401611.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247557
2025-01-09T05:46:52.147Z,1736401612.147 [DAT](INFO): DAT read: 05:46:50.3642 LVL= 20032, 32753, 16514, 31219, AGC= 66, IDX= 407,-0.47, 1.132,-0.108, 1.449, 0.859, PHS= 0.361,-0.919, 0.587, RAW= 158.0,  -0.4, CAL= 160.5,  -9.0, ROT= 349.5,   9.0

2025-01-09T05:46:52.148Z,1736401612.148 [DAT](INFO): got valid direction response:
 05:46:50.3642 LVL= 20032, 32753, 16514, 31219, AGC= 66, IDX= 407,-0.47, 1.132,-0.108, 1.449, 0.859, PHS= 0.361,-0.919, 0.587, RAW= 158.0,  -0.4, CAL= 160.5,  -9.0, ROT= 349.5,   9.0

2025-01-09T05:46:52.149Z,1736401612.149 [DAT](INFO): DAT read: Bearing 349.5,   9.0 (Local)

2025-01-09T05:46:52.149Z,1736401612.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.5,   9.0 (Local)

2025-01-09T05:46:52.171Z,1736401612.171 [DAT](INFO): DAT read: Range 10 to 50 : 59.3 m  (Round-trip  79.1 ms) speed  0.8 m/s

2025-01-09T05:46:52.172Z,1736401612.172 [DAT](INFO): DAT read: user:177>

2025-01-09T05:46:52.173Z,1736401612.173 [DAT](INFO): DAT read: Tx time:05:46:51.4809

2025-01-09T05:46:52.173Z,1736401612.173 [DAT](INFO): Ping request sent.
2025-01-09T05:46:52.173Z,1736401612.173 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:46:52.174Z,1736401612.174 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:46:52.187Z,1736401612.187 [DAT](INFO): direction in FSK: [0.971149,-0.179992,-0.156434]
2025-01-09T05:46:52.187Z,1736401612.187 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:52.187Z,1736401612.187 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:52.190Z,1736401612.190 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:52.211Z,1736401612.211 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:52.284Z,1736401612.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:52.329Z,1736401612.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.299999 m,
      deltaT: 3.529444 s,
      deltaX: -2.400002 m,
      approachRate: -0.679994 m/s,
      rangeRepo size: 4

2025-01-09T05:46:52.335Z,1736401612.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.299999 m,
      bearing: 130.792691 deg,
      lat: 36.904033 deg,
      lon: -122.118873 deg,
      deltaT: 3.529444 s,
      deltaX: -2.400002 m,
      approachRate: -0.679994 m/s,
      posRepo size: 4

2025-01-09T05:46:52.336Z,1736401612.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-09T05:46:52.336Z,1736401612.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-09T05:46:52.348Z,1736401612.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 58.941944 m,
      bearing: 130.750358 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.053189 deg/s,
      cmd heading: 140.295828 deg,
      new cmd heading: 140.215703 deg.

2025-01-09T05:46:52.349Z,1736401612.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447226 target range: 59.299999 and range: 59.30 m.
2025-01-09T05:46:52.376Z,1736401612.376 [DAT](INFO): DAT read: TxSync time:05:46:51.4801

2025-01-09T05:46:52.385Z,1736401612.385 [DockingStepper](INFO): Changing to mode: 2
2025-01-09T05:46:52.385Z,1736401612.385 [DockingStepper](INFO): Armed mode.
2025-01-09T05:46:52.453Z,1736401612.453 [DockingStepper](INFO): Commanding negative:54402
2025-01-09T05:46:52.689Z,1736401612.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:52.720Z,1736401612.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-09T05:46:52.722Z,1736401612.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-09T05:46:52.760Z,1736401612.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 58.695751 m,
      bearing: 130.729796 deg,
      approach rate: -0.630431 m/s,
      LOS rate: -0.052874 deg/s,
      cmd heading: 140.215697 deg,
      new cmd heading: 140.153752 deg.

2025-01-09T05:46:52.761Z,1736401612.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446144 target range: 59.299999 and range: 59.30 m.
2025-01-09T05:46:53.119Z,1736401613.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:53.128Z,1736401613.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-09T05:46:53.129Z,1736401613.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-09T05:46:53.133Z,1736401613.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 58.427509 m,
      bearing: 130.704811 deg,
      approach rate: -0.655207 m/s,
      LOS rate: -0.061309 deg/s,
      cmd heading: 140.153747 deg,
      new cmd heading: 140.078447 deg.

2025-01-09T05:46:53.134Z,1736401613.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444830 target range: 59.299999 and range: 59.30 m.
2025-01-09T05:46:53.435Z,1736401613.435 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:46:53.505Z,1736401613.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:53.514Z,1736401613.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-09T05:46:53.514Z,1736401613.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-09T05:46:53.517Z,1736401613.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 58.186958 m,
      bearing: 130.682691 deg,
      approach rate: -0.623620 m/s,
      LOS rate: -0.057583 deg/s,
      cmd heading: 140.078451 deg,
      new cmd heading: 140.011816 deg.

2025-01-09T05:46:53.518Z,1736401613.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443667 target range: 59.299999 and range: 59.30 m.
2025-01-09T05:46:53.914Z,1736401613.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:53.921Z,1736401613.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:53.924Z,1736401613.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-09T05:46:53.924Z,1736401613.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-09T05:46:53.928Z,1736401613.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 57.929611 m,
      bearing: 130.671236 deg,
      approach rate: -0.629187 m/s,
      LOS rate: -0.028129 deg/s,
      cmd heading: 140.011816 deg,
      new cmd heading: 139.977300 deg.

2025-01-09T05:46:53.929Z,1736401613.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443065 target range: 59.299999 and range: 59.30 m.
2025-01-09T05:46:54.140Z,1736401614.140 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:54.140Z,1736401614.140 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:54.140Z,1736401614.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:54.308Z,1736401614.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:54.317Z,1736401614.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-09T05:46:54.318Z,1736401614.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-09T05:46:54.321Z,1736401614.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 57.681568 m,
      bearing: 130.660099 deg,
      approach rate: -0.628844 m/s,
      LOS rate: -0.028357 deg/s,
      cmd heading: 139.977296 deg,
      new cmd heading: 139.943740 deg.

2025-01-09T05:46:54.322Z,1736401614.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442479 target range: 59.299999 and range: 59.30 m.
2025-01-09T05:46:54.393Z,1736401614.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219413
2025-01-09T05:46:54.439Z,1736401614.439 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:46:54.645Z,1736401614.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471224
2025-01-09T05:46:54.693Z,1736401614.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:54.706Z,1736401614.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-09T05:46:54.707Z,1736401614.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-09T05:46:54.711Z,1736401614.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 57.439411 m,
      bearing: 130.649983 deg,
      approach rate: -0.622500 m/s,
      LOS rate: -0.026115 deg/s,
      cmd heading: 139.943746 deg,
      new cmd heading: 139.913269 deg.

2025-01-09T05:46:54.712Z,1736401614.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441947 target range: 59.299999 and range: 59.30 m.
2025-01-09T05:46:54.896Z,1736401614.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722616
2025-01-09T05:46:55.136Z,1736401615.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:55.148Z,1736401615.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974342
2025-01-09T05:46:55.165Z,1736401615.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-09T05:46:55.166Z,1736401615.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-09T05:46:55.174Z,1736401615.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 57.142246 m,
      bearing: 130.646722 deg,
      approach rate: -0.647211 m/s,
      LOS rate: -0.007138 deg/s,
      cmd heading: 139.913270 deg,
      new cmd heading: 139.903438 deg.

2025-01-09T05:46:55.179Z,1736401615.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441776 target range: 59.299999 and range: 59.30 m.
2025-01-09T05:46:55.400Z,1736401615.400 [DAT](INFO): DAT read: Rx Time:05:46:53.9606

2025-01-09T05:46:55.401Z,1736401615.401 [DAT](INFO): Rx dataTimestamp_ set to:1736401615.400401
2025-01-09T05:46:55.401Z,1736401615.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227946
2025-01-09T05:46:55.510Z,1736401615.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:55.541Z,1736401615.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-09T05:46:55.541Z,1736401615.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-09T05:46:55.548Z,1736401615.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 56.891521 m,
      bearing: 130.643794 deg,
      approach rate: -0.667871 m/s,
      LOS rate: -0.007835 deg/s,
      cmd heading: 139.903434 deg,
      new cmd heading: 139.894610 deg.

2025-01-09T05:46:55.549Z,1736401615.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441622 target range: 59.299999 and range: 59.30 m.
2025-01-09T05:46:55.652Z,1736401615.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479034
2025-01-09T05:46:55.910Z,1736401615.910 [DAT](INFO): DAT read: 05:46:53.9606 LVL= 27600, 23761, 16450, 31459, AGC= 58, IDX= 402,-0.33, 2.137, 0.815, 2.559, 1.881, PHS= 0.343,-1.019, 0.675, RAW= 160.6,   0.0, CAL= 162.7,  -8.5, ROT= 347.3,   8.5

2025-01-09T05:46:55.913Z,1736401615.913 [DAT](INFO): got valid direction response:
 05:46:53.9606 LVL= 27600, 23761, 16450, 31459, AGC= 58, IDX= 402,-0.33, 2.137, 0.815, 2.559, 1.881, PHS= 0.343,-1.019, 0.675, RAW= 160.6,   0.0, CAL= 162.7,  -8.5, ROT= 347.3,   8.5

2025-01-09T05:46:55.913Z,1736401615.913 [DAT](INFO): DAT read: Bearing 347.3,   8.5 (Local)

2025-01-09T05:46:55.914Z,1736401615.914 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.3,   8.5 (Local)

2025-01-09T05:46:55.915Z,1736401615.915 [DAT](INFO): DAT read: Range 10 to 50 : 56.6 m  (Round-trip  75.5 ms) speed  0.6 m/s

2025-01-09T05:46:55.916Z,1736401615.916 [DAT](INFO): DAT read: user:178>

2025-01-09T05:46:55.917Z,1736401615.917 [DAT](INFO): DAT read: Tx time:05:46:55.0809

2025-01-09T05:46:55.917Z,1736401615.917 [DAT](INFO): Ping request sent.
2025-01-09T05:46:55.917Z,1736401615.917 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:46:55.917Z,1736401615.917 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:46:55.918Z,1736401615.918 [DAT](INFO): direction in FSK: [0.964819,-0.217432,-0.147809]
2025-01-09T05:46:55.923Z,1736401615.923 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:55.923Z,1736401615.923 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:55.931Z,1736401615.931 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:55.931Z,1736401615.931 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:56.019Z,1736401616.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:56.050Z,1736401616.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 3.778277 s,
      deltaX: -2.700001 m,
      approachRate: -0.714612 m/s,
      rangeRepo size: 4

2025-01-09T05:46:56.052Z,1736401616.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.599998 m,
      bearing: 128.194861 deg,
      lat: 36.904039 deg,
      lon: -122.118867 deg,
      deltaT: 3.778277 s,
      deltaX: -2.700001 m,
      approachRate: -0.714612 m/s,
      posRepo size: 4

2025-01-09T05:46:56.053Z,1736401616.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-01-09T05:46:56.054Z,1736401616.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-01-09T05:46:56.069Z,1736401616.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 56.517448 m,
      bearing: 129.830347 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007835 deg/s,
      cmd heading: 139.894610 deg,
      new cmd heading: 139.882658 deg.

2025-01-09T05:46:56.070Z,1736401616.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441413 target range: 56.599998 and range: 56.60 m.
2025-01-09T05:46:56.156Z,1736401616.156 [DAT](INFO): DAT read: TxSync time:05:46:55.0801

2025-01-09T05:46:56.487Z,1736401616.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:56.497Z,1736401616.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:56.503Z,1736401616.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-01-09T05:46:56.504Z,1736401616.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-01-09T05:46:56.524Z,1736401616.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 56.193680 m,
      bearing: 129.832492 deg,
      approach rate: -0.715805 m/s,
      LOS rate: 0.004770 deg/s,
      cmd heading: 139.882657 deg,
      new cmd heading: 139.889129 deg.

2025-01-09T05:46:56.525Z,1736401616.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441526 target range: 56.599998 and range: 56.60 m.
2025-01-09T05:46:56.661Z,1736401616.661 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:46:56.661Z,1736401616.661 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:46:56.661Z,1736401616.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:46:56.913Z,1736401616.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995838
2025-01-09T05:46:56.921Z,1736401616.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:56.931Z,1736401616.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-01-09T05:46:56.931Z,1736401616.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-01-09T05:46:56.934Z,1736401616.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 55.884472 m,
      bearing: 129.846481 deg,
      approach rate: -0.720548 m/s,
      LOS rate: 0.032779 deg/s,
      cmd heading: 139.889132 deg,
      new cmd heading: 139.931331 deg.

2025-01-09T05:46:56.936Z,1736401616.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442262 target range: 56.599998 and range: 56.60 m.
2025-01-09T05:46:57.164Z,1736401617.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246532
2025-01-09T05:46:57.356Z,1736401617.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:57.389Z,1736401617.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-01-09T05:46:57.389Z,1736401617.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-01-09T05:46:57.396Z,1736401617.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 55.573677 m,
      bearing: 129.859932 deg,
      approach rate: -0.678674 m/s,
      LOS rate: 0.029537 deg/s,
      cmd heading: 139.931329 deg,
      new cmd heading: 139.971908 deg.

2025-01-09T05:46:57.397Z,1736401617.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442971 target range: 56.599998 and range: 56.60 m.
2025-01-09T05:46:57.416Z,1736401617.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498739
2025-01-09T05:46:57.668Z,1736401617.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750516
2025-01-09T05:46:57.909Z,1736401617.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:57.920Z,1736401617.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002947
2025-01-09T05:46:57.921Z,1736401617.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-01-09T05:46:57.922Z,1736401617.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-01-09T05:46:57.925Z,1736401617.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 55.170052 m,
      bearing: 129.878700 deg,
      approach rate: -0.757995 m/s,
      LOS rate: 0.035503 deg/s,
      cmd heading: 139.971914 deg,
      new cmd heading: 140.028629 deg.

2025-01-09T05:46:57.926Z,1736401617.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443961 target range: 56.599998 and range: 56.60 m.
2025-01-09T05:46:58.172Z,1736401618.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254498
2025-01-09T05:46:58.259Z,1736401618.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:58.277Z,1736401618.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-01-09T05:46:58.277Z,1736401618.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-01-09T05:46:58.278Z,1736401618.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.60 m.
2025-01-09T05:46:58.278Z,1736401618.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-01-09T05:46:58.285Z,1736401618.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 54.918228 m,
      bearing: 129.889875 deg,
      approach rate: -0.709256 m/s,
      LOS rate: 0.031618 deg/s,
      cmd heading: 140.028631 deg,
      new cmd heading: 140.062309 deg.

2025-01-09T05:46:58.286Z,1736401618.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444548 target range: 56.599998 and range: 56.60 m.
2025-01-09T05:46:58.424Z,1736401618.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507226
2025-01-09T05:46:58.658Z,1736401618.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:58.669Z,1736401618.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:46:58.672Z,1736401618.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-01-09T05:46:58.676Z,1736401618.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758707
2025-01-09T05:46:58.676Z,1736401618.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 54.624229 m,
      bearing: 129.903051 deg,
      approach rate: -0.743348 m/s,
      LOS rate: 0.033496 deg/s,
      cmd heading: 140.062304 deg,
      new cmd heading: 140.102047 deg.

2025-01-09T05:46:58.678Z,1736401618.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445242 target range: 56.599998 and range: 56.60 m.
2025-01-09T05:46:58.929Z,1736401618.929 [DAT](INFO): DAT read: Rx Time:05:46:57.5575

2025-01-09T05:46:58.930Z,1736401618.930 [DAT](INFO): Rx dataTimestamp_ set to:1736401618.929496
2025-01-09T05:46:58.930Z,1736401618.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013292
2025-01-09T05:46:59.077Z,1736401619.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:59.086Z,1736401619.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.60 m.
2025-01-09T05:46:59.089Z,1736401619.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.599998 m,
      nav range: 54.329227 m,
      bearing: 129.912946 deg,
      approach rate: -0.711714 m/s,
      LOS rate: 0.024001 deg/s,
      cmd heading: 140.102042 deg,
      new cmd heading: 140.131887 deg.

2025-01-09T05:46:59.090Z,1736401619.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445763 target range: 56.599998 and range: 56.60 m.
2025-01-09T05:46:59.180Z,1736401619.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262722
2025-01-09T05:46:59.437Z,1736401619.437 [DAT](INFO): DAT read: 05:46:57.5576 LVL= 27552, 30241, 16434, 32755, AGC= 60, IDX= 402,-0.04,-1.507,-2.697,-1.164,-1.759, PHS= 0.339,-0.892, 0.591, RAW= 159.1,  -0.6, CAL= 161.6,  -9.1, ROT= 348.4,   9.1

2025-01-09T05:46:59.439Z,1736401619.439 [DAT](INFO): got valid direction response:
 05:46:57.5576 LVL= 27552, 30241, 16434, 32755, AGC= 60, IDX= 402,-0.04,-1.507,-2.697,-1.164,-1.759, PHS= 0.339,-0.892, 0.591, RAW= 159.1,  -0.6, CAL= 161.6,  -9.1, ROT= 348.4,   9.1

2025-01-09T05:46:59.440Z,1736401619.440 [DAT](INFO): DAT read: Bearing 348.4,   9.1 (Local)

2025-01-09T05:46:59.440Z,1736401619.440 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.4,   9.1 (Local)

2025-01-09T05:46:59.442Z,1736401619.442 [DAT](INFO): DAT read: Range 10 to 50 : 54.3 m  (Round-trip  72.4 ms) speed  0.5 m/s

2025-01-09T05:46:59.442Z,1736401619.442 [DAT](INFO): DAT read: user:179>

2025-01-09T05:46:59.444Z,1736401619.444 [DAT](INFO): DAT read: Tx time:05:46:58.6810

2025-01-09T05:46:59.445Z,1736401619.445 [DAT](INFO): Ping request sent.
2025-01-09T05:46:59.445Z,1736401619.445 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:46:59.445Z,1736401619.445 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:46:59.446Z,1736401619.446 [DAT](INFO): direction in FSK: [0.967246,-0.198547,-0.158158]
2025-01-09T05:46:59.446Z,1736401619.446 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:59.447Z,1736401619.447 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:59.450Z,1736401619.450 [DAT](INFO): publishing transmit ping time
2025-01-09T05:46:59.451Z,1736401619.451 [DAT](INFO): publishing direction and range info
2025-01-09T05:46:59.470Z,1736401619.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:46:59.530Z,1736401619.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.299999 m,
      deltaT: 3.528027 s,
      deltaX: -2.299999 m,
      approachRate: -0.651922 m/s,
      rangeRepo size: 4

2025-01-09T05:46:59.541Z,1736401619.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.299999 m,
      bearing: 130.493317 deg,
      lat: 36.904035 deg,
      lon: -122.118872 deg,
      deltaT: 3.528027 s,
      deltaX: -2.299999 m,
      approachRate: -0.651922 m/s,
      posRepo size: 4

2025-01-09T05:46:59.541Z,1736401619.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-01-09T05:46:59.565Z,1736401619.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.299999 m,
      nav range: 54.034168 m,
      bearing: 130.493119 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024001 deg/s,
      cmd heading: 140.131890 deg,
      new cmd heading: 140.163812 deg.

2025-01-09T05:46:59.583Z,1736401619.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446320 target range: 54.299999 and range: 54.30 m.
2025-01-09T05:46:59.686Z,1736401619.686 [DAT](INFO): DAT read: TxSync time:05:46:58.6802

2025-01-09T05:46:59.996Z,1736401619.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:00.004Z,1736401620.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-01-09T05:47:00.007Z,1736401620.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.299999 m,
      nav range: 53.680515 m,
      bearing: 130.507422 deg,
      approach rate: -0.744714 m/s,
      LOS rate: 0.030318 deg/s,
      cmd heading: 140.163815 deg,
      new cmd heading: 140.207007 deg.

2025-01-09T05:47:00.008Z,1736401620.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447074 target range: 54.299999 and range: 54.30 m.
2025-01-09T05:47:00.286Z,1736401620.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:00.298Z,1736401620.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-01-09T05:47:00.301Z,1736401620.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.299999 m,
      nav range: 53.484970 m,
      bearing: 130.514562 deg,
      approach rate: -0.667132 m/s,
      LOS rate: 0.024447 deg/s,
      cmd heading: 140.207009 deg,
      new cmd heading: 140.228506 deg.

2025-01-09T05:47:00.302Z,1736401620.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447449 target range: 54.299999 and range: 54.30 m.
2025-01-09T05:47:00.686Z,1736401620.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:00.713Z,1736401620.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:00.720Z,1736401620.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-01-09T05:47:00.727Z,1736401620.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.299999 m,
      nav range: 53.216358 m,
      bearing: 130.523582 deg,
      approach rate: -0.636149 m/s,
      LOS rate: 0.021469 deg/s,
      cmd heading: 140.228510 deg,
      new cmd heading: 140.255706 deg.

2025-01-09T05:47:00.728Z,1736401620.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447924 target range: 54.299999 and range: 54.30 m.
2025-01-09T05:47:00.944Z,1736401620.944 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:47:00.944Z,1736401620.944 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:47:00.945Z,1736401620.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:47:01.117Z,1736401621.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:01.126Z,1736401621.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-01-09T05:47:01.130Z,1736401621.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.299999 m,
      nav range: 52.938908 m,
      bearing: 130.524944 deg,
      approach rate: -0.683453 m/s,
      LOS rate: 0.003373 deg/s,
      cmd heading: 140.255708 deg,
      new cmd heading: 140.259816 deg.

2025-01-09T05:47:01.132Z,1736401621.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447996 target range: 54.299999 and range: 54.30 m.
2025-01-09T05:47:01.197Z,1736401621.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751627
2025-01-09T05:47:01.448Z,1736401621.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002774
2025-01-09T05:47:01.504Z,1736401621.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:01.520Z,1736401621.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-01-09T05:47:01.528Z,1736401621.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.299999 m,
      nav range: 52.690697 m,
      bearing: 130.526394 deg,
      approach rate: -0.629276 m/s,
      LOS rate: 0.003693 deg/s,
      cmd heading: 140.259820 deg,
      new cmd heading: 140.264189 deg.

2025-01-09T05:47:01.529Z,1736401621.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448072 target range: 54.299999 and range: 54.30 m.
2025-01-09T05:47:01.700Z,1736401621.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254667
2025-01-09T05:47:01.952Z,1736401621.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506861
2025-01-09T05:47:01.958Z,1736401621.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:01.989Z,1736401621.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-01-09T05:47:01.992Z,1736401621.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.299999 m,
      nav range: 52.415833 m,
      bearing: 130.522545 deg,
      approach rate: -0.586664 m/s,
      LOS rate: -0.008257 deg/s,
      cmd heading: 140.264191 deg,
      new cmd heading: 140.252585 deg.

2025-01-09T05:47:01.993Z,1736401621.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447869 target range: 54.299999 and range: 54.30 m.
2025-01-09T05:47:02.204Z,1736401622.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759291
2025-01-09T05:47:02.307Z,1736401622.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:02.316Z,1736401622.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-01-09T05:47:02.319Z,1736401622.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.299999 m,
      nav range: 52.204750 m,
      bearing: 130.519708 deg,
      approach rate: -0.644253 m/s,
      LOS rate: -0.008696 deg/s,
      cmd heading: 140.252580 deg,
      new cmd heading: 140.244033 deg.

2025-01-09T05:47:02.320Z,1736401622.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447720 target range: 54.299999 and range: 54.30 m.
2025-01-09T05:47:02.456Z,1736401622.456 [DAT](INFO): DAT read: Rx Time:05:47:01.1546

2025-01-09T05:47:02.456Z,1736401622.456 [DAT](INFO): Rx dataTimestamp_ set to:1736401622.456093
2025-01-09T05:47:02.457Z,1736401622.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012048
2025-01-09T05:47:02.708Z,1736401622.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262815
2025-01-09T05:47:02.722Z,1736401622.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:02.736Z,1736401622.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:02.739Z,1736401622.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-01-09T05:47:02.744Z,1736401622.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.299999 m,
      nav range: 51.953548 m,
      bearing: 130.516301 deg,
      approach rate: -0.594563 m/s,
      LOS rate: -0.008103 deg/s,
      cmd heading: 140.244028 deg,
      new cmd heading: 140.233758 deg.

2025-01-09T05:47:02.746Z,1736401622.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447541 target range: 54.299999 and range: 54.30 m.
2025-01-09T05:47:02.969Z,1736401622.969 [DAT](INFO): DAT read: 05:47:01.1546 LVL= 21616, 25281, 18098, 30323, AGC= 65, IDX= 404, 0.08, 1.688, 0.464, 2.090, 1.491, PHS= 0.285,-0.980, 0.596, RAW= 160.7,   1.4, CAL= 162.4,  -7.4, ROT= 347.6,   7.4

2025-01-09T05:47:02.971Z,1736401622.971 [DAT](INFO): got valid direction response:
 05:47:01.1546 LVL= 21616, 25281, 18098, 30323, AGC= 65, IDX= 404, 0.08, 1.688, 0.464, 2.090, 1.491, PHS= 0.285,-0.980, 0.596, RAW= 160.7,   1.4, CAL= 162.4,  -7.4, ROT= 347.6,   7.4

2025-01-09T05:47:02.972Z,1736401622.972 [DAT](INFO): DAT read: Bearing 347.6,   7.4 (Local)

2025-01-09T05:47:02.972Z,1736401622.972 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.6,   7.4 (Local)

2025-01-09T05:47:02.973Z,1736401622.973 [DAT](INFO): DAT read: Range 10 to 50 : 52.1 m  (Round-trip  69.5 ms) speed  0.5 m/s

2025-01-09T05:47:02.974Z,1736401622.974 [DAT](INFO): DAT read: user:180>

2025-01-09T05:47:02.975Z,1736401622.975 [DAT](INFO): DAT read: Tx time:05:47:02.2310

2025-01-09T05:47:02.975Z,1736401622.975 [DAT](INFO): Ping request sent.
2025-01-09T05:47:02.976Z,1736401622.976 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:02.976Z,1736401622.976 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:47:02.978Z,1736401622.978 [DAT](INFO): direction in FSK: [0.968538,-0.212947,-0.128796]
2025-01-09T05:47:02.978Z,1736401622.978 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:02.978Z,1736401622.978 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:02.987Z,1736401622.987 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:02.987Z,1736401622.987 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:03.181Z,1736401623.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:03.213Z,1736401623.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.099998 m,
      deltaT: 3.532086 s,
      deltaX: -2.200001 m,
      approachRate: -0.622862 m/s,
      rangeRepo size: 4

2025-01-09T05:47:03.216Z,1736401623.216 [DAT](INFO): DAT read: TxSync time:05:47:02.2302

2025-01-09T05:47:03.219Z,1736401623.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.099998 m,
      bearing: 129.961271 deg,
      lat: 36.904035 deg,
      lon: -122.118872 deg,
      deltaT: 3.532086 s,
      deltaX: -2.200001 m,
      approachRate: -0.622862 m/s,
      posRepo size: 4

2025-01-09T05:47:03.220Z,1736401623.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.10 m.
2025-01-09T05:47:03.223Z,1736401623.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.099998 m,
      nav range: 51.685993 m,
      bearing: 130.499261 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008103 deg/s,
      cmd heading: 140.233756 deg,
      new cmd heading: 140.222253 deg.

2025-01-09T05:47:03.224Z,1736401623.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447340 target range: 52.099998 and range: 52.10 m.
2025-01-09T05:47:03.524Z,1736401623.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:03.533Z,1736401623.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.10 m.
2025-01-09T05:47:03.536Z,1736401623.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.099998 m,
      nav range: 51.486187 m,
      bearing: 130.486279 deg,
      approach rate: -0.621615 m/s,
      LOS rate: -0.040546 deg/s,
      cmd heading: 140.222254 deg,
      new cmd heading: 140.183156 deg.

2025-01-09T05:47:03.537Z,1736401623.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446658 target range: 52.099998 and range: 52.10 m.
2025-01-09T05:47:03.000Z,1736401624.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:04.009Z,1736401624.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.10 m.
2025-01-09T05:47:04.013Z,1736401624.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.099998 m,
      nav range: 51.214245 m,
      bearing: 130.462636 deg,
      approach rate: -0.572097 m/s,
      LOS rate: -0.050003 deg/s,
      cmd heading: 140.183158 deg,
      new cmd heading: 140.111852 deg.

2025-01-09T05:47:04.014Z,1736401624.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445413 target range: 52.099998 and range: 52.10 m.
2025-01-09T05:47:04.337Z,1736401624.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:04.347Z,1736401624.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.10 m.
2025-01-09T05:47:04.350Z,1736401624.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.099998 m,
      nav range: 51.021378 m,
      bearing: 130.446032 deg,
      approach rate: -0.569770 m/s,
      LOS rate: -0.049236 deg/s,
      cmd heading: 140.111851 deg,
      new cmd heading: 140.061852 deg.

2025-01-09T05:47:04.352Z,1736401624.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444541 target range: 52.099998 and range: 52.10 m.
2025-01-09T05:47:04.730Z,1736401624.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:04.743Z,1736401624.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:04.746Z,1736401624.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.10 m.
2025-01-09T05:47:04.772Z,1736401624.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.099998 m,
      nav range: 50.797085 m,
      bearing: 130.426750 deg,
      approach rate: -0.563455 m/s,
      LOS rate: -0.048653 deg/s,
      cmd heading: 140.061854 deg,
      new cmd heading: 140.003752 deg.

2025-01-09T05:47:04.776Z,1736401624.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443527 target range: 52.099998 and range: 52.10 m.
2025-01-09T05:47:04.983Z,1736401624.983 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:47:04.984Z,1736401624.984 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:47:04.984Z,1736401624.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:47:05.167Z,1736401625.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:05.176Z,1736401625.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.10 m.
2025-01-09T05:47:05.181Z,1736401625.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.099998 m,
      nav range: 50.551624 m,
      bearing: 130.406948 deg,
      approach rate: -0.570463 m/s,
      LOS rate: -0.046244 deg/s,
      cmd heading: 140.003756 deg,
      new cmd heading: 139.944062 deg.

2025-01-09T05:47:05.181Z,1736401625.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442485 target range: 52.099998 and range: 52.10 m.
2025-01-09T05:47:05.237Z,1736401625.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261372
2025-01-09T05:47:05.488Z,1736401625.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512005
2025-01-09T05:47:05.535Z,1736401625.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:05.544Z,1736401625.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.10 m.
2025-01-09T05:47:05.567Z,1736401625.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.099998 m,
      nav range: 50.345005 m,
      bearing: 130.390297 deg,
      approach rate: -0.562043 m/s,
      LOS rate: -0.045481 deg/s,
      cmd heading: 139.944060 deg,
      new cmd heading: 139.893900 deg.

2025-01-09T05:47:05.568Z,1736401625.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441609 target range: 52.099998 and range: 52.10 m.
2025-01-09T05:47:05.742Z,1736401625.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765974
2025-01-09T05:47:05.992Z,1736401625.992 [DAT](INFO): DAT read: Rx Time:05:47:04.7014

2025-01-09T05:47:05.992Z,1736401625.992 [DAT](INFO): Rx dataTimestamp_ set to:1736401625.991881
2025-01-09T05:47:05.993Z,1736401625.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017500
2025-01-09T05:47:06.015Z,1736401626.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:06.024Z,1736401626.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.10 m.
2025-01-09T05:47:06.028Z,1736401626.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.099998 m,
      nav range: 50.062645 m,
      bearing: 130.369263 deg,
      approach rate: -0.587027 m/s,
      LOS rate: -0.043977 deg/s,
      cmd heading: 139.893899 deg,
      new cmd heading: 139.830441 deg.

2025-01-09T05:47:06.029Z,1736401626.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440502 target range: 52.099998 and range: 52.10 m.
2025-01-09T05:47:06.245Z,1736401626.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269256
2025-01-09T05:47:06.342Z,1736401626.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:06.352Z,1736401626.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.10 m.
2025-01-09T05:47:06.355Z,1736401626.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.099998 m,
      nav range: 49.870884 m,
      bearing: 130.354993 deg,
      approach rate: -0.584769 m/s,
      LOS rate: -0.043681 deg/s,
      cmd heading: 139.830447 deg,
      new cmd heading: 139.787474 deg.

2025-01-09T05:47:06.356Z,1736401626.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439752 target range: 52.099998 and range: 52.10 m.
2025-01-09T05:47:06.505Z,1736401626.505 [DAT](INFO): DAT read: 05:47:04.7014 LVL= 27792, 27233, 15890, 31219, AGC= 60, IDX= 403,-0.17,-0.791,-2.042,-0.417,-1.010, PHS= 0.307,-0.985, 0.590, RAW= 159.7,   1.2, CAL= 161.5,  -7.5, ROT= 348.5,   7.5

2025-01-09T05:47:06.506Z,1736401626.506 [DAT](INFO): got valid direction response:
 05:47:04.7014 LVL= 27792, 27233, 15890, 31219, AGC= 60, IDX= 403,-0.17,-0.791,-2.042,-0.417,-1.010, PHS= 0.307,-0.985, 0.590, RAW= 159.7,   1.2, CAL= 161.5,  -7.5, ROT= 348.5,   7.5

2025-01-09T05:47:06.508Z,1736401626.508 [DAT](INFO): DAT read: Bearing 348.5,   7.5 (Local)

2025-01-09T05:47:06.508Z,1736401626.508 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.5,   7.5 (Local)

2025-01-09T05:47:06.510Z,1736401626.510 [DAT](INFO): DAT read: Range 10 to 50 : 49.7 m  (Round-trip  66.3 ms) speed  0.7 m/s

2025-01-09T05:47:06.511Z,1736401626.511 [DAT](INFO): DAT read: user:181>

2025-01-09T05:47:06.512Z,1736401626.512 [DAT](INFO): DAT read: Tx time:05:47:05.8310

2025-01-09T05:47:06.512Z,1736401626.512 [DAT](INFO): Ping request sent.
2025-01-09T05:47:06.512Z,1736401626.512 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:06.513Z,1736401626.513 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:47:06.513Z,1736401626.513 [DAT](INFO): direction in FSK: [0.971541,-0.197662,-0.130526]
2025-01-09T05:47:06.514Z,1736401626.514 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:06.514Z,1736401626.514 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:06.521Z,1736401626.521 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:06.522Z,1736401626.522 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:06.748Z,1736401626.748 [DAT](INFO): DAT read: TxSync time:05:47:05.8302

2025-01-09T05:47:06.776Z,1736401626.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:06.801Z,1736401626.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.700001 m,
      deltaT: 3.531971 s,
      deltaX: -2.399998 m,
      approachRate: -0.679507 m/s,
      rangeRepo size: 4

2025-01-09T05:47:06.820Z,1736401626.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.700001 m,
      bearing: 130.565724 deg,
      lat: 36.904035 deg,
      lon: -122.118872 deg,
      deltaT: 3.531971 s,
      deltaX: -2.399998 m,
      approachRate: -0.679507 m/s,
      posRepo size: 4

2025-01-09T05:47:06.821Z,1736401626.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:47:06.828Z,1736401626.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 49.615746 m,
      bearing: 130.335837 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043681 deg/s,
      cmd heading: 139.787471 deg,
      new cmd heading: 139.729517 deg.

2025-01-09T05:47:06.829Z,1736401626.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438740 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:47:07.197Z,1736401627.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:07.203Z,1736401627.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:07.205Z,1736401627.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:47:07.209Z,1736401627.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 49.364429 m,
      bearing: 130.319423 deg,
      approach rate: -0.611521 m/s,
      LOS rate: -0.040143 deg/s,
      cmd heading: 139.729510 deg,
      new cmd heading: 139.680018 deg.

2025-01-09T05:47:07.210Z,1736401627.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437876 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:47:07.252Z,1736401627.252 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:47:07.252Z,1736401627.252 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:47:07.253Z,1736401627.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:47:07.504Z,1736401627.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991489
2025-01-09T05:47:07.569Z,1736401627.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:07.579Z,1736401627.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:47:07.582Z,1736401627.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 49.141891 m,
      bearing: 130.303699 deg,
      approach rate: -0.595823 m/s,
      LOS rate: -0.042290 deg/s,
      cmd heading: 139.680019 deg,
      new cmd heading: 139.632633 deg.

2025-01-09T05:47:07.584Z,1736401627.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437049 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:47:07.756Z,1736401627.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243826
2025-01-09T05:47:08.009Z,1736401628.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496617
2025-01-09T05:47:08.057Z,1736401628.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:08.067Z,1736401628.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:47:08.069Z,1736401628.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 48.848320 m,
      bearing: 130.293417 deg,
      approach rate: -0.602221 m/s,
      LOS rate: -0.021220 deg/s,
      cmd heading: 139.632631 deg,
      new cmd heading: 139.601598 deg.

2025-01-09T05:47:08.070Z,1736401628.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436507 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:47:08.260Z,1736401628.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747605
2025-01-09T05:47:08.360Z,1736401628.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:08.384Z,1736401628.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:47:08.391Z,1736401628.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 48.667244 m,
      bearing: 130.286405 deg,
      approach rate: -0.569409 m/s,
      LOS rate: -0.022133 deg/s,
      cmd heading: 139.601594 deg,
      new cmd heading: 139.580479 deg.

2025-01-09T05:47:08.392Z,1736401628.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436139 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:47:08.512Z,1736401628.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999429
2025-01-09T05:47:08.766Z,1736401628.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253465
2025-01-09T05:47:08.775Z,1736401628.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:08.784Z,1736401628.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:47:08.789Z,1736401628.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 48.416592 m,
      bearing: 130.276990 deg,
      approach rate: -0.627602 m/s,
      LOS rate: -0.023695 deg/s,
      cmd heading: 139.580475 deg,
      new cmd heading: 139.552085 deg.

2025-01-09T05:47:08.791Z,1736401628.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435643 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:47:09.016Z,1736401629.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503813
2025-01-09T05:47:09.197Z,1736401629.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:09.205Z,1736401629.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:09.207Z,1736401629.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:47:09.215Z,1736401629.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 48.144196 m,
      bearing: 130.273131 deg,
      approach rate: -0.644314 m/s,
      LOS rate: -0.009179 deg/s,
      cmd heading: 139.552089 deg,
      new cmd heading: 139.540447 deg.

2025-01-09T05:47:09.216Z,1736401629.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435440 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:47:09.268Z,1736401629.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755397
2025-01-09T05:47:09.520Z,1736401629.520 [DAT](INFO): DAT read: Rx Time:05:47:08.2985

2025-01-09T05:47:09.520Z,1736401629.520 [DAT](INFO): Rx dataTimestamp_ set to:1736401629.520021
2025-01-09T05:47:09.521Z,1736401629.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008525
2025-01-09T05:47:09.598Z,1736401629.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:09.622Z,1736401629.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:47:09.626Z,1736401629.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 47.885590 m,
      bearing: 130.269509 deg,
      approach rate: -0.622174 m/s,
      LOS rate: -0.008762 deg/s,
      cmd heading: 139.540451 deg,
      new cmd heading: 139.529525 deg.

2025-01-09T05:47:09.635Z,1736401629.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435250 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:47:09.772Z,1736401629.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259269
2025-01-09T05:47:10.029Z,1736401630.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515730
2025-01-09T05:47:10.141Z,1736401630.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:10.151Z,1736401630.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m.
2025-01-09T05:47:10.154Z,1736401630.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.700001 m,
      nav range: 47.525608 m,
      bearing: 130.274665 deg,
      approach rate: -0.680998 m/s,
      LOS rate: 0.009828 deg/s,
      cmd heading: 139.529522 deg,
      new cmd heading: 139.545108 deg.

2025-01-09T05:47:10.155Z,1736401630.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435522 target range: 49.700001 and range: 49.70 m.
2025-01-09T05:47:10.294Z,1736401630.294 [DAT](INFO): DAT read: 05:47:08.2985 LVL= 27936, 28881, 17266, 32755, AGC= 57, IDX= 405, 0.42, 1.793, 0.506, 2.163, 1.555, PHS= 0.325,-1.002, 0.605, RAW= 159.4,   1.0, CAL= 161.3,  -7.7, ROT= 348.7,   7.7

2025-01-09T05:47:10.297Z,1736401630.297 [DAT](INFO): got valid direction response:
 05:47:08.2985 LVL= 27936, 28881, 17266, 32755, AGC= 57, IDX= 405, 0.42, 1.793, 0.506, 2.163, 1.555, PHS= 0.325,-1.002, 0.605, RAW= 159.4,   1.0, CAL= 161.3,  -7.7, ROT= 348.7,   7.7

2025-01-09T05:47:10.298Z,1736401630.298 [DAT](INFO): DAT read: Bearing 348.7,   7.7 (Local)

2025-01-09T05:47:10.298Z,1736401630.298 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.7,   7.7 (Local)

2025-01-09T05:47:10.304Z,1736401630.304 [DAT](INFO): DAT read: Range 10 to 50 : 47.4 m  (Round-trip  63.3 ms) speed  0.5 m/s

2025-01-09T05:47:10.305Z,1736401630.305 [DAT](INFO): DAT read: user:182>

2025-01-09T05:47:10.306Z,1736401630.306 [DAT](INFO): DAT read: Tx time:05:47:09.3810

2025-01-09T05:47:10.306Z,1736401630.306 [DAT](INFO): Ping request sent.
2025-01-09T05:47:10.306Z,1736401630.306 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:10.311Z,1736401630.311 [DAT](INFO): DAT read: TxSync time:05:47:09.3802

2025-01-09T05:47:10.312Z,1736401630.312 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:47:10.312Z,1736401630.312 [DAT](INFO): direction in FSK: [0.971773,-0.194179,-0.133986]
2025-01-09T05:47:10.313Z,1736401630.313 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:10.313Z,1736401630.313 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:10.320Z,1736401630.320 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:10.321Z,1736401630.321 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:10.448Z,1736401630.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:10.483Z,1736401630.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.400002 m,
      deltaT: 3.780522 s,
      deltaX: -2.299999 m,
      approachRate: -0.608381 m/s,
      rangeRepo size: 4

2025-01-09T05:47:10.485Z,1736401630.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.400002 m,
      bearing: 131.137722 deg,
      lat: 36.904035 deg,
      lon: -122.118872 deg,
      deltaT: 3.780522 s,
      deltaX: -2.299999 m,
      approachRate: -0.608381 m/s,
      posRepo size: 4

2025-01-09T05:47:10.486Z,1736401630.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-01-09T05:47:10.493Z,1736401630.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 47.322479 m,
      bearing: 130.277873 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009828 deg/s,
      cmd heading: 139.545109 deg,
      new cmd heading: 139.554748 deg.

2025-01-09T05:47:10.494Z,1736401630.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435690 target range: 47.400002 and range: 47.40 m.
2025-01-09T05:47:10.828Z,1736401630.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:10.836Z,1736401630.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-01-09T05:47:10.857Z,1736401630.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 47.071510 m,
      bearing: 130.281583 deg,
      approach rate: -0.699746 m/s,
      LOS rate: 0.010399 deg/s,
      cmd heading: 139.554753 deg,
      new cmd heading: 139.565942 deg.

2025-01-09T05:47:10.864Z,1736401630.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435885 target range: 47.400002 and range: 47.40 m.
2025-01-09T05:47:11.251Z,1736401631.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:11.258Z,1736401631.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:11.283Z,1736401631.283 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:47:11.284Z,1736401631.284 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:47:11.284Z,1736401631.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:47:11.292Z,1736401631.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-01-09T05:47:11.304Z,1736401631.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 46.787327 m,
      bearing: 130.291332 deg,
      approach rate: -0.624294 m/s,
      LOS rate: 0.021548 deg/s,
      cmd heading: 139.565941 deg,
      new cmd heading: 139.595367 deg.

2025-01-09T05:47:11.305Z,1736401631.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436399 target range: 47.400002 and range: 47.40 m.
2025-01-09T05:47:11.536Z,1736401631.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229649
2025-01-09T05:47:11.636Z,1736401631.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:11.662Z,1736401631.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-01-09T05:47:11.669Z,1736401631.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 46.528923 m,
      bearing: 130.299269 deg,
      approach rate: -0.697365 m/s,
      LOS rate: 0.021539 deg/s,
      cmd heading: 139.595365 deg,
      new cmd heading: 139.619309 deg.

2025-01-09T05:47:11.670Z,1736401631.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436817 target range: 47.400002 and range: 47.40 m.
2025-01-09T05:47:11.789Z,1736401631.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482112
2025-01-09T05:47:12.043Z,1736401632.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736328
2025-01-09T05:47:12.100Z,1736401632.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:12.113Z,1736401632.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-01-09T05:47:12.116Z,1736401632.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 46.215328 m,
      bearing: 130.308968 deg,
      approach rate: -0.695155 m/s,
      LOS rate: 0.021645 deg/s,
      cmd heading: 139.619312 deg,
      new cmd heading: 139.648606 deg.

2025-01-09T05:47:12.117Z,1736401632.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437328 target range: 47.400002 and range: 47.40 m.
2025-01-09T05:47:12.296Z,1736401632.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988387
2025-01-09T05:47:12.440Z,1736401632.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:12.450Z,1736401632.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-01-09T05:47:12.453Z,1736401632.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 45.985874 m,
      bearing: 130.316084 deg,
      approach rate: -0.682123 m/s,
      LOS rate: 0.021260 deg/s,
      cmd heading: 139.648600 deg,
      new cmd heading: 139.670054 deg.

2025-01-09T05:47:12.454Z,1736401632.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437702 target range: 47.400002 and range: 47.40 m.
2025-01-09T05:47:12.544Z,1736401632.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238243
2025-01-09T05:47:12.800Z,1736401632.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493980
2025-01-09T05:47:12.847Z,1736401632.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:12.873Z,1736401632.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-01-09T05:47:12.880Z,1736401632.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 45.711670 m,
      bearing: 130.324974 deg,
      approach rate: -0.647472 m/s,
      LOS rate: 0.021117 deg/s,
      cmd heading: 139.670060 deg,
      new cmd heading: 139.696889 deg.

2025-01-09T05:47:12.881Z,1736401632.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438171 target range: 47.400002 and range: 47.40 m.
2025-01-09T05:47:13.057Z,1736401633.057 [DAT](INFO): DAT read: Rx Time:05:47:11.8457

2025-01-09T05:47:13.057Z,1736401633.057 [DAT](INFO): Rx dataTimestamp_ set to:1736401633.057151
2025-01-09T05:47:13.058Z,1736401633.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751915
2025-01-09T05:47:13.269Z,1736401633.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:13.277Z,1736401633.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:13.280Z,1736401633.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-01-09T05:47:13.282Z,1736401633.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 45.429619 m,
      bearing: 130.335150 deg,
      approach rate: -0.694032 m/s,
      LOS rate: 0.025195 deg/s,
      cmd heading: 139.696889 deg,
      new cmd heading: 139.727607 deg.

2025-01-09T05:47:13.304Z,1736401633.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997723
2025-01-09T05:47:13.305Z,1736401633.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438707 target range: 47.400002 and range: 47.40 m.
2025-01-09T05:47:13.556Z,1736401633.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250403
2025-01-09T05:47:13.740Z,1736401633.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:13.764Z,1736401633.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.40 m.
2025-01-09T05:47:13.772Z,1736401633.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.400002 m,
      nav range: 45.118511 m,
      bearing: 130.346873 deg,
      approach rate: -0.642189 m/s,
      LOS rate: 0.024366 deg/s,
      cmd heading: 139.727611 deg,
      new cmd heading: 139.763023 deg.

2025-01-09T05:47:13.773Z,1736401633.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439325 target range: 47.400002 and range: 47.40 m.
2025-01-09T05:47:13.817Z,1736401633.817 [DAT](INFO): DAT read: 05:47:11.8457 LVL= 21216, 28273, 17074, 32755, AGC= 61, IDX= 408, 0.23,-1.415,-2.565,-1.046,-1.673, PHS= 0.346,-0.845, 0.624, RAW= 160.3,  -1.9, CAL= 163.0, -10.2, ROT= 347.0,  10.2

2025-01-09T05:47:13.818Z,1736401633.818 [DAT](INFO): got valid direction response:
 05:47:11.8457 LVL= 21216, 28273, 17074, 32755, AGC= 61, IDX= 408, 0.23,-1.415,-2.565,-1.046,-1.673, PHS= 0.346,-0.845, 0.624, RAW= 160.3,  -1.9, CAL= 163.0, -10.2, ROT= 347.0,  10.2

2025-01-09T05:47:13.819Z,1736401633.819 [DAT](INFO): DAT read: Bearing 347.0,  10.2 (Local)

2025-01-09T05:47:13.819Z,1736401633.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.0,  10.2 (Local)

2025-01-09T05:47:13.821Z,1736401633.821 [DAT](INFO): DAT read: Range 10 to 50 : 45.3 m  (Round-trip  60.5 ms) speed  0.6 m/s

2025-01-09T05:47:13.822Z,1736401633.822 [DAT](INFO): DAT read: user:183>

2025-01-09T05:47:13.823Z,1736401633.823 [DAT](INFO): DAT read: Tx time:05:47:12.9310

2025-01-09T05:47:13.823Z,1736401633.823 [DAT](INFO): Ping request sent.
2025-01-09T05:47:13.823Z,1736401633.823 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:13.824Z,1736401633.824 [DAT](INFO): DAT read: TxSync time:05:47:12.9302

2025-01-09T05:47:13.824Z,1736401633.824 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:47:13.825Z,1736401633.825 [DAT](INFO): direction in FSK: [0.958971,-0.221396,-0.177085]
2025-01-09T05:47:13.825Z,1736401633.825 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:13.826Z,1736401633.826 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:13.829Z,1736401633.829 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:13.829Z,1736401633.829 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:14.220Z,1736401634.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:14.251Z,1736401634.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.299999 m,
      deltaT: 3.531514 s,
      deltaX: -2.100002 m,
      approachRate: -0.594646 m/s,
      rangeRepo size: 4

2025-01-09T05:47:14.253Z,1736401634.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.299999 m,
      bearing: 129.727446 deg,
      lat: 36.904035 deg,
      lon: -122.118872 deg,
      deltaT: 3.531514 s,
      deltaX: -2.100002 m,
      approachRate: -0.594646 m/s,
      posRepo size: 4

2025-01-09T05:47:14.254Z,1736401634.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-01-09T05:47:14.262Z,1736401634.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 44.796352 m,
      bearing: 130.351749 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024366 deg/s,
      cmd heading: 139.763019 deg,
      new cmd heading: 139.798281 deg.

2025-01-09T05:47:14.267Z,1736401634.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439940 target range: 45.299999 and range: 45.30 m.
2025-01-09T05:47:14.540Z,1736401634.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:14.549Z,1736401634.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-01-09T05:47:14.552Z,1736401634.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 44.584190 m,
      bearing: 130.355734 deg,
      approach rate: -0.700122 m/s,
      LOS rate: 0.013214 deg/s,
      cmd heading: 139.798277 deg,
      new cmd heading: 139.810289 deg.

2025-01-09T05:47:14.553Z,1736401634.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440150 target range: 45.299999 and range: 45.30 m.
2025-01-09T05:47:14.953Z,1736401634.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:14.963Z,1736401634.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-01-09T05:47:14.966Z,1736401634.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 44.310555 m,
      bearing: 130.361295 deg,
      approach rate: -0.662348 m/s,
      LOS rate: 0.013543 deg/s,
      cmd heading: 139.810284 deg,
      new cmd heading: 139.827069 deg.

2025-01-09T05:47:14.983Z,1736401634.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440443 target range: 45.299999 and range: 45.30 m.
2025-01-09T05:47:15.373Z,1736401635.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:15.381Z,1736401635.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:15.384Z,1736401635.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-01-09T05:47:15.387Z,1736401635.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 44.039337 m,
      bearing: 130.364966 deg,
      approach rate: -0.643375 m/s,
      LOS rate: 0.008764 deg/s,
      cmd heading: 139.827073 deg,
      new cmd heading: 139.838156 deg.

2025-01-09T05:47:15.388Z,1736401635.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440636 target range: 45.299999 and range: 45.30 m.
2025-01-09T05:47:15.572Z,1736401635.572 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:47:15.572Z,1736401635.572 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:47:15.573Z,1736401635.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:47:15.760Z,1736401635.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:15.791Z,1736401635.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-01-09T05:47:15.794Z,1736401635.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 43.790165 m,
      bearing: 130.369390 deg,
      approach rate: -0.644407 m/s,
      LOS rate: 0.011506 deg/s,
      cmd heading: 139.838151 deg,
      new cmd heading: 139.851498 deg.

2025-01-09T05:47:15.799Z,1736401635.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440869 target range: 45.299999 and range: 45.30 m.
2025-01-09T05:47:15.827Z,1736401635.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003880
2025-01-09T05:47:16.079Z,1736401636.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255039
2025-01-09T05:47:16.180Z,1736401636.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:16.204Z,1736401636.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-01-09T05:47:16.207Z,1736401636.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 43.526131 m,
      bearing: 130.365263 deg,
      approach rate: -0.609164 m/s,
      LOS rate: -0.009580 deg/s,
      cmd heading: 139.851497 deg,
      new cmd heading: 139.839040 deg.

2025-01-09T05:47:16.208Z,1736401636.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440652 target range: 45.299999 and range: 45.30 m.
2025-01-09T05:47:16.328Z,1736401636.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505221
2025-01-09T05:47:16.565Z,1736401636.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:16.573Z,1736401636.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-01-09T05:47:16.578Z,1736401636.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 43.284184 m,
      bearing: 130.361437 deg,
      approach rate: -0.655158 m/s,
      LOS rate: -0.010419 deg/s,
      cmd heading: 139.839039 deg,
      new cmd heading: 139.827496 deg.

2025-01-09T05:47:16.580Z,1736401636.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756490
2025-01-09T05:47:16.580Z,1736401636.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440450 target range: 45.299999 and range: 45.30 m.
2025-01-09T05:47:16.832Z,1736401636.832 [DAT](INFO): DAT read: Rx Time:05:47:15.3926

2025-01-09T05:47:16.832Z,1736401636.832 [DAT](INFO): Rx dataTimestamp_ set to:1736401636.831919
2025-01-09T05:47:16.833Z,1736401636.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009498
2025-01-09T05:47:16.977Z,1736401636.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:17.006Z,1736401637.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.30 m.
2025-01-09T05:47:17.013Z,1736401637.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.299999 m,
      nav range: 43.025894 m,
      bearing: 130.358462 deg,
      approach rate: -0.597425 m/s,
      LOS rate: -0.006922 deg/s,
      cmd heading: 139.827496 deg,
      new cmd heading: 139.818519 deg.

2025-01-09T05:47:17.014Z,1736401637.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440294 target range: 45.299999 and range: 45.30 m.
2025-01-09T05:47:17.088Z,1736401637.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264240
2025-01-09T05:47:17.341Z,1736401637.341 [DAT](INFO): DAT read: 05:47:15.3926 LVL= 20336, 31409, 18226, 29091, AGC= 60, IDX= 408, 0.27, 0.952,-0.302, 1.271, 0.659, PHS= 0.381,-0.914, 0.609, RAW= 158.0,  -1.1, CAL= 160.7,  -9.6, ROT= 349.3,   9.6

2025-01-09T05:47:17.342Z,1736401637.342 [DAT](INFO): got valid direction response:
 05:47:15.3926 LVL= 20336, 31409, 18226, 29091, AGC= 60, IDX= 408, 0.27, 0.952,-0.302, 1.271, 0.659, PHS= 0.381,-0.914, 0.609, RAW= 158.0,  -1.1, CAL= 160.7,  -9.6, ROT= 349.3,   9.6

2025-01-09T05:47:17.344Z,1736401637.344 [DAT](INFO): DAT read: Bearing 349.3,   9.6 (Local)

2025-01-09T05:47:17.345Z,1736401637.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.3,   9.6 (Local)

2025-01-09T05:47:17.346Z,1736401637.346 [DAT](INFO): DAT read: Range 10 to 50 : 43.0 m  (Round-trip  57.4 ms) speed  0.6 m/s

2025-01-09T05:47:17.347Z,1736401637.347 [DAT](INFO): DAT read: user:184>

2025-01-09T05:47:17.348Z,1736401637.348 [DAT](INFO): DAT read: Tx time:05:47:16.4811

2025-01-09T05:47:17.348Z,1736401637.348 [DAT](INFO): Ping request sent.
2025-01-09T05:47:17.348Z,1736401637.348 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:17.348Z,1736401637.348 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:47:17.349Z,1736401637.349 [DAT](INFO): direction in FSK: [0.968852,-0.183067,-0.166769]
2025-01-09T05:47:17.350Z,1736401637.350 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:17.350Z,1736401637.350 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:17.387Z,1736401637.387 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:17.388Z,1736401637.388 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:17.548Z,1736401637.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:17.574Z,1736401637.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.000000 m,
      deltaT: 3.527767 s,
      deltaX: -2.299999 m,
      approachRate: -0.651970 m/s,
      rangeRepo size: 4

2025-01-09T05:47:17.588Z,1736401637.588 [DAT](INFO): DAT read: TxSync time:05:47:16.4803

2025-01-09T05:47:17.590Z,1736401637.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.000000 m,
      bearing: 131.116564 deg,
      lat: 36.904034 deg,
      lon: -122.118874 deg,
      deltaT: 3.527767 s,
      deltaX: -2.299999 m,
      approachRate: -0.651970 m/s,
      posRepo size: 4

2025-01-09T05:47:17.595Z,1736401637.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-01-09T05:47:17.598Z,1736401637.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 42.595001 m,
      bearing: 130.604247 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006922 deg/s,
      cmd heading: 139.818521 deg,
      new cmd heading: 139.806744 deg.

2025-01-09T05:47:17.603Z,1736401637.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440088 target range: 43.000000 and range: 43.00 m.
2025-01-09T05:47:17.889Z,1736401637.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:17.900Z,1736401637.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:17.902Z,1736401637.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-01-09T05:47:17.906Z,1736401637.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 42.387829 m,
      bearing: 130.592936 deg,
      approach rate: -0.629168 m/s,
      LOS rate: -0.034519 deg/s,
      cmd heading: 139.806746 deg,
      new cmd heading: 139.772646 deg.

2025-01-09T05:47:17.907Z,1736401637.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439493 target range: 43.000000 and range: 43.00 m.
2025-01-09T05:47:18.094Z,1736401638.094 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:47:18.095Z,1736401638.095 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:47:18.096Z,1736401638.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:47:18.312Z,1736401638.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:18.322Z,1736401638.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-01-09T05:47:18.325Z,1736401638.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 42.139969 m,
      bearing: 130.573537 deg,
      approach rate: -0.590872 m/s,
      LOS rate: -0.046517 deg/s,
      cmd heading: 139.772650 deg,
      new cmd heading: 139.714110 deg.

2025-01-09T05:47:18.327Z,1736401638.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438471 target range: 43.000000 and range: 43.00 m.
2025-01-09T05:47:18.345Z,1736401638.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996403
2025-01-09T05:47:18.596Z,1736401638.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247802
2025-01-09T05:47:18.729Z,1736401638.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:18.749Z,1736401638.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-01-09T05:47:18.758Z,1736401638.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 41.896633 m,
      bearing: 130.554319 deg,
      approach rate: -0.569559 m/s,
      LOS rate: -0.045242 deg/s,
      cmd heading: 139.714115 deg,
      new cmd heading: 139.656127 deg.

2025-01-09T05:47:18.764Z,1736401638.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437459 target range: 43.000000 and range: 43.00 m.
2025-01-09T05:47:18.849Z,1736401638.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501257
2025-01-09T05:47:19.103Z,1736401639.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753863
2025-01-09T05:47:19.154Z,1736401639.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:19.175Z,1736401639.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-01-09T05:47:19.186Z,1736401639.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 41.648159 m,
      bearing: 130.535360 deg,
      approach rate: -0.582786 m/s,
      LOS rate: -0.044734 deg/s,
      cmd heading: 139.656127 deg,
      new cmd heading: 139.598909 deg.

2025-01-09T05:47:19.191Z,1736401639.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436460 target range: 43.000000 and range: 43.00 m.
2025-01-09T05:47:19.352Z,1736401639.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003548
2025-01-09T05:47:19.524Z,1736401639.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:19.535Z,1736401639.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-01-09T05:47:19.537Z,1736401639.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 41.434719 m,
      bearing: 130.513373 deg,
      approach rate: -0.594441 m/s,
      LOS rate: -0.061549 deg/s,
      cmd heading: 139.598903 deg,
      new cmd heading: 139.532604 deg.

2025-01-09T05:47:19.538Z,1736401639.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435303 target range: 43.000000 and range: 43.00 m.
2025-01-09T05:47:19.605Z,1736401639.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256454
2025-01-09T05:47:19.856Z,1736401639.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507774
2025-01-09T05:47:19.923Z,1736401639.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:19.930Z,1736401639.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:19.932Z,1736401639.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-01-09T05:47:19.935Z,1736401639.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 41.205673 m,
      bearing: 130.489927 deg,
      approach rate: -0.576110 m/s,
      LOS rate: -0.059300 deg/s,
      cmd heading: 139.532609 deg,
      new cmd heading: 139.461881 deg.

2025-01-09T05:47:19.936Z,1736401639.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434069 target range: 43.000000 and range: 43.00 m.
2025-01-09T05:47:20.111Z,1736401640.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761917
2025-01-09T05:47:20.331Z,1736401640.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:20.340Z,1736401640.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-01-09T05:47:20.344Z,1736401640.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 40.975334 m,
      bearing: 130.459177 deg,
      approach rate: -0.564198 m/s,
      LOS rate: -0.075745 deg/s,
      cmd heading: 139.461876 deg,
      new cmd heading: 139.369105 deg.

2025-01-09T05:47:20.345Z,1736401640.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432450 target range: 43.000000 and range: 43.00 m.
2025-01-09T05:47:20.361Z,1736401640.361 [DAT](INFO): DAT read: Rx Time:05:47:18.9396

2025-01-09T05:47:20.361Z,1736401640.361 [DAT](INFO): Rx dataTimestamp_ set to:1736401640.361220
2025-01-09T05:47:20.362Z,1736401640.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013942
2025-01-09T05:47:20.612Z,1736401640.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264059
2025-01-09T05:47:20.757Z,1736401640.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:20.783Z,1736401640.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-01-09T05:47:20.786Z,1736401640.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 40.735996 m,
      bearing: 130.426927 deg,
      approach rate: -0.540166 m/s,
      LOS rate: -0.073213 deg/s,
      cmd heading: 139.369108 deg,
      new cmd heading: 139.271791 deg.

2025-01-09T05:47:20.791Z,1736401640.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430751 target range: 43.000000 and range: 43.00 m.
2025-01-09T05:47:20.871Z,1736401640.871 [DAT](INFO): DAT read: 05:47:18.9396 LVL= 20656, 28273, 16754, 29267, AGC= 57, IDX= 409,-0.33,-0.497,-1.900,-0.185,-0.784, PHS= 0.375,-1.068, 0.597, RAW= 157.0,   1.2, CAL= 159.1,  -7.6, ROT= 350.9,   7.6

2025-01-09T05:47:20.872Z,1736401640.872 [DAT](INFO): got valid direction response:
 05:47:18.9396 LVL= 20656, 28273, 16754, 29267, AGC= 57, IDX= 409,-0.33,-0.497,-1.900,-0.185,-0.784, PHS= 0.375,-1.068, 0.597, RAW= 157.0,   1.2, CAL= 159.1,  -7.6, ROT= 350.9,   7.6

2025-01-09T05:47:20.873Z,1736401640.873 [DAT](INFO): DAT read: Bearing 350.9,   7.6 (Local)

2025-01-09T05:47:20.873Z,1736401640.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.9,   7.6 (Local)

2025-01-09T05:47:20.875Z,1736401640.875 [DAT](INFO): DAT read: Range 10 to 50 : 40.7 m  (Round-trip  54.3 ms) speed  0.5 m/s

2025-01-09T05:47:20.875Z,1736401640.875 [DAT](INFO): DAT read: user:185>

2025-01-09T05:47:20.876Z,1736401640.876 [DAT](INFO): DAT read: Tx time:05:47:20.0311

2025-01-09T05:47:20.876Z,1736401640.876 [DAT](INFO): Ping request sent.
2025-01-09T05:47:20.877Z,1736401640.877 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:20.877Z,1736401640.877 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:47:20.878Z,1736401640.878 [DAT](INFO): direction in FSK: [0.978740,-0.156769,-0.132256]
2025-01-09T05:47:20.878Z,1736401640.878 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:20.878Z,1736401640.878 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:20.891Z,1736401640.891 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:20.891Z,1736401640.891 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:21.119Z,1736401641.119 [DAT](INFO): DAT read: TxSync time:05:47:20.0303

2025-01-09T05:47:21.180Z,1736401641.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:21.210Z,1736401641.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.700001 m,
      deltaT: 3.528585 s,
      deltaX: -2.299999 m,
      approachRate: -0.651819 m/s,
      rangeRepo size: 4

2025-01-09T05:47:21.213Z,1736401641.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.700001 m,
      bearing: 131.928958 deg,
      lat: 36.904031 deg,
      lon: -122.118876 deg,
      deltaT: 3.528585 s,
      deltaX: -2.299999 m,
      approachRate: -0.651819 m/s,
      posRepo size: 4

2025-01-09T05:47:21.213Z,1736401641.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.70 m.
2025-01-09T05:47:21.220Z,1736401641.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.700001 m,
      nav range: 40.527893 m,
      bearing: 130.933498 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.073213 deg/s,
      cmd heading: 139.271792 deg,
      new cmd heading: 139.178399 deg.

2025-01-09T05:47:21.221Z,1736401641.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429121 target range: 40.700001 and range: 40.70 m.
2025-01-09T05:47:21.551Z,1736401641.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:21.568Z,1736401641.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.70 m.
2025-01-09T05:47:21.591Z,1736401641.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.700001 m,
      nav range: 40.323990 m,
      bearing: 130.906216 deg,
      approach rate: -0.566984 m/s,
      LOS rate: -0.076246 deg/s,
      cmd heading: 139.178396 deg,
      new cmd heading: 139.096135 deg.

2025-01-09T05:47:21.592Z,1736401641.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427685 target range: 40.700001 and range: 40.70 m.
2025-01-09T05:47:21.922Z,1736401641.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:21.933Z,1736401641.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:21.937Z,1736401641.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.70 m.
2025-01-09T05:47:21.941Z,1736401641.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.700001 m,
      nav range: 40.119518 m,
      bearing: 130.877929 deg,
      approach rate: -0.554942 m/s,
      LOS rate: -0.077163 deg/s,
      cmd heading: 139.096133 deg,
      new cmd heading: 139.010840 deg.

2025-01-09T05:47:21.942Z,1736401641.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426197 target range: 40.700001 and range: 40.70 m.
2025-01-09T05:47:22.124Z,1736401642.124 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:47:22.124Z,1736401642.124 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:47:22.124Z,1736401642.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:47:22.361Z,1736401642.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:22.370Z,1736401642.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.70 m.
2025-01-09T05:47:22.374Z,1736401642.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.700001 m,
      nav range: 39.878376 m,
      bearing: 130.834971 deg,
      approach rate: -0.556153 m/s,
      LOS rate: -0.099674 deg/s,
      cmd heading: 139.010838 deg,
      new cmd heading: 138.881185 deg.

2025-01-09T05:47:22.376Z,1736401642.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499188
2025-01-09T05:47:22.377Z,1736401642.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423934 target range: 40.700001 and range: 40.70 m.
2025-01-09T05:47:22.628Z,1736401642.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751228
2025-01-09T05:47:22.739Z,1736401642.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:22.753Z,1736401642.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.70 m.
2025-01-09T05:47:22.757Z,1736401642.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.700001 m,
      nav range: 39.671021 m,
      bearing: 130.797894 deg,
      approach rate: -0.542502 m/s,
      LOS rate: -0.097511 deg/s,
      cmd heading: 138.881187 deg,
      new cmd heading: 138.769375 deg.

2025-01-09T05:47:22.759Z,1736401642.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421983 target range: 40.700001 and range: 40.70 m.
2025-01-09T05:47:22.881Z,1736401642.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004688
2025-01-09T05:47:23.132Z,1736401643.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255200
2025-01-09T05:47:23.157Z,1736401643.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:23.210Z,1736401643.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.70 m.
2025-01-09T05:47:23.217Z,1736401643.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.700001 m,
      nav range: 39.441864 m,
      bearing: 130.756612 deg,
      approach rate: -0.500910 m/s,
      LOS rate: -0.090763 deg/s,
      cmd heading: 138.769377 deg,
      new cmd heading: 138.644810 deg.

2025-01-09T05:47:23.218Z,1736401643.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419808 target range: 40.700001 and range: 40.70 m.
2025-01-09T05:47:23.384Z,1736401643.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506936
2025-01-09T05:47:23.579Z,1736401643.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:23.588Z,1736401643.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.70 m.
2025-01-09T05:47:23.590Z,1736401643.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.700001 m,
      nav range: 39.201836 m,
      bearing: 130.727584 deg,
      approach rate: -0.635551 m/s,
      LOS rate: -0.077332 deg/s,
      cmd heading: 138.644808 deg,
      new cmd heading: 138.557190 deg.

2025-01-09T05:47:23.591Z,1736401643.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418279 target range: 40.700001 and range: 40.70 m.
2025-01-09T05:47:23.637Z,1736401643.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760066
2025-01-09T05:47:23.888Z,1736401643.888 [DAT](INFO): DAT read: Rx Time:05:47:22.4869

2025-01-09T05:47:23.888Z,1736401643.888 [DAT](INFO): Rx dataTimestamp_ set to:1736401643.887874
2025-01-09T05:47:23.889Z,1736401643.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012108
2025-01-09T05:47:23.942Z,1736401643.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:23.957Z,1736401643.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:23.959Z,1736401643.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.70 m.
2025-01-09T05:47:23.970Z,1736401643.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.700001 m,
      nav range: 38.996090 m,
      bearing: 130.703447 deg,
      approach rate: -0.554139 m/s,
      LOS rate: -0.065351 deg/s,
      cmd heading: 138.557190 deg,
      new cmd heading: 138.484398 deg.

2025-01-09T05:47:23.987Z,1736401643.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417009 target range: 40.700001 and range: 40.70 m.
2025-01-09T05:47:24.140Z,1736401644.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262991
2025-01-09T05:47:24.389Z,1736401644.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:24.398Z,1736401644.398 [DAT](INFO): DAT read: 05:47:22.4869 LVL= 27936, 27361, 17138, 28403, AGC= 58, IDX= 413,-0.07,-1.136,-2.463,-0.795,-1.387, PHS= 0.339,-1.029, 0.588, RAW= 158.2,   1.4, CAL= 160.1,  -7.4, ROT= 349.9,   7.4

2025-01-09T05:47:24.400Z,1736401644.400 [DAT](INFO): got valid direction response:
 05:47:22.4869 LVL= 27936, 27361, 17138, 28403, AGC= 58, IDX= 413,-0.07,-1.136,-2.463,-0.795,-1.387, PHS= 0.339,-1.029, 0.588, RAW= 158.2,   1.4, CAL= 160.1,  -7.4, ROT= 349.9,   7.4

2025-01-09T05:47:24.401Z,1736401644.401 [DAT](INFO): DAT read: Bearing 349.9,   7.4 (Local)

2025-01-09T05:47:24.401Z,1736401644.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.9,   7.4 (Local)

2025-01-09T05:47:24.402Z,1736401644.402 [DAT](INFO): DAT read: Range 10 to 50 : 38.7 m  (Round-trip  51.6 ms) speed  0.5 m/s

2025-01-09T05:47:24.403Z,1736401644.403 [DAT](INFO): DAT read: user:186>

2025-01-09T05:47:24.404Z,1736401644.404 [DAT](INFO): DAT read: Tx time:05:47:23.5811

2025-01-09T05:47:24.404Z,1736401644.404 [DAT](INFO): Ping request sent.
2025-01-09T05:47:24.404Z,1736401644.404 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:24.404Z,1736401644.404 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:47:24.405Z,1736401644.405 [DAT](INFO): direction in FSK: [0.976303,-0.173906,-0.128796]
2025-01-09T05:47:24.406Z,1736401644.406 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:24.406Z,1736401644.406 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:24.417Z,1736401644.417 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:24.418Z,1736401644.418 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:24.429Z,1736401644.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.700001 m,
      deltaT: 3.527552 s,
      deltaX: -2.000000 m,
      approachRate: -0.566965 m/s,
      rangeRepo size: 4

2025-01-09T05:47:24.452Z,1736401644.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.700001 m,
      bearing: 131.096610 deg,
      lat: 36.904031 deg,
      lon: -122.118878 deg,
      deltaT: 3.527552 s,
      deltaX: -2.000000 m,
      approachRate: -0.566965 m/s,
      posRepo size: 4

2025-01-09T05:47:24.459Z,1736401644.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-01-09T05:47:24.479Z,1736401644.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 38.643959 m,
      bearing: 130.808291 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.065351 deg/s,
      cmd heading: 138.484394 deg,
      new cmd heading: 138.392448 deg.

2025-01-09T05:47:24.480Z,1736401644.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.415404 target range: 38.700001 and range: 38.70 m.
2025-01-09T05:47:24.560Z,1736401644.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:47:24.645Z,1736401644.645 [DAT](INFO): DAT read: TxSync time:05:47:23.5803

2025-01-09T05:47:24.801Z,1736401644.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:24.818Z,1736401644.818 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-01-09T05:47:24.818Z,1736401644.818 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-09T05:47:24.823Z,1736401644.823 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-01-09T05:47:24.824Z,1736401644.824 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.700001 m (mode  2.000000 count ).
2025-01-09T05:47:24.824Z,1736401644.824 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-01-09T05:47:24.824Z,1736401644.824 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-01-09T05:47:24.846Z,1736401644.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-01-09T05:47:24.853Z,1736401644.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 38.400246 m,
      bearing: 130.788895 deg,
      approach rate: -0.583429 m/s,
      LOS rate: -0.046728 deg/s,
      cmd heading: 138.392446 deg,
      new cmd heading: 138.333888 deg.

2025-01-09T05:47:24.854Z,1736401644.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.414382 target range: 38.700001 and range: 38.70 m.
2025-01-09T05:47:25.199Z,1736401645.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:25.255Z,1736401645.255 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-01-09T05:47:25.255Z,1736401645.255 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-01-09T05:47:25.257Z,1736401645.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-01-09T05:47:25.264Z,1736401645.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 38.165241 m,
      bearing: 130.770737 deg,
      approach rate: -0.571452 m/s,
      LOS rate: -0.044425 deg/s,
      cmd heading: 138.333884 deg,
      new cmd heading: 138.279076 deg.

2025-01-09T05:47:25.265Z,1736401645.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413425 target range: 38.700001 and range: 38.70 m.
2025-01-09T05:47:25.563Z,1736401645.563 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:47:25.595Z,1736401645.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:25.602Z,1736401645.602 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-01-09T05:47:25.602Z,1736401645.602 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-01-09T05:47:25.604Z,1736401645.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-01-09T05:47:25.623Z,1736401645.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 37.918884 m,
      bearing: 130.773281 deg,
      approach rate: -0.709862 m/s,
      LOS rate: 0.007376 deg/s,
      cmd heading: 138.279079 deg,
      new cmd heading: 138.286758 deg.

2025-01-09T05:47:25.628Z,1736401645.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413559 target range: 38.700001 and range: 38.70 m.
2025-01-09T05:47:25.973Z,1736401645.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:25.980Z,1736401645.980 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-01-09T05:47:25.980Z,1736401645.980 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-09T05:47:25.980Z,1736401645.980 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-01-09T05:47:25.980Z,1736401645.980 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-09T05:47:25.981Z,1736401645.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:25.000Z,1736401646.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-01-09T05:47:26.008Z,1736401646.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 37.683762 m,
      bearing: 130.776688 deg,
      approach rate: -0.621022 m/s,
      LOS rate: 0.009057 deg/s,
      cmd heading: 138.286756 deg,
      new cmd heading: 138.297043 deg.

2025-01-09T05:47:26.009Z,1736401646.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413739 target range: 38.700001 and range: 38.70 m.
2025-01-09T05:47:26.156Z,1736401646.156 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:47:26.156Z,1736401646.156 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:47:26.156Z,1736401646.156 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-09T05:47:26.408Z,1736401646.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003433
2025-01-09T05:47:26.430Z,1736401646.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:26.439Z,1736401646.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-01-09T05:47:26.442Z,1736401646.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 37.385632 m,
      bearing: 130.799047 deg,
      approach rate: -0.653737 m/s,
      LOS rate: 0.049418 deg/s,
      cmd heading: 138.297042 deg,
      new cmd heading: 138.364652 deg.

2025-01-09T05:47:26.443Z,1736401646.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.414919 target range: 38.700001 and range: 38.70 m.
2025-01-09T05:47:26.661Z,1736401646.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256035
2025-01-09T05:47:26.786Z,1736401646.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:26.815Z,1736401646.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-01-09T05:47:26.818Z,1736401646.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 37.153507 m,
      bearing: 130.818230 deg,
      approach rate: -0.615799 m/s,
      LOS rate: 0.051209 deg/s,
      cmd heading: 138.364647 deg,
      new cmd heading: 138.422557 deg.

2025-01-09T05:47:26.828Z,1736401646.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.415929 target range: 38.700001 and range: 38.70 m.
2025-01-09T05:47:26.913Z,1736401646.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508257
2025-01-09T05:47:27.164Z,1736401647.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759301
2025-01-09T05:47:27.274Z,1736401647.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:27.299Z,1736401647.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-01-09T05:47:27.302Z,1736401647.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 36.834637 m,
      bearing: 130.844955 deg,
      approach rate: -0.658851 m/s,
      LOS rate: 0.055696 deg/s,
      cmd heading: 138.422553 deg,
      new cmd heading: 138.503421 deg.

2025-01-09T05:47:27.307Z,1736401647.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417341 target range: 38.700001 and range: 38.70 m.
2025-01-09T05:47:27.416Z,1736401647.416 [DAT](INFO): DAT read: Rx Time:05:47:26.0342

2025-01-09T05:47:27.417Z,1736401647.417 [DAT](INFO): Rx dataTimestamp_ set to:1736401647.416507
2025-01-09T05:47:27.418Z,1736401647.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013455
2025-01-09T05:47:27.617Z,1736401647.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:27.627Z,1736401647.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.70 m.
2025-01-09T05:47:27.630Z,1736401647.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.700001 m,
      nav range: 36.600403 m,
      bearing: 130.879743 deg,
      approach rate: -0.717015 m/s,
      LOS rate: 0.107174 deg/s,
      cmd heading: 138.503423 deg,
      new cmd heading: 138.608457 deg.

2025-01-09T05:47:27.631Z,1736401647.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419174 target range: 38.700001 and range: 38.70 m.
2025-01-09T05:47:27.668Z,1736401647.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263539
2025-01-09T05:47:27.925Z,1736401647.925 [DAT](INFO): DAT read: 05:47:26.0342 LVL= 20000, 30321, 17362, 32755, AGC= 58, IDX= 417, 0.09,-0.804,-2.167,-0.531,-1.086, PHS= 0.370,-1.034, 0.552, RAW= 156.0,   1.5, CAL= 158.1,  -7.3, ROT= 351.9,   7.3

2025-01-09T05:47:27.928Z,1736401647.928 [DAT](INFO): got valid direction response:
 05:47:26.0342 LVL= 20000, 30321, 17362, 32755, AGC= 58, IDX= 417, 0.09,-0.804,-2.167,-0.531,-1.086, PHS= 0.370,-1.034, 0.552, RAW= 156.0,   1.5, CAL= 158.1,  -7.3, ROT= 351.9,   7.3

2025-01-09T05:47:27.929Z,1736401647.929 [DAT](INFO): DAT read: Bearing 351.9,   7.3 (Local)

2025-01-09T05:47:27.929Z,1736401647.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9,   7.3 (Local)

2025-01-09T05:47:27.931Z,1736401647.931 [DAT](INFO): DAT read: Range 10 to 50 : 36.6 m  (Round-trip  48.9 ms) speed  0.5 m/s

2025-01-09T05:47:27.932Z,1736401647.932 [DAT](INFO): DAT read: user:187>

2025-01-09T05:47:27.932Z,1736401647.932 [DAT](INFO): DAT read: Tx time:05:47:27.1312

2025-01-09T05:47:27.933Z,1736401647.933 [DAT](INFO): Ping request sent.
2025-01-09T05:47:27.933Z,1736401647.933 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:27.933Z,1736401647.933 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:47:27.934Z,1736401647.934 [DAT](INFO): direction in FSK: [0.981999,-0.139759,-0.127065]
2025-01-09T05:47:27.934Z,1736401647.934 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:27.935Z,1736401647.935 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:27.938Z,1736401647.938 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:27.938Z,1736401647.938 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:27.942Z,1736401647.942 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.008935
2025-01-09T05:47:28.061Z,1736401648.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:28.097Z,1736401648.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.599998 m,
      deltaT: 3.527859 s,
      deltaX: -2.100002 m,
      approachRate: -0.595263 m/s,
      rangeRepo size: 4

2025-01-09T05:47:28.100Z,1736401648.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.599998 m,
      bearing: 132.197110 deg,
      lat: 36.904031 deg,
      lon: -122.118881 deg,
      deltaT: 3.527859 s,
      deltaX: -2.100002 m,
      approachRate: -0.595263 m/s,
      posRepo size: 4

2025-01-09T05:47:28.100Z,1736401648.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:47:28.112Z,1736401648.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 36.122421 m,
      bearing: 131.319831 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.107174 deg/s,
      cmd heading: 138.608458 deg,
      new cmd heading: 138.759526 deg.

2025-01-09T05:47:28.113Z,1736401648.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421811 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:47:28.172Z,1736401648.172 [DAT](INFO): DAT read: TxSync time:05:47:27.1304

2025-01-09T05:47:28.173Z,1736401648.173 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.239815
2025-01-09T05:47:28.424Z,1736401648.424 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.490870
2025-01-09T05:47:28.500Z,1736401648.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:28.520Z,1736401648.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:28.522Z,1736401648.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:47:28.529Z,1736401648.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 35.810646 m,
      bearing: 131.382096 deg,
      approach rate: -0.731879 m/s,
      LOS rate: 0.147438 deg/s,
      cmd heading: 138.759528 deg,
      new cmd heading: 138.947949 deg.

2025-01-09T05:47:28.530Z,1736401648.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425099 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:47:28.676Z,1736401648.676 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.742884
2025-01-09T05:47:28.824Z,1736401648.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:28.834Z,1736401648.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:47:28.837Z,1736401648.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 35.580433 m,
      bearing: 131.428102 deg,
      approach rate: -0.738589 m/s,
      LOS rate: 0.148555 deg/s,
      cmd heading: 138.947945 deg,
      new cmd heading: 139.086855 deg.

2025-01-09T05:47:28.838Z,1736401648.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427524 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:47:28.928Z,1736401648.928 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.995475
2025-01-09T05:47:29.180Z,1736401649.180 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.246881
2025-01-09T05:47:29.219Z,1736401649.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:29.255Z,1736401649.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:47:29.273Z,1736401649.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 35.299816 m,
      bearing: 131.483261 deg,
      approach rate: -0.669637 m/s,
      LOS rate: 0.132674 deg/s,
      cmd heading: 139.086858 deg,
      new cmd heading: 139.253651 deg.

2025-01-09T05:47:29.292Z,1736401649.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430435 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:47:29.432Z,1736401649.432 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.499120
2025-01-09T05:47:29.646Z,1736401649.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:29.655Z,1736401649.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:47:29.658Z,1736401649.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 34.990372 m,
      bearing: 131.544906 deg,
      approach rate: -0.770249 m/s,
      LOS rate: 0.154798 deg/s,
      cmd heading: 139.253651 deg,
      new cmd heading: 139.440219 deg.

2025-01-09T05:47:29.659Z,1736401649.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433691 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:47:29.684Z,1736401649.684 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.751153
2025-01-09T05:47:29.936Z,1736401649.936 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.002849
2025-01-09T05:47:30.029Z,1736401650.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:30.038Z,1736401650.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:47:30.041Z,1736401650.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 34.712421 m,
      bearing: 131.600539 deg,
      approach rate: -0.725204 m/s,
      LOS rate: 0.146317 deg/s,
      cmd heading: 139.440224 deg,
      new cmd heading: 139.608461 deg.

2025-01-09T05:47:30.042Z,1736401650.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436627 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:47:30.188Z,1736401650.188 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.254837
2025-01-09T05:47:30.440Z,1736401650.440 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.506891
2025-01-09T05:47:30.456Z,1736401650.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:30.465Z,1736401650.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:47:30.469Z,1736401650.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 34.404526 m,
      bearing: 131.664051 deg,
      approach rate: -0.720022 m/s,
      LOS rate: 0.149853 deg/s,
      cmd heading: 139.608466 deg,
      new cmd heading: 139.800705 deg.

2025-01-09T05:47:30.470Z,1736401650.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439983 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:47:30.692Z,1736401650.692 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.758854
2025-01-09T05:47:30.845Z,1736401650.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:30.852Z,1736401650.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:30.855Z,1736401650.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:47:30.857Z,1736401650.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 34.123844 m,
      bearing: 131.722464 deg,
      approach rate: -0.721595 m/s,
      LOS rate: 0.151407 deg/s,
      cmd heading: 139.800708 deg,
      new cmd heading: 139.977388 deg.

2025-01-09T05:47:30.858Z,1736401650.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443066 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:47:30.945Z,1736401650.945 [DAT](INFO): DAT read: Rx Time:05:47:29.5812

2025-01-09T05:47:30.946Z,1736401650.946 [DAT](INFO): Rx dataTimestamp_ set to:1736401650.945661
2025-01-09T05:47:30.947Z,1736401650.947 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.014485
2025-01-09T05:47:31.197Z,1736401651.197 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.264156
2025-01-09T05:47:31.265Z,1736401651.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:31.331Z,1736401651.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.60 m.
2025-01-09T05:47:31.357Z,1736401651.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.599998 m,
      nav range: 33.821526 m,
      bearing: 131.786472 deg,
      approach rate: -0.655031 m/s,
      LOS rate: 0.139925 deg/s,
      cmd heading: 139.977391 deg,
      new cmd heading: 140.171130 deg.

2025-01-09T05:47:31.366Z,1736401651.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446448 target range: 36.599998 and range: 36.60 m.
2025-01-09T05:47:31.460Z,1736401651.460 [DAT](INFO): DAT read: 05:47:29.5812 LVL= 19616, 25921, 17330, 27491, AGC= 62, IDX= 418, 0.23, 0.201,-1.164, 0.490,-0.032, PHS= 0.322,-1.084, 0.520, RAW= 156.5,   3.2, CAL= 158.0,  -5.7, ROT= 352.0,   5.7

2025-01-09T05:47:31.462Z,1736401651.462 [DAT](INFO): got valid direction response:
 05:47:29.5812 LVL= 19616, 25921, 17330, 27491, AGC= 62, IDX= 418, 0.23, 0.201,-1.164, 0.490,-0.032, PHS= 0.322,-1.084, 0.520, RAW= 156.5,   3.2, CAL= 158.0,  -5.7, ROT= 352.0,   5.7

2025-01-09T05:47:31.464Z,1736401651.464 [DAT](INFO): DAT read: Bearing 352.0,   5.7 (Local)

2025-01-09T05:47:31.464Z,1736401651.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.0,   5.7 (Local)

2025-01-09T05:47:31.466Z,1736401651.466 [DAT](INFO): DAT read: Range 10 to 50 : 34.3 m  (Round-trip  45.8 ms) speed  0.8 m/s

2025-01-09T05:47:31.469Z,1736401651.469 [DAT](INFO): DAT read: user:188>

2025-01-09T05:47:31.470Z,1736401651.470 [DAT](INFO): DAT read: Tx time:05:47:30.6812

2025-01-09T05:47:31.470Z,1736401651.470 [DAT](INFO): Ping request sent.
2025-01-09T05:47:31.470Z,1736401651.470 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:31.472Z,1736401651.472 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-09T05:47:31.473Z,1736401651.473 [DAT](INFO): direction in FSK: [0.985372,-0.138485,-0.099320]
2025-01-09T05:47:31.474Z,1736401651.474 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:31.474Z,1736401651.474 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:31.496Z,1736401651.496 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:31.496Z,1736401651.496 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:31.504Z,1736401651.504 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.033545
2025-01-09T05:47:31.705Z,1736401651.705 [DAT](INFO): DAT read: TxSync time:05:47:30.6804

2025-01-09T05:47:31.706Z,1736401651.706 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.235783
2025-01-09T05:47:31.756Z,1736401651.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:31.796Z,1736401651.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.299999 m,
      deltaT: 3.533300 s,
      deltaX: -2.299999 m,
      approachRate: -0.650949 m/s,
      rangeRepo size: 4

2025-01-09T05:47:31.798Z,1736401651.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.299999 m,
      bearing: 133.107340 deg,
      lat: 36.904027 deg,
      lon: -122.118881 deg,
      deltaT: 3.533300 s,
      deltaX: -2.299999 m,
      approachRate: -0.650949 m/s,
      posRepo size: 4

2025-01-09T05:47:31.798Z,1736401651.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.30 m.
2025-01-09T05:47:31.805Z,1736401651.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.299999 m,
      nav range: 33.718548 m,
      bearing: 132.370221 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.139925 deg/s,
      cmd heading: 140.171137 deg,
      new cmd heading: 140.370413 deg.

2025-01-09T05:47:31.811Z,1736401651.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449926 target range: 34.299999 and range: 34.30 m.
2025-01-09T05:47:31.956Z,1736401651.956 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.486051
2025-01-09T05:47:32.083Z,1736401652.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:32.118Z,1736401652.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.30 m.
2025-01-09T05:47:32.122Z,1736401652.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.299999 m,
      nav range: 33.490456 m,
      bearing: 132.407841 deg,
      approach rate: -0.696369 m/s,
      LOS rate: 0.115636 deg/s,
      cmd heading: 140.370414 deg,
      new cmd heading: 140.484042 deg.

2025-01-09T05:47:32.131Z,1736401652.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451909 target range: 34.299999 and range: 34.30 m.
2025-01-09T05:47:32.210Z,1736401652.210 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.738953
2025-01-09T05:47:32.461Z,1736401652.461 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.990223
2025-01-09T05:47:32.533Z,1736401652.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:32.542Z,1736401652.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.30 m.
2025-01-09T05:47:32.546Z,1736401652.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.299999 m,
      nav range: 33.195698 m,
      bearing: 132.433568 deg,
      approach rate: -0.695658 m/s,
      LOS rate: 0.061258 deg/s,
      cmd heading: 140.484041 deg,
      new cmd heading: 140.561908 deg.

2025-01-09T05:47:32.547Z,1736401652.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453268 target range: 34.299999 and range: 34.30 m.
2025-01-09T05:47:32.712Z,1736401652.712 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.241768
2025-01-09T05:47:32.904Z,1736401652.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:32.913Z,1736401652.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:32.915Z,1736401652.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.30 m.
2025-01-09T05:47:32.918Z,1736401652.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.299999 m,
      nav range: 32.952679 m,
      bearing: 132.454306 deg,
      approach rate: -0.652027 m/s,
      LOS rate: 0.056051 deg/s,
      cmd heading: 140.561905 deg,
      new cmd heading: 140.624578 deg.

2025-01-09T05:47:32.921Z,1736401652.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454362 target range: 34.299999 and range: 34.30 m.
2025-01-09T05:47:32.965Z,1736401652.965 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.494742
2025-01-09T05:47:33.216Z,1736401653.216 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.745528
2025-01-09T05:47:33.406Z,1736401653.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:33.418Z,1736401653.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.30 m.
2025-01-09T05:47:33.420Z,1736401653.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.299999 m,
      nav range: 32.656574 m,
      bearing: 132.432339 deg,
      approach rate: -0.588800 m/s,
      LOS rate: -0.044076 deg/s,
      cmd heading: 140.624579 deg,
      new cmd heading: 140.558082 deg.

2025-01-09T05:47:33.421Z,1736401653.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453201 target range: 34.299999 and range: 34.30 m.
2025-01-09T05:47:33.469Z,1736401653.469 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.998822
2025-01-09T05:47:33.720Z,1736401653.720 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.249869
2025-01-09T05:47:33.724Z,1736401653.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:33.774Z,1736401653.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.30 m.
2025-01-09T05:47:33.781Z,1736401653.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.299999 m,
      nav range: 32.470676 m,
      bearing: 132.418520 deg,
      approach rate: -0.522069 m/s,
      LOS rate: -0.039032 deg/s,
      cmd heading: 140.558080 deg,
      new cmd heading: 140.516385 deg.

2025-01-09T05:47:33.787Z,1736401653.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452474 target range: 34.299999 and range: 34.30 m.
2025-01-09T05:47:33.973Z,1736401653.973 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.502469
2025-01-09T05:47:34.117Z,1736401654.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:34.126Z,1736401654.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.30 m.
2025-01-09T05:47:34.137Z,1736401654.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.299999 m,
      nav range: 32.236565 m,
      bearing: 132.402092 deg,
      approach rate: -0.664681 m/s,
      LOS rate: -0.046979 deg/s,
      cmd heading: 140.516389 deg,
      new cmd heading: 140.466748 deg.

2025-01-09T05:47:34.139Z,1736401654.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451607 target range: 34.299999 and range: 34.30 m.
2025-01-09T05:47:34.224Z,1736401654.224 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.754242
2025-01-09T05:47:34.477Z,1736401654.477 [DAT](INFO): DAT read: Rx Time:05:47:33.1280

2025-01-09T05:47:34.478Z,1736401654.478 [DAT](INFO): Rx dataTimestamp_ set to:1736401654.477519
2025-01-09T05:47:34.478Z,1736401654.478 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.008310
2025-01-09T05:47:34.549Z,1736401654.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:34.558Z,1736401654.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.30 m.
2025-01-09T05:47:34.562Z,1736401654.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.299999 m,
      nav range: 32.006443 m,
      bearing: 132.358962 deg,
      approach rate: -0.532809 m/s,
      LOS rate: -0.100580 deg/s,
      cmd heading: 140.466747 deg,
      new cmd heading: 140.336425 deg.

2025-01-09T05:47:34.563Z,1736401654.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449333 target range: 34.299999 and range: 34.30 m.
2025-01-09T05:47:34.728Z,1736401654.728 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.257951
2025-01-09T05:47:34.934Z,1736401654.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:34.943Z,1736401654.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:34.946Z,1736401654.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.30 m.
2025-01-09T05:47:34.949Z,1736401654.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.299999 m,
      nav range: 31.801340 m,
      bearing: 132.320836 deg,
      approach rate: -0.528608 m/s,
      LOS rate: -0.098894 deg/s,
      cmd heading: 140.336427 deg,
      new cmd heading: 140.221313 deg.

2025-01-09T05:47:34.950Z,1736401654.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447324 target range: 34.299999 and range: 34.30 m.
2025-01-09T05:47:34.988Z,1736401654.988 [DAT](INFO): DAT read: 05:47:33.1280 LVL= 19728, 32401, 18114, 30563, AGC= 58, IDX= 401, 0.15,-0.740,-2.050,-0.569,-0.999, PHS= 0.347,-1.004, 0.428, RAW= 152.9,   3.3, CAL= 154.8,  -5.6, ROT= 355.2,   5.6

2025-01-09T05:47:34.990Z,1736401654.990 [DAT](INFO): got valid direction response:
 05:47:33.1280 LVL= 19728, 32401, 18114, 30563, AGC= 58, IDX= 401, 0.15,-0.740,-2.050,-0.569,-0.999, PHS= 0.347,-1.004, 0.428, RAW= 152.9,   3.3, CAL= 154.8,  -5.6, ROT= 355.2,   5.6

2025-01-09T05:47:34.992Z,1736401654.992 [DAT](INFO): DAT read: Bearing 355.2,   5.6 (Local)

2025-01-09T05:47:34.992Z,1736401654.992 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2,   5.6 (Local)

2025-01-09T05:47:34.995Z,1736401654.995 [DAT](INFO): DAT read: Range 10 to 50 : 31.9 m  (Round-trip  42.6 ms) speed  0.5 m/s

2025-01-09T05:47:34.996Z,1736401654.996 [DAT](INFO): DAT read: user:189>

2025-01-09T05:47:34.997Z,1736401654.997 [DAT](INFO): DAT read: Tx time:05:47:34.2312

2025-01-09T05:47:34.998Z,1736401654.998 [DAT](INFO): Ping request sent.
2025-01-09T05:47:34.998Z,1736401654.998 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:34.999Z,1736401654.999 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-09T05:47:35.000Z,1736401655.000 [DAT](INFO): direction in FSK: [0.991737,-0.083279,-0.097583]
2025-01-09T05:47:35.001Z,1736401655.001 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:35.001Z,1736401655.001 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:35.008Z,1736401655.008 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:35.008Z,1736401655.008 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:35.024Z,1736401655.024 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.026278
2025-01-09T05:47:35.232Z,1736401655.232 [DAT](INFO): DAT read: TxSync time:05:47:34.2304

2025-01-09T05:47:35.233Z,1736401655.233 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.234896
2025-01-09T05:47:35.380Z,1736401655.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:35.412Z,1736401655.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.900000 m,
      deltaT: 3.527112 s,
      deltaX: -2.400000 m,
      approachRate: -0.680443 m/s,
      rangeRepo size: 4

2025-01-09T05:47:35.414Z,1736401655.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.900000 m,
      bearing: 136.232004 deg,
      lat: 36.904026 deg,
      lon: -122.118881 deg,
      deltaT: 3.527112 s,
      deltaX: -2.400000 m,
      approachRate: -0.680443 m/s,
      posRepo size: 4

2025-01-09T05:47:35.419Z,1736401655.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.90 m.
2025-01-09T05:47:35.421Z,1736401655.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.900000 m,
      nav range: 31.665121 m,
      bearing: 132.477200 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.098894 deg/s,
      cmd heading: 140.221311 deg,
      new cmd heading: 140.084533 deg.

2025-01-09T05:47:35.422Z,1736401655.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444936 target range: 31.900000 and range: 31.90 m.
2025-01-09T05:47:35.484Z,1736401655.484 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.486324
2025-01-09T05:47:35.736Z,1736401655.736 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.738338
2025-01-09T05:47:35.753Z,1736401655.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:35.788Z,1736401655.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.90 m.
2025-01-09T05:47:35.790Z,1736401655.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.900000 m,
      nav range: 31.483887 m,
      bearing: 132.415001 deg,
      approach rate: -0.475984 m/s,
      LOS rate: -0.164295 deg/s,
      cmd heading: 140.084530 deg,
      new cmd heading: 139.896861 deg.

2025-01-09T05:47:35.796Z,1736401655.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441661 target range: 31.900000 and range: 31.90 m.
2025-01-09T05:47:35.988Z,1736401655.988 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.989933
2025-01-09T05:47:36.131Z,1736401656.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:36.159Z,1736401656.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.90 m.
2025-01-09T05:47:36.170Z,1736401656.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.900000 m,
      nav range: 31.297773 m,
      bearing: 132.350437 deg,
      approach rate: -0.529761 m/s,
      LOS rate: -0.184870 deg/s,
      cmd heading: 139.896863 deg,
      new cmd heading: 139.702020 deg.

2025-01-09T05:47:36.181Z,1736401656.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438260 target range: 31.900000 and range: 31.90 m.
2025-01-09T05:47:36.241Z,1736401656.241 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.243298
2025-01-09T05:47:36.492Z,1736401656.492 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.493733
2025-01-09T05:47:36.558Z,1736401656.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:36.570Z,1736401656.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.90 m.
2025-01-09T05:47:36.573Z,1736401656.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.900000 m,
      nav range: 31.099983 m,
      bearing: 132.270529 deg,
      approach rate: -0.458401 m/s,
      LOS rate: -0.186373 deg/s,
      cmd heading: 139.702026 deg,
      new cmd heading: 139.460779 deg.

2025-01-09T05:47:36.574Z,1736401656.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434050 target range: 31.900000 and range: 31.90 m.
2025-01-09T05:47:36.749Z,1736401656.749 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.750757
2025-01-09T05:47:36.932Z,1736401656.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:36.944Z,1736401656.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.90 m.
2025-01-09T05:47:36.996Z,1736401656.996 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.997926
2025-01-09T05:47:36.998Z,1736401656.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.900000 m,
      nav range: 30.926779 m,
      bearing: 132.200882 deg,
      approach rate: -0.463418 m/s,
      LOS rate: -0.187390 deg/s,
      cmd heading: 139.460783 deg,
      new cmd heading: 139.250671 deg.

2025-01-09T05:47:37.003Z,1736401657.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430383 target range: 31.900000 and range: 31.90 m.
2025-01-09T05:47:37.248Z,1736401657.248 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.250097
2025-01-09T05:47:37.394Z,1736401657.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:37.425Z,1736401657.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:37.432Z,1736401657.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.90 m.
2025-01-09T05:47:37.439Z,1736401657.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.900000 m,
      nav range: 30.725737 m,
      bearing: 132.120647 deg,
      approach rate: -0.412076 m/s,
      LOS rate: -0.165533 deg/s,
      cmd heading: 139.250673 deg,
      new cmd heading: 139.008396 deg.

2025-01-09T05:47:37.440Z,1736401657.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426154 target range: 31.900000 and range: 31.90 m.
2025-01-09T05:47:37.501Z,1736401657.501 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.503036
2025-01-09T05:47:37.752Z,1736401657.752 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.754033
2025-01-09T05:47:37.805Z,1736401657.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:37.821Z,1736401657.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.90 m.
2025-01-09T05:47:37.836Z,1736401657.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.900000 m,
      nav range: 30.525961 m,
      bearing: 132.032284 deg,
      approach rate: -0.513755 m/s,
      LOS rate: -0.228727 deg/s,
      cmd heading: 139.008392 deg,
      new cmd heading: 138.741570 deg.

2025-01-09T05:47:37.837Z,1736401657.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421497 target range: 31.900000 and range: 31.90 m.
2025-01-09T05:47:38.004Z,1736401658.004 [DAT](INFO): DAT read: Rx Time:05:47:36.6750

2025-01-09T05:47:38.005Z,1736401658.005 [DAT](INFO): Rx dataTimestamp_ set to:1736401658.004484
2025-01-09T05:47:38.005Z,1736401658.005 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.007490
2025-01-09T05:47:38.151Z,1736401658.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:38.177Z,1736401658.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.90 m.
2025-01-09T05:47:38.184Z,1736401658.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.900000 m,
      nav range: 30.368181 m,
      bearing: 131.963214 deg,
      approach rate: -0.442675 m/s,
      LOS rate: -0.194793 deg/s,
      cmd heading: 138.741564 deg,
      new cmd heading: 138.533279 deg.

2025-01-09T05:47:38.185Z,1736401658.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417862 target range: 31.900000 and range: 31.90 m.
2025-01-09T05:47:38.256Z,1736401658.256 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.258152
2025-01-09T05:47:38.514Z,1736401658.514 [DAT](INFO): DAT read: 05:47:36.6750 LVL= 17792, 28401, 17682, 28915, AGC= 54, IDX= 419,-0.44, 2.972, 1.635,-3.069, 2.696, PHS= 0.364,-1.015, 0.515, RAW= 155.1,   1.9, CAL= 157.2,  -7.0, ROT= 352.8,   7.0

2025-01-09T05:47:38.542Z,1736401658.542 [DAT](INFO): got valid direction response:
 05:47:36.6750 LVL= 17792, 28401, 17682, 28915, AGC= 54, IDX= 419,-0.44, 2.972, 1.635,-3.069, 2.696, PHS= 0.364,-1.015, 0.515, RAW= 155.1,   1.9, CAL= 157.2,  -7.0, ROT= 352.8,   7.0

2025-01-09T05:47:38.545Z,1736401658.545 [DAT](INFO): DAT read: Bearing 352.8,   7.0 (Local)

2025-01-09T05:47:38.545Z,1736401658.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.8,   7.0 (Local)

2025-01-09T05:47:38.547Z,1736401658.547 [DAT](INFO): DAT read: Range 10 to 50 : 29.7 m  (Round-trip  39.7 ms) speed  0.4 m/s

2025-01-09T05:47:38.547Z,1736401658.547 [DAT](INFO): DAT read: user:190>

2025-01-09T05:47:38.548Z,1736401658.548 [DAT](INFO): DAT read: Tx time:05:47:37.7812

2025-01-09T05:47:38.548Z,1736401658.548 [DAT](INFO): Ping request sent.
2025-01-09T05:47:38.548Z,1736401658.548 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:38.549Z,1736401658.549 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-01-09T05:47:38.550Z,1736401658.550 [DAT](INFO): direction in FSK: [0.984720,-0.124399,-0.121869]
2025-01-09T05:47:38.550Z,1736401658.550 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:38.550Z,1736401658.550 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:38.556Z,1736401658.556 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:38.556Z,1736401658.556 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:38.561Z,1736401658.561 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.012416
2025-01-09T05:47:38.676Z,1736401658.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:38.720Z,1736401658.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 3.527924 s,
      deltaX: -2.199999 m,
      approachRate: -0.623596 m/s,
      rangeRepo size: 4

2025-01-09T05:47:38.747Z,1736401658.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.700001 m,
      bearing: 132.832776 deg,
      lat: 36.904026 deg,
      lon: -122.118883 deg,
      deltaT: 3.527924 s,
      deltaX: -2.199999 m,
      approachRate: -0.623596 m/s,
      posRepo size: 4

2025-01-09T05:47:38.748Z,1736401658.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.70 m.
2025-01-09T05:47:38.761Z,1736401658.761 [DAT](INFO): DAT read: TxSync time:05:47:37.7804

2025-01-09T05:47:38.762Z,1736401658.762 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.213657
2025-01-09T05:47:38.766Z,1736401658.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.700001 m,
      nav range: 29.966400 m,
      bearing: 132.124560 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.194793 deg/s,
      cmd heading: 138.533285 deg,
      new cmd heading: 138.224019 deg.

2025-01-09T05:47:38.771Z,1736401658.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.412464 target range: 29.700001 and range: 29.70 m.
2025-01-09T05:47:39.012Z,1736401659.012 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.463369
2025-01-09T05:47:39.037Z,1736401659.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:39.050Z,1736401659.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.70 m.
2025-01-09T05:47:39.053Z,1736401659.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.700001 m,
      nav range: 29.789036 m,
      bearing: 132.067214 deg,
      approach rate: -0.516181 m/s,
      LOS rate: -0.167887 deg/s,
      cmd heading: 138.224014 deg,
      new cmd heading: 138.050952 deg.

2025-01-09T05:47:39.054Z,1736401659.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.409444 target range: 29.700001 and range: 29.70 m.
2025-01-09T05:47:39.265Z,1736401659.265 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.716600
2025-01-09T05:47:39.482Z,1736401659.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:39.505Z,1736401659.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:39.511Z,1736401659.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.70 m.
2025-01-09T05:47:39.514Z,1736401659.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.700001 m,
      nav range: 29.548948 m,
      bearing: 132.037342 deg,
      approach rate: -0.525536 m/s,
      LOS rate: -0.065920 deg/s,
      cmd heading: 138.050950 deg,
      new cmd heading: 137.960605 deg.

2025-01-09T05:47:39.516Z,1736401659.516 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.967312
2025-01-09T05:47:39.520Z,1736401659.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407867 target range: 29.700001 and range: 29.70 m.
2025-01-09T05:47:39.768Z,1736401659.768 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.219487
2025-01-09T05:47:39.849Z,1736401659.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:39.861Z,1736401659.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.70 m.
2025-01-09T05:47:39.864Z,1736401659.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.700001 m,
      nav range: 29.351036 m,
      bearing: 132.012172 deg,
      approach rate: -0.560391 m/s,
      LOS rate: -0.071748 deg/s,
      cmd heading: 137.960600 deg,
      new cmd heading: 137.884583 deg.

2025-01-09T05:47:39.865Z,1736401659.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.406540 target range: 29.700001 and range: 29.70 m.
2025-01-09T05:47:40.020Z,1736401660.020 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.471160
2025-01-09T05:47:40.255Z,1736401660.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:40.272Z,1736401660.272 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.723339
2025-01-09T05:47:40.281Z,1736401660.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.70 m.
2025-01-09T05:47:40.289Z,1736401660.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.700001 m,
      nav range: 29.132011 m,
      bearing: 131.983295 deg,
      approach rate: -0.521010 m/s,
      LOS rate: -0.069209 deg/s,
      cmd heading: 137.884580 deg,
      new cmd heading: 137.797298 deg.

2025-01-09T05:47:40.290Z,1736401660.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405017 target range: 29.700001 and range: 29.70 m.
2025-01-09T05:47:40.527Z,1736401660.527 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.978461
2025-01-09T05:47:40.671Z,1736401660.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:40.701Z,1736401660.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.70 m.
2025-01-09T05:47:40.708Z,1736401660.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.700001 m,
      nav range: 28.884232 m,
      bearing: 132.001329 deg,
      approach rate: -0.589776 m/s,
      LOS rate: 0.043295 deg/s,
      cmd heading: 137.797304 deg,
      new cmd heading: 137.851872 deg.

2025-01-09T05:47:40.708Z,1736401660.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405969 target range: 29.700001 and range: 29.70 m.
2025-01-09T05:47:40.777Z,1736401660.777 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.227751
2025-01-09T05:47:41.028Z,1736401661.028 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.479596
2025-01-09T05:47:41.087Z,1736401661.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:41.097Z,1736401661.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.70 m.
2025-01-09T05:47:41.100Z,1736401661.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.700001 m,
      nav range: 28.635536 m,
      bearing: 132.018964 deg,
      approach rate: -0.627198 m/s,
      LOS rate: 0.044859 deg/s,
      cmd heading: 137.851878 deg,
      new cmd heading: 137.905240 deg.

2025-01-09T05:47:41.101Z,1736401661.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.406900 target range: 29.700001 and range: 29.70 m.
2025-01-09T05:47:41.280Z,1736401661.280 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.731219
2025-01-09T05:47:41.521Z,1736401661.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:41.530Z,1736401661.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:41.532Z,1736401661.532 [DAT](INFO): DAT read: Rx Time:05:47:40.2225

2025-01-09T05:47:41.532Z,1736401661.532 [DAT](INFO): Rx dataTimestamp_ set to:1736401661.531956
2025-01-09T05:47:41.533Z,1736401661.533 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.984356
2025-01-09T05:47:41.535Z,1736401661.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.70 m.
2025-01-09T05:47:41.537Z,1736401661.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.700001 m,
      nav range: 28.348219 m,
      bearing: 132.084119 deg,
      approach rate: -0.656986 m/s,
      LOS rate: 0.150497 deg/s,
      cmd heading: 137.905235 deg,
      new cmd heading: 138.102683 deg.

2025-01-09T05:47:41.538Z,1736401661.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410347 target range: 29.700001 and range: 29.70 m.
2025-01-09T05:47:41.784Z,1736401661.784 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.235543
2025-01-09T05:47:41.894Z,1736401661.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:41.903Z,1736401661.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.70 m.
2025-01-09T05:47:41.906Z,1736401661.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.700001 m,
      nav range: 28.101301 m,
      bearing: 132.139862 deg,
      approach rate: -0.670365 m/s,
      LOS rate: 0.152667 deg/s,
      cmd heading: 138.102682 deg,
      new cmd heading: 138.271378 deg.

2025-01-09T05:47:41.907Z,1736401661.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413291 target range: 29.700001 and range: 29.70 m.
2025-01-09T05:47:42.041Z,1736401662.041 [DAT](INFO): DAT read: 05:47:40.2225 LVL= 24224, 30705, 17746, 32179, AGC= 58, IDX= 407, 0.48, 0.064,-1.361, 0.337,-0.235, PHS= 0.387,-1.080, 0.569, RAW= 155.8,   1.6, CAL= 157.9,  -7.2, ROT= 352.1,   7.2

2025-01-09T05:47:42.044Z,1736401662.044 [DAT](INFO): got valid direction response:
 05:47:40.2225 LVL= 24224, 30705, 17746, 32179, AGC= 58, IDX= 407, 0.48, 0.064,-1.361, 0.337,-0.235, PHS= 0.387,-1.080, 0.569, RAW= 155.8,   1.6, CAL= 157.9,  -7.2, ROT= 352.1,   7.2

2025-01-09T05:47:42.045Z,1736401662.045 [DAT](INFO): DAT read: Bearing 352.1,   7.2 (Local)

2025-01-09T05:47:42.045Z,1736401662.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.1,   7.2 (Local)

2025-01-09T05:47:42.046Z,1736401662.046 [DAT](INFO): DAT read: Range 10 to 50 : 27.8 m  (Round-trip  37.1 ms) speed  0.4 m/s

2025-01-09T05:47:42.047Z,1736401662.047 [DAT](INFO): DAT read: user:191>

2025-01-09T05:47:42.048Z,1736401662.048 [DAT](INFO): DAT read: Tx time:05:47:41.3313

2025-01-09T05:47:42.048Z,1736401662.048 [DAT](INFO): Ping request sent.
2025-01-09T05:47:42.048Z,1736401662.048 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:42.049Z,1736401662.049 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-01-09T05:47:42.050Z,1736401662.050 [DAT](INFO): direction in FSK: [0.982699,-0.136361,-0.125333]
2025-01-09T05:47:42.050Z,1736401662.050 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:42.050Z,1736401662.050 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:42.053Z,1736401662.053 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:42.054Z,1736401662.054 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:42.062Z,1736401662.062 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.013678
2025-01-09T05:47:42.288Z,1736401662.288 [DAT](INFO): DAT read: TxSync time:05:47:41.3305

2025-01-09T05:47:42.289Z,1736401662.289 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.240097
2025-01-09T05:47:42.290Z,1736401662.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:42.304Z,1736401662.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 3.527950 s,
      deltaX: -1.900002 m,
      approachRate: -0.538557 m/s,
      rangeRepo size: 4

2025-01-09T05:47:42.306Z,1736401662.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.799999 m,
      bearing: 132.358399 deg,
      lat: 36.904026 deg,
      lon: -122.118886 deg,
      deltaT: 3.527950 s,
      deltaX: -1.900002 m,
      approachRate: -0.538557 m/s,
      posRepo size: 4

2025-01-09T05:47:42.307Z,1736401662.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:42.310Z,1736401662.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 27.670227 m,
      bearing: 132.517666 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.152667 deg/s,
      cmd heading: 138.271374 deg,
      new cmd heading: 138.455001 deg.

2025-01-09T05:47:42.311Z,1736401662.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.416496 target range: 27.799999 and range: 27.80 m.
2025-01-09T05:47:42.540Z,1736401662.540 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.491280
2025-01-09T05:47:42.696Z,1736401662.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:42.705Z,1736401662.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:42.708Z,1736401662.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 27.373112 m,
      bearing: 132.629352 deg,
      approach rate: -0.740421 m/s,
      LOS rate: 0.281346 deg/s,
      cmd heading: 138.454997 deg,
      new cmd heading: 138.793687 deg.

2025-01-09T05:47:42.709Z,1736401662.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422407 target range: 27.799999 and range: 27.80 m.
2025-01-09T05:47:42.793Z,1736401662.793 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.744323
2025-01-09T05:47:43.045Z,1736401663.045 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.996685
2025-01-09T05:47:43.085Z,1736401663.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:43.118Z,1736401663.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:43.125Z,1736401663.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 27.088001 m,
      bearing: 132.738595 deg,
      approach rate: -0.689724 m/s,
      LOS rate: 0.267056 deg/s,
      cmd heading: 138.793692 deg,
      new cmd heading: 139.124867 deg.

2025-01-09T05:47:43.131Z,1736401663.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428187 target range: 27.799999 and range: 27.80 m.
2025-01-09T05:47:43.298Z,1736401663.298 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.248855
2025-01-09T05:47:43.542Z,1736401663.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:43.549Z,1736401663.549 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.500082
2025-01-09T05:47:43.557Z,1736401663.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:43.559Z,1736401663.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:43.563Z,1736401663.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 26.737411 m,
      bearing: 132.897448 deg,
      approach rate: -0.796456 m/s,
      LOS rate: 0.365607 deg/s,
      cmd heading: 139.124861 deg,
      new cmd heading: 139.607656 deg.

2025-01-09T05:47:43.564Z,1736401663.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436613 target range: 27.799999 and range: 27.80 m.
2025-01-09T05:47:43.800Z,1736401663.800 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.751170
2025-01-09T05:47:43.896Z,1736401663.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:43.904Z,1736401663.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:43.907Z,1736401663.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 26.466204 m,
      bearing: 133.022062 deg,
      approach rate: -0.784852 m/s,
      LOS rate: 0.364317 deg/s,
      cmd heading: 139.607660 deg,
      new cmd heading: 139.985327 deg.

2025-01-09T05:47:43.908Z,1736401663.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443205 target range: 27.799999 and range: 27.80 m.
2025-01-09T05:47:44.052Z,1736401664.052 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.003178
2025-01-09T05:47:44.289Z,1736401664.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:44.305Z,1736401664.305 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.256692
2025-01-09T05:47:44.308Z,1736401664.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:44.312Z,1736401664.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 26.164455 m,
      bearing: 133.163671 deg,
      approach rate: -0.747164 m/s,
      LOS rate: 0.354686 deg/s,
      cmd heading: 139.985328 deg,
      new cmd heading: 140.415048 deg.

2025-01-09T05:47:44.315Z,1736401664.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450705 target range: 27.799999 and range: 27.80 m.
2025-01-09T05:47:44.557Z,1736401664.557 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.508261
2025-01-09T05:47:44.779Z,1736401664.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:44.788Z,1736401664.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:44.808Z,1736401664.808 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.759298
2025-01-09T05:47:44.809Z,1736401664.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 25.788826 m,
      bearing: 133.346469 deg,
      approach rate: -0.782172 m/s,
      LOS rate: 0.386184 deg/s,
      cmd heading: 140.415043 deg,
      new cmd heading: 140.971406 deg.

2025-01-09T05:47:44.815Z,1736401664.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460415 target range: 27.799999 and range: 27.80 m.
2025-01-09T05:47:45.061Z,1736401665.061 [DAT](INFO): DAT read: Rx Time:05:47:43.7699

2025-01-09T05:47:45.061Z,1736401665.061 [DAT](INFO): Rx dataTimestamp_ set to:1736401665.061029
2025-01-09T05:47:45.062Z,1736401665.062 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.013420
2025-01-09T05:47:45.167Z,1736401665.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:45.185Z,1736401665.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:45.193Z,1736401665.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 25.491188 m,
      bearing: 133.491322 deg,
      approach rate: -0.749631 m/s,
      LOS rate: 0.369085 deg/s,
      cmd heading: 140.971403 deg,
      new cmd heading: 141.411025 deg.

2025-01-09T05:47:45.199Z,1736401665.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468088 target range: 27.799999 and range: 27.80 m.
2025-01-09T05:47:45.315Z,1736401665.315 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.266024
2025-01-09T05:47:45.569Z,1736401665.569 [DAT](INFO): DAT read: 05:47:43.7699 LVL= 19328, 22945, 15170, 27427, AGC= 61, IDX= 413,-0.22, 0.521,-0.795, 0.797, 0.260, PHS= 0.350,-1.007, 0.534, RAW= 156.3,   1.158.3,  -7.1, ROT= 351.7,   7.1

2025-01-09T05:47:45.570Z,1736401665.570 [DAT](INFO): unknown deviceResponse_: 05:47:43.7699 LVL= 19328, 22945, 15170, 27427, AGC= 61, IDX= 413,-0.22, 0.521,-0.795, 0.797, 0.260, PHS= 0.350,-1.007, 0.534, RAW= 156.3,   1.158.3,  -7.1, ROT= 351.7,   7.1

2025-01-09T05:47:45.575Z,1736401665.575 [DAT](INFO): DAT read: Bearing 351.7,   7.1 (Local)

2025-01-09T05:47:45.576Z,1736401665.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.7,   7.1 (Local)

2025-01-09T05:47:45.578Z,1736401665.578 [DAT](INFO): DAT read: Range 10 to 50 : 25.8 m  (Round-trip  34.4 ms) speed  0.5 m/s

2025-01-09T05:47:45.579Z,1736401665.579 [DAT](INFO): DAT read: user:192>

2025-01-09T05:47:45.579Z,1736401665.579 [DAT](INFO): DAT read: Tx time:05:47:44.8829

2025-01-09T05:47:45.580Z,1736401665.580 [DAT](INFO): Ping request sent.
2025-01-09T05:47:45.580Z,1736401665.580 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:45.580Z,1736401665.580 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-01-09T05:47:45.580Z,1736401665.580 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:45.581Z,1736401665.581 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:45.582Z,1736401665.582 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.001888
2025-01-09T05:47:45.713Z,1736401665.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:45.729Z,1736401665.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:45.738Z,1736401665.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 3.527827 s,
      deltaX: -2.000000 m,
      approachRate: -0.566921 m/s,
      rangeRepo size: 4

2025-01-09T05:47:45.744Z,1736401665.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:45.759Z,1736401665.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 25.086597 m,
      bearing: 133.670064 deg,
      approach rate: -0.733128 m/s,
      LOS rate: 0.329107 deg/s,
      cmd heading: 141.411021 deg,
      new cmd heading: 141.955877 deg.

2025-01-09T05:47:45.761Z,1736401665.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477597 target range: 27.799999 and range: 25.80 m.
2025-01-09T05:47:45.817Z,1736401665.817 [DAT](INFO): DAT read: TxSync time:05:47:44.8821

2025-01-09T05:47:45.818Z,1736401665.818 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.238310
2025-01-09T05:47:46.037Z,1736401666.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:46.046Z,1736401666.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:46.067Z,1736401666.067 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.487591
2025-01-09T05:47:46.077Z,1736401666.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 24.845989 m,
      bearing: 133.774657 deg,
      approach rate: -0.778191 m/s,
      LOS rate: 0.341558 deg/s,
      cmd heading: 141.955879 deg,
      new cmd heading: 142.272693 deg.

2025-01-09T05:47:46.078Z,1736401666.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.483127 target range: 27.799999 and range: 25.80 m.
2025-01-09T05:47:46.320Z,1736401666.320 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.739753
2025-01-09T05:47:46.444Z,1736401666.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:46.471Z,1736401666.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:46.473Z,1736401666.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 24.544083 m,
      bearing: 133.904990 deg,
      approach rate: -0.732390 m/s,
      LOS rate: 0.320062 deg/s,
      cmd heading: 142.272690 deg,
      new cmd heading: 142.668493 deg.

2025-01-09T05:47:46.477Z,1736401666.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490035 target range: 27.799999 and range: 25.80 m.
2025-01-09T05:47:46.574Z,1736401666.574 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.993999
2025-01-09T05:47:46.824Z,1736401666.824 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.243750
2025-01-09T05:47:46.883Z,1736401666.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:46.893Z,1736401666.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:46.897Z,1736401666.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 24.236862 m,
      bearing: 134.013228 deg,
      approach rate: -0.707712 m/s,
      LOS rate: 0.252496 deg/s,
      cmd heading: 142.668500 deg,
      new cmd heading: 142.997325 deg.

2025-01-09T05:47:46.898Z,1736401666.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495774 target range: 27.799999 and range: 25.80 m.
2025-01-09T05:47:47.076Z,1736401667.076 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.495676
2025-01-09T05:47:47.268Z,1736401667.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:47.279Z,1736401667.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:47.281Z,1736401667.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 23.968313 m,
      bearing: 134.110140 deg,
      approach rate: -0.696461 m/s,
      LOS rate: 0.254151 deg/s,
      cmd heading: 142.997319 deg,
      new cmd heading: 143.291311 deg.

2025-01-09T05:47:47.285Z,1736401667.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500905 target range: 27.799999 and range: 25.80 m.
2025-01-09T05:47:47.328Z,1736401667.328 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.747884
2025-01-09T05:47:47.580Z,1736401667.580 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.999752
2025-01-09T05:47:47.681Z,1736401667.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:47.695Z,1736401667.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:47.697Z,1736401667.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 23.711918 m,
      bearing: 134.146542 deg,
      approach rate: -0.615926 m/s,
      LOS rate: 0.088391 deg/s,
      cmd heading: 143.291317 deg,
      new cmd heading: 143.401702 deg.

2025-01-09T05:47:47.699Z,1736401667.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502832 target range: 27.799999 and range: 25.80 m.
2025-01-09T05:47:47.832Z,1736401667.832 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.252391
2025-01-09T05:47:48.064Z,1736401668.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:48.071Z,1736401668.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:48.073Z,1736401668.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:48.077Z,1736401668.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 23.473858 m,
      bearing: 134.179161 deg,
      approach rate: -0.629054 m/s,
      LOS rate: 0.087068 deg/s,
      cmd heading: 143.401707 deg,
      new cmd heading: 143.500557 deg.

2025-01-09T05:47:48.078Z,1736401668.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504557 target range: 27.799999 and range: 25.80 m.
2025-01-09T05:47:48.084Z,1736401668.084 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.503847
2025-01-09T05:47:48.336Z,1736401668.336 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.755618
2025-01-09T05:47:48.465Z,1736401668.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:48.473Z,1736401668.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:48.476Z,1736401668.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 23.224764 m,
      bearing: 134.212011 deg,
      approach rate: -0.622354 m/s,
      LOS rate: 0.082956 deg/s,
      cmd heading: 143.500553 deg,
      new cmd heading: 143.600161 deg.

2025-01-09T05:47:48.477Z,1736401668.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.506296 target range: 27.799999 and range: 25.80 m.
2025-01-09T05:47:48.591Z,1736401668.591 [DAT](INFO): DAT read: Rx Time:05:47:47.3182

2025-01-09T05:47:48.593Z,1736401668.593 [DAT](INFO): Rx dataTimestamp_ set to:1736401668.591515
2025-01-09T05:47:48.596Z,1736401668.596 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.014444
2025-01-09T05:47:48.840Z,1736401668.840 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.259709
2025-01-09T05:47:48.900Z,1736401668.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:48.908Z,1736401668.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-01-09T05:47:48.932Z,1736401668.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 22.977957 m,
      bearing: 134.187127 deg,
      approach rate: -0.567092 m/s,
      LOS rate: -0.057792 deg/s,
      cmd heading: 143.600165 deg,
      new cmd heading: 143.524709 deg.

2025-01-09T05:47:48.933Z,1736401668.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504979 target range: 27.799999 and range: 25.80 m.
2025-01-09T05:47:49.100Z,1736401669.100 [DAT](INFO): DAT read: 05:47:47.3182 LVL= 18160, 24609, 16674, 26131, AGC= 59, IDX= 412,-0.03, 2.445, 1.182, 2.662, 2.183, PHS= 0.351,-0.954, 0.476, RAW= 154.5,   1.9, CAL= 156.7,  -7.0, ROT= 353.3,   7.0

2025-01-09T05:47:49.101Z,1736401669.101 [DAT](INFO): got valid direction response:
 05:47:47.3182 LVL= 18160, 24609, 16674, 26131, AGC= 59, IDX= 412,-0.03, 2.445, 1.182, 2.662, 2.183, PHS= 0.351,-0.954, 0.476, RAW= 154.5,   1.9, CAL= 156.7,  -7.0, ROT= 353.3,   7.0

2025-01-09T05:47:49.104Z,1736401669.104 [DAT](INFO): DAT read: Bearing 353.3,   7.0 (Local)

2025-01-09T05:47:49.105Z,1736401669.105 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.3,   7.0 (Local)

2025-01-09T05:47:49.107Z,1736401669.107 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m  (Round-trip  31.2 ms) speed  0.7 m/s

2025-01-09T05:47:49.108Z,1736401669.108 [DAT](INFO): DAT read: user:193>

2025-01-09T05:47:49.109Z,1736401669.109 [DAT](INFO): DAT read: Tx time:05:47:48.4313

2025-01-09T05:47:49.109Z,1736401669.109 [DAT](INFO): Ping request sent.
2025-01-09T05:47:49.109Z,1736401669.109 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:49.110Z,1736401669.110 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-01-09T05:47:49.112Z,1736401669.112 [DAT](INFO): direction in FSK: [0.985768,-0.115801,-0.121869]
2025-01-09T05:47:49.112Z,1736401669.112 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:49.113Z,1736401669.113 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:49.116Z,1736401669.116 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:49.116Z,1736401669.116 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:49.120Z,1736401669.120 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.010620
2025-01-09T05:47:49.293Z,1736401669.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:49.331Z,1736401669.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 3.529441 s,
      deltaX: -2.400000 m,
      approachRate: -0.679994 m/s,
      rangeRepo size: 4

2025-01-09T05:47:49.333Z,1736401669.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.400000 m,
      bearing: 136.770832 deg,
      lat: 36.904022 deg,
      lon: -122.118890 deg,
      deltaT: 7.057268 s,
      deltaX: -4.400000 m,
      approachRate: -0.623471 m/s,
      posRepo size: 4

2025-01-09T05:47:49.334Z,1736401669.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-01-09T05:47:49.341Z,1736401669.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.400000 m,
      nav range: 22.803650 m,
      bearing: 135.617999 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.057792 deg/s,
      cmd heading: 143.524705 deg,
      new cmd heading: 143.452382 deg.

2025-01-09T05:47:49.342Z,1736401669.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503716 target range: 23.400000 and range: 23.40 m.
2025-01-09T05:47:49.344Z,1736401669.344 [DAT](INFO): DAT read: TxSync time:05:47:48.4305

2025-01-09T05:47:49.345Z,1736401669.345 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.235033
2025-01-09T05:47:49.597Z,1736401669.597 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.487297
2025-01-09T05:47:49.698Z,1736401669.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:49.707Z,1736401669.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-01-09T05:47:49.711Z,1736401669.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.400000 m,
      nav range: 22.599030 m,
      bearing: 135.551384 deg,
      approach rate: -0.536774 m/s,
      LOS rate: -0.176331 deg/s,
      cmd heading: 143.452387 deg,
      new cmd heading: 143.250733 deg.

2025-01-09T05:47:49.712Z,1736401669.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500197 target range: 23.400000 and range: 23.40 m.
2025-01-09T05:47:49.849Z,1736401669.849 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.738910
2025-01-09T05:47:50.075Z,1736401670.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:50.083Z,1736401670.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:50.085Z,1736401670.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-01-09T05:47:50.092Z,1736401670.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.400000 m,
      nav range: 22.408913 m,
      bearing: 135.486196 deg,
      approach rate: -0.502758 m/s,
      LOS rate: -0.173849 deg/s,
      cmd heading: 143.250732 deg,
      new cmd heading: 143.053511 deg.

2025-01-09T05:47:50.094Z,1736401670.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.496755 target range: 23.400000 and range: 23.40 m.
2025-01-09T05:47:50.104Z,1736401670.104 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.994173
2025-01-09T05:47:50.357Z,1736401670.357 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.247713
2025-01-09T05:47:50.491Z,1736401670.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:50.501Z,1736401670.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-01-09T05:47:50.503Z,1736401670.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.400000 m,
      nav range: 22.198896 m,
      bearing: 135.412095 deg,
      approach rate: -0.505228 m/s,
      LOS rate: -0.179949 deg/s,
      cmd heading: 143.053517 deg,
      new cmd heading: 142.829112 deg.

2025-01-09T05:47:50.504Z,1736401670.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.492838 target range: 23.400000 and range: 23.40 m.
2025-01-09T05:47:50.612Z,1736401670.612 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.501375
2025-01-09T05:47:50.861Z,1736401670.861 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.751103
2025-01-09T05:47:50.933Z,1736401670.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:50.947Z,1736401670.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-01-09T05:47:50.950Z,1736401670.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.400000 m,
      nav range: 21.988964 m,
      bearing: 135.286043 deg,
      approach rate: -0.470750 m/s,
      LOS rate: -0.285355 deg/s,
      cmd heading: 142.829118 deg,
      new cmd heading: 142.447359 deg.

2025-01-09T05:47:50.951Z,1736401670.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.486176 target range: 23.400000 and range: 23.40 m.
2025-01-09T05:47:51.112Z,1736401671.112 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.002244
2025-01-09T05:47:51.292Z,1736401671.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:51.301Z,1736401671.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-01-09T05:47:51.304Z,1736401671.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.400000 m,
      nav range: 21.818857 m,
      bearing: 135.182648 deg,
      approach rate: -0.480141 m/s,
      LOS rate: -0.294118 deg/s,
      cmd heading: 142.447365 deg,
      new cmd heading: 142.134764 deg.

2025-01-09T05:47:51.305Z,1736401671.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.480720 target range: 23.400000 and range: 23.40 m.
2025-01-09T05:47:51.364Z,1736401671.364 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.254729
2025-01-09T05:47:51.619Z,1736401671.619 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.508641
2025-01-09T05:47:51.713Z,1736401671.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:51.755Z,1736401671.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-01-09T05:47:51.764Z,1736401671.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.400000 m,
      nav range: 21.625360 m,
      bearing: 135.044844 deg,
      approach rate: -0.430664 m/s,
      LOS rate: -0.309452 deg/s,
      cmd heading: 142.134761 deg,
      new cmd heading: 141.717660 deg.

2025-01-09T05:47:51.765Z,1736401671.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473440 target range: 23.400000 and range: 23.40 m.
2025-01-09T05:47:51.868Z,1736401671.868 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.758921
2025-01-09T05:47:52.102Z,1736401672.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:52.110Z,1736401672.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:52.113Z,1736401672.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-01-09T05:47:52.116Z,1736401672.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.400000 m,
      nav range: 21.446911 m,
      bearing: 134.915137 deg,
      approach rate: -0.492136 m/s,
      LOS rate: -0.360689 deg/s,
      cmd heading: 141.717655 deg,
      new cmd heading: 141.325302 deg.

2025-01-09T05:47:52.117Z,1736401672.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466592 target range: 23.400000 and range: 23.40 m.
2025-01-09T05:47:52.120Z,1736401672.120 [DAT](INFO): DAT read: Rx Time:05:47:50.8636

2025-01-09T05:47:52.120Z,1736401672.120 [DAT](INFO): Rx dataTimestamp_ set to:1736401672.119927
2025-01-09T05:47:52.121Z,1736401672.121 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.011263
2025-01-09T05:47:52.372Z,1736401672.372 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.262123
2025-01-09T05:47:52.531Z,1736401672.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:52.539Z,1736401672.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.40 m.
2025-01-09T05:47:52.542Z,1736401672.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.400000 m,
      nav range: 21.257725 m,
      bearing: 134.775861 deg,
      approach rate: -0.443984 m/s,
      LOS rate: -0.329762 deg/s,
      cmd heading: 141.325302 deg,
      new cmd heading: 140.903765 deg.

2025-01-09T05:47:52.543Z,1736401672.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459235 target range: 23.400000 and range: 23.40 m.
2025-01-09T05:47:52.661Z,1736401672.661 [DAT](INFO): DAT read: 05:47:50.8636 LVL= 16592, 25057, 16530, 27075, AGC= 52, IDX= 412,-0.40,-0.854,-2.194,-0.570,-1.071, PHS= 0.306,-1.076, 0.498, RAW= 156.4,   3.7, CAL= 157.8,  -5.3, ROT= 352.2,   5.3

2025-01-09T05:47:52.662Z,1736401672.662 [DAT](INFO): got valid direction response:
 05:47:50.8636 LVL= 16592, 25057, 16530, 27075, AGC= 52, IDX= 412,-0.40,-0.854,-2.194,-0.570,-1.071, PHS= 0.306,-1.076, 0.498, RAW= 156.4,   3.7, CAL= 157.8,  -5.3, ROT= 352.2,   5.3

2025-01-09T05:47:52.663Z,1736401672.663 [DAT](INFO): DAT read: Bearing 352.2,   5.3 (Local)

2025-01-09T05:47:52.664Z,1736401672.664 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.2,   5.3 (Local)

2025-01-09T05:47:52.665Z,1736401672.665 [DAT](INFO): DAT read: Range 10 to 50 : 21.0 m  (Round-trip  28.1 ms) speed  0.4 m/s

2025-01-09T05:47:52.666Z,1736401672.666 [DAT](INFO): DAT read: user:194>

2025-01-09T05:47:52.666Z,1736401672.666 [DAT](INFO): DAT read: Tx time:05:47:51.9814

2025-01-09T05:47:52.667Z,1736401672.667 [DAT](INFO): Ping request sent.
2025-01-09T05:47:52.667Z,1736401672.667 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:52.667Z,1736401672.667 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-01-09T05:47:52.668Z,1736401672.668 [DAT](INFO): direction in FSK: [0.986512,-0.135135,-0.092371]
2025-01-09T05:47:52.668Z,1736401672.668 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:52.669Z,1736401672.669 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:52.689Z,1736401672.689 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:52.689Z,1736401672.689 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:52.698Z,1736401672.698 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.031287
2025-01-09T05:47:52.900Z,1736401672.900 [DAT](INFO): DAT read: TxSync time:05:47:51.9806

2025-01-09T05:47:52.901Z,1736401672.901 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.233688
2025-01-09T05:47:52.971Z,1736401672.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:52.986Z,1736401672.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 3.554854 s,
      deltaX: -2.400000 m,
      approachRate: -0.675133 m/s,
      rangeRepo size: 4

2025-01-09T05:47:52.989Z,1736401672.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.000000 m,
      bearing: 135.990960 deg,
      lat: 36.904020 deg,
      lon: -122.118891 deg,
      deltaT: 3.554854 s,
      deltaX: -2.400000 m,
      approachRate: -0.675133 m/s,
      posRepo size: 4

2025-01-09T05:47:52.989Z,1736401672.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-01-09T05:47:52.993Z,1736401672.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.000000 m,
      nav range: 21.190990 m,
      bearing: 135.139963 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.329762 deg/s,
      cmd heading: 140.903770 deg,
      new cmd heading: 140.461652 deg.

2025-01-09T05:47:52.994Z,1736401672.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451518 target range: 21.000000 and range: 21.00 m.
2025-01-09T05:47:53.153Z,1736401673.153 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.485783
2025-01-09T05:47:53.404Z,1736401673.404 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.736921
2025-01-09T05:47:53.414Z,1736401673.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:53.428Z,1736401673.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-01-09T05:47:53.431Z,1736401673.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.000000 m,
      nav range: 20.982828 m,
      bearing: 134.996874 deg,
      approach rate: -0.470285 m/s,
      LOS rate: -0.326477 deg/s,
      cmd heading: 140.461652 deg,
      new cmd heading: 140.028134 deg.

2025-01-09T05:47:53.432Z,1736401673.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443952 target range: 21.000000 and range: 21.00 m.
2025-01-09T05:47:53.657Z,1736401673.657 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.990177
2025-01-09T05:47:53.844Z,1736401673.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:53.853Z,1736401673.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-01-09T05:47:53.872Z,1736401673.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.000000 m,
      nav range: 20.772732 m,
      bearing: 134.887945 deg,
      approach rate: -0.495019 m/s,
      LOS rate: -0.259248 deg/s,
      cmd heading: 140.028140 deg,
      new cmd heading: 139.698052 deg.

2025-01-09T05:47:53.873Z,1736401673.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438191 target range: 21.000000 and range: 21.00 m.
2025-01-09T05:47:53.908Z,1736401673.908 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.240904
2025-01-09T05:47:54.161Z,1736401674.161 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.494152
2025-01-09T05:47:54.213Z,1736401674.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:54.220Z,1736401674.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:54.222Z,1736401674.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-01-09T05:47:54.225Z,1736401674.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.000000 m,
      nav range: 20.591278 m,
      bearing: 134.790209 deg,
      approach rate: -0.491130 m/s,
      LOS rate: -0.266867 deg/s,
      cmd heading: 139.698050 deg,
      new cmd heading: 139.402261 deg.

2025-01-09T05:47:54.239Z,1736401674.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433028 target range: 21.000000 and range: 21.00 m.
2025-01-09T05:47:54.412Z,1736401674.412 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.745099
2025-01-09T05:47:54.668Z,1736401674.668 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.000727
2025-01-09T05:47:54.691Z,1736401674.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:54.705Z,1736401674.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-01-09T05:47:54.712Z,1736401674.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.000000 m,
      nav range: 20.356667 m,
      bearing: 134.661207 deg,
      approach rate: -0.486199 m/s,
      LOS rate: -0.270420 deg/s,
      cmd heading: 139.402262 deg,
      new cmd heading: 139.010801 deg.

2025-01-09T05:47:54.713Z,1736401674.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426196 target range: 21.000000 and range: 21.00 m.
2025-01-09T05:47:54.916Z,1736401674.916 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.248827
2025-01-09T05:47:55.056Z,1736401675.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:55.066Z,1736401675.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-01-09T05:47:55.069Z,1736401675.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.000000 m,
      nav range: 20.159159 m,
      bearing: 134.607982 deg,
      approach rate: -0.546881 m/s,
      LOS rate: -0.148819 deg/s,
      cmd heading: 139.010797 deg,
      new cmd heading: 138.849558 deg.

2025-01-09T05:47:55.070Z,1736401675.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423382 target range: 21.000000 and range: 21.00 m.
2025-01-09T05:47:55.168Z,1736401675.168 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.501006
2025-01-09T05:47:55.420Z,1736401675.420 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.753172
2025-01-09T05:47:55.446Z,1736401675.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:55.478Z,1736401675.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-01-09T05:47:55.485Z,1736401675.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.000000 m,
      nav range: 19.948294 m,
      bearing: 134.551985 deg,
      approach rate: -0.511610 m/s,
      LOS rate: -0.137299 deg/s,
      cmd heading: 138.849563 deg,
      new cmd heading: 138.679797 deg.

2025-01-09T05:47:55.486Z,1736401675.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420419 target range: 21.000000 and range: 21.00 m.
2025-01-09T05:47:55.674Z,1736401675.674 [DAT](INFO): DAT read: Rx Time:05:47:54.4111

2025-01-09T05:47:55.676Z,1736401675.676 [DAT](INFO): Rx dataTimestamp_ set to:1736401675.674793
2025-01-09T05:47:55.678Z,1736401675.678 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.010822
2025-01-09T05:47:55.683Z,1736401675.683 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:47:55.868Z,1736401675.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:55.897Z,1736401675.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-01-09T05:47:55.904Z,1736401675.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.000000 m,
      nav range: 19.695389 m,
      bearing: 134.561876 deg,
      approach rate: -0.603819 m/s,
      LOS rate: 0.023920 deg/s,
      cmd heading: 138.679792 deg,
      new cmd heading: 138.709848 deg.

2025-01-09T05:47:55.905Z,1736401675.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420943 target range: 21.000000 and range: 21.00 m.
2025-01-09T05:47:55.924Z,1736401675.924 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.256832
2025-01-09T05:47:56.196Z,1736401676.196 [DAT](INFO): DAT read: 05:47:54.4111 LVL= 20112, 32753, 18354, 32755, AGC= 52, IDX= 417, 0.33, 0.088,-1.202, 0.374,-0.113, PHS= 0.289,-1.042, 0.484, RAW= 156.7,   3.8, CAL= 158.1,  -5.3, ROT= 351.9,   5.3

2025-01-09T05:47:56.197Z,1736401676.197 [DAT](INFO): got valid direction response:
 05:47:54.4111 LVL= 20112, 32753, 18354, 32755, AGC= 52, IDX= 417, 0.33, 0.088,-1.202, 0.374,-0.113, PHS= 0.289,-1.042, 0.484, RAW= 156.7,   3.8, CAL= 158.1,  -5.3, ROT= 351.9,   5.3

2025-01-09T05:47:56.197Z,1736401676.197 [DAT](INFO): DAT read: Bearing 351.9,   5.3 (Local)

2025-01-09T05:47:56.198Z,1736401676.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9,   5.3 (Local)

2025-01-09T05:47:56.200Z,1736401676.200 [DAT](INFO): DAT read: Range 10 to 50 : 19.1 m  (Round-trip  25.5 ms) speed  0.5 m/s

2025-01-09T05:47:56.201Z,1736401676.201 [DAT](INFO): DAT read: user:195>

2025-01-09T05:47:56.201Z,1736401676.201 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-01-09T05:47:56.206Z,1736401676.206 [DAT](INFO): direction in FSK: [0.985791,-0.140299,-0.092371]
2025-01-09T05:47:56.219Z,1736401676.219 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:56.222Z,1736401676.222 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.555169
2025-01-09T05:47:56.308Z,1736401676.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:56.340Z,1736401676.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 3.530482 s,
      deltaX: -1.900000 m,
      approachRate: -0.538170 m/s,
      rangeRepo size: 4

2025-01-09T05:47:56.342Z,1736401676.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.100000 m,
      bearing: 134.975527 deg,
      lat: 36.904022 deg,
      lon: -122.118891 deg,
      deltaT: 3.530482 s,
      deltaX: -1.900000 m,
      approachRate: -0.538170 m/s,
      posRepo size: 4

2025-01-09T05:47:56.347Z,1736401676.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m.
2025-01-09T05:47:56.350Z,1736401676.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.100000 m,
      nav range: 19.281624 m,
      bearing: 134.120954 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023920 deg/s,
      cmd heading: 138.709845 deg,
      new cmd heading: 138.741270 deg.

2025-01-09T05:47:56.357Z,1736401676.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421492 target range: 19.100000 and range: 19.10 m.
2025-01-09T05:47:56.429Z,1736401676.429 [DAT](INFO): DAT read: Tx time:05:47:55.5314

2025-01-09T05:47:56.429Z,1736401676.429 [DAT](INFO): Ping request sent.
2025-01-09T05:47:56.429Z,1736401676.429 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:56.430Z,1736401676.430 [DAT](INFO): DAT read: TxSync time:05:47:55.5306

2025-01-09T05:47:56.431Z,1736401676.431 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:56.432Z,1736401676.432 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.002587
2025-01-09T05:47:56.683Z,1736401676.683 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.252931
2025-01-09T05:47:56.688Z,1736401676.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:47:56.706Z,1736401676.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:56.724Z,1736401676.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:56.731Z,1736401676.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m.
2025-01-09T05:47:56.740Z,1736401676.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.100000 m,
      nav range: 19.043850 m,
      bearing: 134.130669 deg,
      approach rate: -0.607493 m/s,
      LOS rate: 0.025132 deg/s,
      cmd heading: 138.741264 deg,
      new cmd heading: 138.770773 deg.

2025-01-09T05:47:56.741Z,1736401676.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422007 target range: 19.100000 and range: 19.10 m.
2025-01-09T05:47:56.932Z,1736401676.932 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.502252
2025-01-09T05:47:57.073Z,1736401677.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:57.083Z,1736401677.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m.
2025-01-09T05:47:57.086Z,1736401677.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.100000 m,
      nav range: 18.805395 m,
      bearing: 134.193983 deg,
      approach rate: -0.668722 m/s,
      LOS rate: 0.179808 deg/s,
      cmd heading: 138.770770 deg,
      new cmd heading: 138.963119 deg.

2025-01-09T05:47:57.087Z,1736401677.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425364 target range: 19.100000 and range: 19.10 m.
2025-01-09T05:47:57.184Z,1736401677.184 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.754636
2025-01-09T05:47:57.436Z,1736401677.436 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.006187
2025-01-09T05:47:57.449Z,1736401677.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:57.481Z,1736401677.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m.
2025-01-09T05:47:57.488Z,1736401677.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.100000 m,
      nav range: 18.562103 m,
      bearing: 134.262107 deg,
      approach rate: -0.611283 m/s,
      LOS rate: 0.173408 deg/s,
      cmd heading: 138.963122 deg,
      new cmd heading: 139.170172 deg.

2025-01-09T05:47:57.489Z,1736401677.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428978 target range: 19.100000 and range: 19.10 m.
2025-01-09T05:47:57.694Z,1736401677.694 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.261146
2025-01-09T05:47:57.888Z,1736401677.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:57.898Z,1736401677.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m.
2025-01-09T05:47:57.900Z,1736401677.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.100000 m,
      nav range: 18.260714 m,
      bearing: 134.403068 deg,
      approach rate: -0.723258 m/s,
      LOS rate: 0.343852 deg/s,
      cmd heading: 139.170172 deg,
      new cmd heading: 139.600025 deg.

2025-01-09T05:47:57.901Z,1736401677.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436480 target range: 19.100000 and range: 19.10 m.
2025-01-09T05:47:57.941Z,1736401677.941 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.511636
2025-01-09T05:47:58.192Z,1736401678.192 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.762282
2025-01-09T05:47:58.261Z,1736401678.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:58.269Z,1736401678.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m.
2025-01-09T05:47:58.292Z,1736401678.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.100000 m,
      nav range: 18.005177 m,
      bearing: 134.530304 deg,
      approach rate: -0.687900 m/s,
      LOS rate: 0.347378 deg/s,
      cmd heading: 139.600023 deg,
      new cmd heading: 139.987143 deg.

2025-01-09T05:47:58.294Z,1736401678.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443237 target range: 19.100000 and range: 19.10 m.
2025-01-09T05:47:58.444Z,1736401678.444 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.014807
2025-01-09T05:47:58.701Z,1736401678.701 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.270975
2025-01-09T05:47:58.830Z,1736401678.830 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,        +1.5+263.23 +0.49,   7.73,  0.00
2025-01-09T05:47:58.838Z,1736401678.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s.
2025-01-09T05:47:58.838Z,1736401678.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:58.846Z,1736401678.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:47:58.848Z,1736401678.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m.
2025-01-09T05:47:58.851Z,1736401678.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.100000 m,
      nav range: 17.609943 m,
      bearing: 134.738227 deg,
      approach rate: -0.682430 m/s,
      LOS rate: 0.367068 deg/s,
      cmd heading: 139.987145 deg,
      new cmd heading: 140.624887 deg.

2025-01-09T05:47:58.852Z,1736401678.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454367 target range: 19.100000 and range: 19.10 m.
2025-01-09T05:47:58.954Z,1736401678.954 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.524824
2025-01-09T05:47:59.141Z,1736401679.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T05:47:59.141Z,1736401679.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:59.170Z,1736401679.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m.
2025-01-09T05:47:59.178Z,1736401679.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.100000 m,
      nav range: 17.402437 m,
      bearing: 134.853154 deg,
      approach rate: -0.644930 m/s,
      LOS rate: 0.361454 deg/s,
      cmd heading: 140.624893 deg,
      new cmd heading: 140.973782 deg.

2025-01-09T05:47:59.183Z,1736401679.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460457 target range: 19.100000 and range: 19.10 m.
2025-01-09T05:47:59.208Z,1736401679.208 [DAT](INFO): DAT read: Rx Time:05:47:57.9585

2025-01-09T05:47:59.208Z,1736401679.208 [DAT](INFO): Rx dataTimestamp_ set to:1736401679.208051
2025-01-09T05:47:59.209Z,1736401679.209 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.779566
2025-01-09T05:47:59.460Z,1736401679.460 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.030985
2025-01-09T05:47:59.595Z,1736401679.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s.
2025-01-09T05:47:59.595Z,1736401679.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:47:59.604Z,1736401679.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m.
2025-01-09T05:47:59.607Z,1736401679.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.100000 m,
      nav range: 17.091667 m,
      bearing: 135.031794 deg,
      approach rate: -0.715984 m/s,
      LOS rate: 0.419050 deg/s,
      cmd heading: 140.973779 deg,
      new cmd heading: 141.519424 deg.

2025-01-09T05:47:59.608Z,1736401679.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469980 target range: 19.100000 and range: 19.10 m.
2025-01-09T05:47:59.758Z,1736401679.758 [DAT](INFO): DAT read: 05:47:57.9585 LVL= 18992, 32753, 18210, 32755, AGC= 53, IDX= 408,-0.09, 1.363, 0.042, 1.478, 1.143, PHS= 0.308,-1.054, 0.332, RAW= 150.9,   6.1, CAL= 152.2,  -2.9, ROT= 357.8,   2.9

2025-01-09T05:47:59.761Z,1736401679.761 [DAT](INFO): got valid direction response:
 05:47:57.9585 LVL= 18992, 32753, 18210, 32755, AGC= 53, IDX= 408,-0.09, 1.363, 0.042, 1.478, 1.143, PHS= 0.308,-1.054, 0.332, RAW= 150.9,   6.1, CAL= 152.2,  -2.9, ROT= 357.8,   2.9

2025-01-09T05:47:59.763Z,1736401679.763 [DockingStepper](ERROR): getADC uart error serial timeout
2025-01-09T05:47:59.763Z,1736401679.763 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-01-09T05:47:59.763Z,1736401679.763 [DockingStepper] Communications Fault, FailCount= 1
2025-01-09T05:47:59.763Z,1736401679.763 [DockingStepper](ERROR): Communications Fault
2025-01-09T05:47:59.767Z,1736401679.767 [DAT](INFO): DAT read: Bearing 357.8,   2.9 (Local)

2025-01-09T05:47:59.769Z,1736401679.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,   2.9 (Local)

2025-01-09T05:47:59.770Z,1736401679.770 [DAT](INFO): DAT read: Range 10 to 50 : 17.2 m  (Round-trip  23.0 ms) speed  0.5 m/s

2025-01-09T05:47:59.780Z,1736401679.780 [DAT](INFO): DAT read: user:196>

2025-01-09T05:47:59.781Z,1736401679.781 [DAT](INFO): DAT read: Tx time:05:47:59.0814

2025-01-09T05:47:59.781Z,1736401679.781 [DAT](INFO): Ping request sent.
2025-01-09T05:47:59.781Z,1736401679.781 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:47:59.782Z,1736401679.782 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-01-09T05:47:59.787Z,1736401679.787 [DAT](INFO): direction in FSK: [0.997983,-0.038339,-0.050593]
2025-01-09T05:47:59.788Z,1736401679.788 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:59.788Z,1736401679.788 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:59.797Z,1736401679.797 [DAT](INFO): publishing transmit ping time
2025-01-09T05:47:59.797Z,1736401679.797 [DAT](INFO): publishing direction and range info
2025-01-09T05:47:59.801Z,1736401679.801 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.020267
2025-01-09T05:47:59.819Z,1736401679.819 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-01-09T05:47:59.992Z,1736401679.992 [DAT](INFO): DAT read: TxSync time:05:47:59.0806

2025-01-09T05:47:59.994Z,1736401679.994 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.212413
2025-01-09T05:48:00.067Z,1736401680.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:00.100Z,1736401680.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.200001 m,
      deltaT: 3.564930 s,
      deltaX: -1.900000 m,
      approachRate: -0.532970 m/s,
      rangeRepo size: 4

2025-01-09T05:48:00.102Z,1736401680.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.200001 m,
      bearing: 139.346922 deg,
      lat: 36.904020 deg,
      lon: -122.118895 deg,
      deltaT: 3.564930 s,
      deltaX: -1.900000 m,
      approachRate: -0.532970 m/s,
      posRepo size: 4

2025-01-09T05:48:00.112Z,1736401680.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-01-09T05:48:00.118Z,1736401680.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.200001 m,
      nav range: 16.636631 m,
      bearing: 136.801590 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.419050 deg/s,
      cmd heading: 141.519430 deg,
      new cmd heading: 142.136463 deg.

2025-01-09T05:48:00.120Z,1736401680.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.480749 target range: 17.200001 and range: 17.20 m.
2025-01-09T05:48:00.165Z,1736401680.165 [DockingStepper](INFO): Stop
2025-01-09T05:48:00.165Z,1736401680.165 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-01-09T05:48:00.166Z,1736401680.166 [DockingStepper](INFO): Powering down
2025-01-09T05:48:00.245Z,1736401680.245 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.463568
2025-01-09T05:48:00.402Z,1736401680.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:00.412Z,1736401680.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-01-09T05:48:00.415Z,1736401680.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.200001 m,
      nav range: 16.401278 m,
      bearing: 137.016223 deg,
      approach rate: -0.741696 m/s,
      LOS rate: 0.686101 deg/s,
      cmd heading: 142.136469 deg,
      new cmd heading: 142.789577 deg.

2025-01-09T05:48:00.416Z,1736401680.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.492148 target range: 17.200001 and range: 17.20 m.
2025-01-09T05:48:00.430Z,1736401680.430 [DockingStepper](INFO): Stopping
2025-01-09T05:48:00.496Z,1736401680.496 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.714708
2025-01-09T05:48:00.752Z,1736401680.752 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.969744
2025-01-09T05:48:00.830Z,1736401680.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:00.839Z,1736401680.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-01-09T05:48:00.841Z,1736401680.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.200001 m,
      nav range: 16.107103 m,
      bearing: 137.272453 deg,
      approach rate: -0.689951 m/s,
      LOS rate: 0.611931 deg/s,
      cmd heading: 142.789572 deg,
      new cmd heading: 143.572250 deg.

2025-01-09T05:48:00.843Z,1736401680.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505809 target range: 17.200001 and range: 17.20 m.
2025-01-09T05:48:00.857Z,1736401680.857 [DockingStepper](INFO): Stopping
2025-01-09T05:48:00.000Z,1736401681.000 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.218492
2025-01-09T05:48:01.200Z,1736401681.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:01.223Z,1736401681.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:01.225Z,1736401681.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-01-09T05:48:01.233Z,1736401681.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.200001 m,
      nav range: 15.852867 m,
      bearing: 137.501141 deg,
      approach rate: -0.657266 m/s,
      LOS rate: 0.600697 deg/s,
      cmd heading: 143.572257 deg,
      new cmd heading: 144.269287 deg.

2025-01-09T05:48:01.234Z,1736401681.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517974 target range: 17.200001 and range: 17.20 m.
2025-01-09T05:48:01.252Z,1736401681.252 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.470597
2025-01-09T05:48:01.267Z,1736401681.267 [DockingStepper](INFO): Stopping
2025-01-09T05:48:01.504Z,1736401681.504 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.722703
2025-01-09T05:48:01.609Z,1736401681.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:01.675Z,1736401681.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-01-09T05:48:01.695Z,1736401681.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.200001 m,
      nav range: 15.572607 m,
      bearing: 137.760937 deg,
      approach rate: -0.635247 m/s,
      LOS rate: 0.599459 deg/s,
      cmd heading: 144.269291 deg,
      new cmd heading: 145.062653 deg.

2025-01-09T05:48:01.696Z,1736401681.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531821 target range: 17.200001 and range: 17.20 m.
2025-01-09T05:48:01.759Z,1736401681.759 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.977092
2025-01-09T05:48:01.807Z,1736401681.807 [DockingStepper](INFO): Stopping
2025-01-09T05:48:02.007Z,1736401682.007 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.226317
2025-01-09T05:48:02.048Z,1736401682.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:02.057Z,1736401682.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-01-09T05:48:02.061Z,1736401682.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.200001 m,
      nav range: 15.291549 m,
      bearing: 137.977780 deg,
      approach rate: -0.719417 m/s,
      LOS rate: 0.565245 deg/s,
      cmd heading: 145.062658 deg,
      new cmd heading: 145.725111 deg.

2025-01-09T05:48:02.063Z,1736401682.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543383 target range: 17.200001 and range: 17.20 m.
2025-01-09T05:48:02.096Z,1736401682.096 [DockingStepper](INFO): Stopping
2025-01-09T05:48:02.261Z,1736401682.261 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.479393
2025-01-09T05:48:02.413Z,1736401682.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:02.421Z,1736401682.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-01-09T05:48:02.448Z,1736401682.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.200001 m,
      nav range: 15.058083 m,
      bearing: 138.159828 deg,
      approach rate: -0.640764 m/s,
      LOS rate: 0.507389 deg/s,
      cmd heading: 145.725105 deg,
      new cmd heading: 146.279698 deg.

2025-01-09T05:48:02.448Z,1736401682.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553062 target range: 17.200001 and range: 17.20 m.
2025-01-09T05:48:02.490Z,1736401682.490 [DockingStepper](INFO): Stopping
2025-01-09T05:48:02.513Z,1736401682.513 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.731311
2025-01-09T05:48:02.767Z,1736401682.767 [DAT](INFO): DAT read: Rx Time:05:48:01.5057

2025-01-09T05:48:02.769Z,1736401682.769 [DAT](INFO): Rx dataTimestamp_ set to:1736401682.767809
2025-01-09T05:48:02.771Z,1736401682.771 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.989133
2025-01-09T05:48:02.866Z,1736401682.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:02.874Z,1736401682.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-01-09T05:48:02.879Z,1736401682.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.200001 m,
      nav range: 14.788990 m,
      bearing: 138.326730 deg,
      approach rate: -0.594548 m/s,
      LOS rate: 0.375473 deg/s,
      cmd heading: 146.279703 deg,
      new cmd heading: 146.789507 deg.

2025-01-09T05:48:02.880Z,1736401682.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561960 target range: 17.200001 and range: 17.20 m.
2025-01-09T05:48:02.917Z,1736401682.917 [DockingStepper](INFO): Stopping
2025-01-09T05:48:03.016Z,1736401683.016 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.234618
2025-01-09T05:48:03.217Z,1736401683.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:03.224Z,1736401683.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:03.229Z,1736401683.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m.
2025-01-09T05:48:03.252Z,1736401683.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.200001 m,
      nav range: 14.579976 m,
      bearing: 138.455980 deg,
      approach rate: -0.591474 m/s,
      LOS rate: 0.370999 deg/s,
      cmd heading: 146.789508 deg,
      new cmd heading: 147.182811 deg.

2025-01-09T05:48:03.296Z,1736401683.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568825 target range: 17.200001 and range: 17.20 m.
2025-01-09T05:48:03.301Z,1736401683.301 [DAT](INFO): DAT read: 05:48:01.5057 LVL= 22544, 32753, 18498, 32755, AGC= 54, IDX= 409, 0.50,-0.399,-1.786,-0.605,-0.747, PHS= 0.437,-0.992, 0.140, RAW= 138.6,   6.4, CAL= 142.6,  -1.0, ROT=   7.4,   1.0

2025-01-09T05:48:03.311Z,1736401683.311 [DAT](INFO): got valid direction response:
 05:48:01.5057 LVL= 22544, 32753, 18498, 32755, AGC= 54, IDX= 409, 0.50,-0.399,-1.786,-0.605,-0.747, PHS= 0.437,-0.992, 0.140, RAW= 138.6,   6.4, CAL= 142.6,  -1.0, ROT=   7.4,   1.0

2025-01-09T05:48:03.313Z,1736401683.313 [DAT](INFO): DAT read: Bearing   7.4,   1.0 (Local)

2025-01-09T05:48:03.314Z,1736401683.314 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.4,   1.0 (Local)

2025-01-09T05:48:03.324Z,1736401683.324 [DAT](INFO): DAT read: Range 10 to 50 : 15.0 m  (Round-trip  20.1 ms) speed  0.7 m/s

2025-01-09T05:48:03.324Z,1736401683.324 [DAT](INFO): DAT read: user:197>

2025-01-09T05:48:03.325Z,1736401683.325 [DAT](INFO): DAT read: Tx time:05:48:02.6315

2025-01-09T05:48:03.325Z,1736401683.325 [DAT](INFO): Ping request sent.
2025-01-09T05:48:03.326Z,1736401683.326 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:48:03.326Z,1736401683.326 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-01-09T05:48:03.336Z,1736401683.336 [DAT](INFO): direction in FSK: [0.991520,0.128776,-0.017452]
2025-01-09T05:48:03.336Z,1736401683.336 [DAT](INFO): publishing transmit ping time
2025-01-09T05:48:03.336Z,1736401683.336 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:03.344Z,1736401683.344 [DockingStepper](INFO): Stopping
2025-01-09T05:48:03.349Z,1736401683.349 [DAT](INFO): publishing transmit ping time
2025-01-09T05:48:03.350Z,1736401683.350 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:03.368Z,1736401683.368 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.042364
2025-01-09T05:48:03.520Z,1736401683.520 [DAT](INFO): DAT read: TxSync time:05:48:02.6307

2025-01-09T05:48:03.521Z,1736401683.521 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.195059
2025-01-09T05:48:03.651Z,1736401683.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:03.665Z,1736401683.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 3.526257 s,
      deltaX: -2.200001 m,
      approachRate: -0.623891 m/s,
      rangeRepo size: 4

2025-01-09T05:48:03.667Z,1736401683.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.000000 m,
      bearing: 149.386602 deg,
      lat: 36.904016 deg,
      lon: -122.118895 deg,
      deltaT: 3.526257 s,
      deltaX: -2.200001 m,
      approachRate: -0.623891 m/s,
      posRepo size: 4

2025-01-09T05:48:03.668Z,1736401683.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.00 m.
2025-01-09T05:48:03.671Z,1736401683.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.000000 m,
      nav range: 14.604635 m,
      bearing: 139.748688 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.370999 deg/s,
      cmd heading: 147.182804 deg,
      new cmd heading: 147.668905 deg.

2025-01-09T05:48:03.672Z,1736401683.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.577309 target range: 15.000000 and range: 15.00 m.
2025-01-09T05:48:03.712Z,1736401683.712 [DockingStepper](INFO): Stopping
2025-01-09T05:48:03.778Z,1736401683.778 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.448893
2025-01-09T05:48:04.024Z,1736401684.024 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.698271
2025-01-09T05:48:04.057Z,1736401684.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:48:04.058Z,1736401684.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:04.067Z,1736401684.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.00 m.
2025-01-09T05:48:04.070Z,1736401684.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.000000 m,
      nav range: 14.364080 m,
      bearing: 139.908754 deg,
      approach rate: -0.597560 m/s,
      LOS rate: 0.404276 deg/s,
      cmd heading: 147.668908 deg,
      new cmd heading: 148.157135 deg.

2025-01-09T05:48:04.071Z,1736401684.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.585830 target range: 15.000000 and range: 15.00 m.
2025-01-09T05:48:04.108Z,1736401684.108 [DockingStepper](INFO): Stopping
2025-01-09T05:48:04.277Z,1736401684.277 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.951041
2025-01-09T05:48:04.447Z,1736401684.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:48:04.447Z,1736401684.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:04.477Z,1736401684.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.00 m.
2025-01-09T05:48:04.484Z,1736401684.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.000000 m,
      nav range: 14.132695 m,
      bearing: 140.058839 deg,
      approach rate: -0.564090 m/s,
      LOS rate: 0.371880 deg/s,
      cmd heading: 148.157130 deg,
      new cmd heading: 148.614747 deg.

2025-01-09T05:48:04.487Z,1736401684.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593817 target range: 15.000000 and range: 15.00 m.
2025-01-09T05:48:04.513Z,1736401684.513 [DockingStepper](INFO): Stopping
2025-01-09T05:48:04.528Z,1736401684.528 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.202810
2025-01-09T05:48:04.783Z,1736401684.783 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.456541
2025-01-09T05:48:04.890Z,1736401684.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:04.900Z,1736401684.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.00 m.
2025-01-09T05:48:04.923Z,1736401684.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.000000 m,
      nav range: 13.905033 m,
      bearing: 140.051735 deg,
      approach rate: -0.538353 m/s,
      LOS rate: -0.017073 deg/s,
      cmd heading: 148.614753 deg,
      new cmd heading: 148.593094 deg.

2025-01-09T05:48:04.924Z,1736401684.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593439 target range: 15.000000 and range: 15.00 m.
2025-01-09T05:48:04.950Z,1736401684.950 [DockingStepper](INFO): Stopping
2025-01-09T05:48:05.032Z,1736401685.032 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.706105
2025-01-09T05:48:05.235Z,1736401685.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:05.263Z,1736401685.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:05.265Z,1736401685.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.00 m.
2025-01-09T05:48:05.272Z,1736401685.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.000000 m,
      nav range: 13.728086 m,
      bearing: 140.041138 deg,
      approach rate: -0.484061 m/s,
      LOS rate: -0.029365 deg/s,
      cmd heading: 148.593088 deg,
      new cmd heading: 148.560885 deg.

2025-01-09T05:48:05.278Z,1736401685.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592877 target range: 15.000000 and range: 15.00 m.
2025-01-09T05:48:05.284Z,1736401685.284 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.958578
2025-01-09T05:48:05.332Z,1736401685.332 [DockingStepper](INFO): Stopping
2025-01-09T05:48:05.536Z,1736401685.536 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.210160
2025-01-09T05:48:05.638Z,1736401685.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:05.647Z,1736401685.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.00 m.
2025-01-09T05:48:05.650Z,1736401685.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.000000 m,
      nav range: 13.520823 m,
      bearing: 140.023381 deg,
      approach rate: -0.543705 m/s,
      LOS rate: -0.047296 deg/s,
      cmd heading: 148.560890 deg,
      new cmd heading: 148.506802 deg.

2025-01-09T05:48:05.651Z,1736401685.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591933 target range: 15.000000 and range: 15.00 m.
2025-01-09T05:48:05.688Z,1736401685.688 [DockingStepper](INFO): Stopping
2025-01-09T05:48:05.792Z,1736401685.792 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.465442
2025-01-09T05:48:06.040Z,1736401686.040 [DAT](INFO): DAT read: Rx Time:05:48:04.7777 

2025-01-09T05:48:06.041Z,1736401686.041 [DAT](INFO): Rx dataTimestamp_ set to:1736401686.040443
2025-01-09T05:48:06.042Z,1736401686.042 [DAT](INFO): DAT read: Bearing   4.3,  -0.1 (Local)

2025-01-09T05:48:06.043Z,1736401686.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,  -0.1 (Local)

2025-01-09T05:48:06.045Z,1736401686.045 [DAT](INFO): DAT read: Range 10 to 50 :    12.8 m (trip time 8.5 ms) speed 0.4

2025-01-09T05:48:06.068Z,1736401686.068 [DAT](INFO): DAT read: 05:48:04.7777 LVL= 17328, 21489, 17522, 23027, AGC= 52, IDX= 154, 0.34, 0.086,-1.373,-0.018,-0.203, PHS= 0.377,-1.122, 0.182, RAW= 143.1,   8.0, CAL= 145.7,   0.1, ROT=   4.3,  -0.1

2025-01-09T05:48:06.069Z,1736401686.069 [DAT](INFO): got valid direction response:
 05:48:04.7777 LVL= 17328, 21489, 17522, 23027, AGC= 52, IDX= 154, 0.34, 0.086,-1.373,-0.018,-0.203, PHS= 0.377,-1.122, 0.182, RAW= 143.1,   8.0, CAL= 145.7,   0.1, ROT=   4.3,  -0.1

2025-01-09T05:48:06.070Z,1736401686.070 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-01-09T05:48:06.072Z,1736401686.072 [DAT](INFO): direction in FSK: [0.997184,0.074979,0.001745]
2025-01-09T05:48:06.072Z,1736401686.072 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:06.112Z,1736401686.112 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.786914
2025-01-09T05:48:06.184Z,1736401686.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:06.206Z,1736401686.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 2.771311 s,
      deltaX: -2.200000 m,
      approachRate: -0.793848 m/s,
      rangeRepo size: 4

2025-01-09T05:48:06.213Z,1736401686.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.800000 m,
      bearing: 148.940746 deg,
      lat: 36.904012 deg,
      lon: -122.118897 deg,
      deltaT: 2.771311 s,
      deltaX: -2.200000 m,
      approachRate: -0.793848 m/s,
      posRepo size: 4

2025-01-09T05:48:06.214Z,1736401686.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.80 m.
2025-01-09T05:48:06.220Z,1736401686.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.800000 m,
      nav range: 13.533248 m,
      bearing: 141.815844 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047296 deg/s,
      cmd heading: 148.506795 deg,
      new cmd heading: 148.427514 deg.

2025-01-09T05:48:06.221Z,1736401686.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.590549 target range: 12.800000 and range: 12.80 m.
2025-01-09T05:48:06.252Z,1736401686.252 [DockingStepper](INFO): Stopping
2025-01-09T05:48:06.292Z,1736401686.292 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.966347
2025-01-09T05:48:06.463Z,1736401686.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:06.474Z,1736401686.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.80 m.
2025-01-09T05:48:06.478Z,1736401686.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.800000 m,
      nav range: 13.395935 m,
      bearing: 141.768453 deg,
      approach rate: -0.511527 m/s,
      LOS rate: -0.178355 deg/s,
      cmd heading: 148.427510 deg,
      new cmd heading: 148.283879 deg.

2025-01-09T05:48:06.479Z,1736401686.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.588042 target range: 12.800000 and range: 12.80 m.
2025-01-09T05:48:06.508Z,1736401686.508 [DockingStepper](INFO): Stopping
2025-01-09T05:48:06.547Z,1736401686.547 [DAT](INFO): DAT read: Rx Time:05:48:05.2773 

2025-01-09T05:48:06.547Z,1736401686.547 [DAT](INFO): Rx dataTimestamp_ set to:1736401686.546942
2025-01-09T05:48:06.548Z,1736401686.548 [DAT](INFO): DAT read: Bearing   3.4,  -0.6 (Local)

2025-01-09T05:48:06.549Z,1736401686.549 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.4,  -0.6 (Local)

2025-01-09T05:48:06.551Z,1736401686.551 [DAT](INFO): DAT read: Range 10 to 50 :    12.3 m (trip time 8.2 ms) speed 0.4

2025-01-09T05:48:06.557Z,1736401686.557 [DAT](INFO): DAT read: 05:48:05.2773 LVL= 17136, 31297, 18738, 32691, AGC= 50, IDX= 503,-0.38,-3.140, 1.715, 3.078, 2.889, PHS= 0.342,-1.127, 0.186, RAW= 144.4,   8.6, CAL= 146.6,   0.6, ROT=   3.4,  -0.6

2025-01-09T05:48:06.561Z,1736401686.561 [DAT](INFO): got valid direction response:
 05:48:05.2773 LVL= 17136, 31297, 18738, 32691, AGC= 50, IDX= 503,-0.38,-3.140, 1.715, 3.078, 2.889, PHS= 0.342,-1.127, 0.186, RAW= 144.4,   8.6, CAL= 146.6,   0.6, ROT=   3.4,  -0.6

2025-01-09T05:48:06.561Z,1736401686.561 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-01-09T05:48:06.563Z,1736401686.563 [DAT](INFO): direction in FSK: [0.998185,0.059303,0.010472]
2025-01-09T05:48:06.563Z,1736401686.563 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:06.568Z,1736401686.568 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.242167
2025-01-09T05:48:06.803Z,1736401686.803 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.476778
2025-01-09T05:48:06.935Z,1736401686.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:06.974Z,1736401686.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.506499 s,
      deltaX: -0.500000 m,
      approachRate: -0.987169 m/s,
      rangeRepo size: 4

2025-01-09T05:48:06.980Z,1736401686.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.300000 m,
      bearing: 148.307728 deg,
      lat: 36.904010 deg,
      lon: -122.118916 deg,
      deltaT: 0.506499 s,
      deltaX: -0.500000 m,
      approachRate: -0.987169 m/s,
      posRepo size: 4

2025-01-09T05:48:06.981Z,1736401686.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-01-09T05:48:06.988Z,1736401686.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.300000 m,
      nav range: 12.340306 m,
      bearing: 147.997203 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178355 deg/s,
      cmd heading: 148.283885 deg,
      new cmd heading: 148.016761 deg.

2025-01-09T05:48:06.989Z,1736401686.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.583380 target range: 12.300000 and range: 12.30 m.
2025-01-09T05:48:07.052Z,1736401687.052 [DAT](INFO): DAT read: Rx Time:05:48:05.7773 

2025-01-09T05:48:07.053Z,1736401687.053 [DAT](INFO): Rx dataTimestamp_ set to:1736401687.052561
2025-01-09T05:48:07.054Z,1736401687.054 [DAT](INFO): DAT read: Bearing   1.7,   0.3 (Local)

2025-01-09T05:48:07.055Z,1736401687.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.7,   0.3 (Local)

2025-01-09T05:48:07.057Z,1736401687.057 [DAT](INFO): DAT read: Range 10 to 50 :    12.3 m (trip time 8.2 ms) speed 0.4

2025-01-09T05:48:07.062Z,1736401687.062 [DAT](INFO): DAT read: 05:48:05.7773 LVL= 20752, 23713, 20578, 28723, AGC= 47, IDX= 502, 0.13, 2.037, 0.555, 2.034, 1.787, PHS= 0.338,-1.185, 0.245, RAW= 146.9,   8.2, CAL= 148.3,  -0.3, ROT=   1.7,   0.3

2025-01-09T05:48:07.066Z,1736401687.066 [DAT](INFO): got valid direction response:
 05:48:05.7773 LVL= 20752, 23713, 20578, 28723, AGC= 47, IDX= 502, 0.13, 2.037, 0.555, 2.034, 1.787, PHS= 0.338,-1.185, 0.245, RAW= 146.9,   8.2, CAL= 148.3,  -0.3, ROT=   1.7,   0.3

2025-01-09T05:48:07.067Z,1736401687.067 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-01-09T05:48:07.068Z,1736401687.068 [DAT](INFO): direction in FSK: [0.999546,0.029666,-0.005236]
2025-01-09T05:48:07.068Z,1736401687.068 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:07.071Z,1736401687.071 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.745968
2025-01-09T05:48:07.075Z,1736401687.075 [DockingStepper](INFO): Stopping
2025-01-09T05:48:07.297Z,1736401687.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:07.318Z,1736401687.318 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.991265
2025-01-09T05:48:07.378Z,1736401687.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.505619 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:48:07.389Z,1736401687.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.300000 m,
      bearing: 146.800657 deg,
      lat: 36.904010 deg,
      lon: -122.118916 deg,
      deltaT: 0.505619 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T05:48:07.389Z,1736401687.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-01-09T05:48:07.396Z,1736401687.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.300000 m,
      nav range: 12.163922 m,
      bearing: 148.000527 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178355 deg/s,
      cmd heading: 148.016756 deg,
      new cmd heading: 147.800292 deg.

2025-01-09T05:48:07.397Z,1736401687.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.579602 target range: 12.300000 and range: 12.30 m.
2025-01-09T05:48:07.438Z,1736401687.438 [DockingStepper](INFO): Stopping
2025-01-09T05:48:07.565Z,1736401687.565 [DAT](INFO): DAT read: Rx Time:05:48:06.2770 

2025-01-09T05:48:07.565Z,1736401687.565 [DAT](INFO): Rx dataTimestamp_ set to:1736401687.564717
2025-01-09T05:48:07.566Z,1736401687.566 [DAT](INFO): DAT read: Bearing   1.0,  -0.1 (Local)

2025-01-09T05:48:07.567Z,1736401687.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  -0.1 (Local)

2025-01-09T05:48:07.569Z,1736401687.569 [DAT](INFO): DAT read: Range 10 to 50 :    11.9 m (trip time 7.9 ms) speed 0.4

2025-01-09T05:48:07.574Z,1736401687.574 [DAT](INFO): DAT read: 05:48:06.2770 LVL= 18928, 31889, 18930, 32755, AGC= 48, IDX= 500,-0.30,-1.945, 2.934,-1.913,-2.153, PHS= 0.296,-1.149, 0.238, RAW= 148.0,   8.7, CAL= 149.0,   0.1, ROT=   1.0,  -0.1

2025-01-09T05:48:07.575Z,1736401687.575 [DAT](INFO): got valid direction response:
 05:48:06.2770 LVL= 18928, 31889, 18930, 32755, AGC= 48, IDX= 500,-0.30,-1.945, 2.934,-1.913,-2.153, PHS= 0.296,-1.149, 0.238, RAW= 148.0,   8.7, CAL= 149.0,   0.1, ROT=   1.0,  -0.1

2025-01-09T05:48:07.576Z,1736401687.576 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-01-09T05:48:07.577Z,1736401687.577 [DAT](INFO): direction in FSK: [0.999846,0.017452,0.001745]
2025-01-09T05:48:07.577Z,1736401687.577 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:07.581Z,1736401687.581 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=4.255980
2025-01-09T05:48:07.688Z,1736401687.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:07.723Z,1736401687.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.512156 s,
      deltaX: -0.400001 m,
      approachRate: -0.781013 m/s,
      rangeRepo size: 4

2025-01-09T05:48:07.725Z,1736401687.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.900000 m,
      bearing: 147.630573 deg,
      lat: 36.904010 deg,
      lon: -122.118916 deg,
      deltaT: 0.512156 s,
      deltaX: -0.400001 m,
      approachRate: -0.781013 m/s,
      posRepo size: 4

2025-01-09T05:48:07.726Z,1736401687.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-01-09T05:48:07.743Z,1736401687.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 11.973855 m,
      bearing: 147.978923 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178355 deg/s,
      cmd heading: 147.800294 deg,
      new cmd heading: 147.618190 deg.

2025-01-09T05:48:07.744Z,1736401687.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576423 target range: 11.900000 and range: 11.90 m.
2025-01-09T05:48:07.784Z,1736401687.784 [DockingStepper](INFO): Stopping
2025-01-09T05:48:07.822Z,1736401687.822 [DAT](INFO): DAT read: Rx Time:05:48:06.7769 

2025-01-09T05:48:07.824Z,1736401687.824 [DAT](INFO): Rx dataTimestamp_ set to:1736401687.822737
2025-01-09T05:48:07.831Z,1736401687.831 [DAT](INFO): DAT read: Bearing 358.8,   0.9 (Local)

2025-01-09T05:48:07.833Z,1736401687.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,   0.9 (Local)

2025-01-09T05:48:07.841Z,1736401687.841 [DAT](INFO): DAT read: Range 10 to 50 :    11.7 m (trip time 7.8 ms) speed 0.4

2025-01-09T05:48:07.851Z,1736401687.851 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-01-09T05:48:07.860Z,1736401687.860 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=4.533573
2025-01-09T05:48:08.074Z,1736401688.074 [DAT](INFO): DAT read: 05:48:06.7769 LVL= 19376, 25905, 18930, 31155, AGC= 51, IDX= 499,-0.19, 3.054, 1.655,-3.123, 2.861, PHS= 0.282,-1.159, 0.296, RAW= 150.5,   8.1, CAL= 151.2,  -0.9, ROT= 358.8,   0.9

2025-01-09T05:48:08.076Z,1736401688.076 [DAT](INFO): got valid direction response:
 05:48:06.7769 LVL= 19376, 25905, 18930, 31155, AGC= 51, IDX= 499,-0.19, 3.054, 1.655,-3.123, 2.861, PHS= 0.282,-1.159, 0.296, RAW= 150.5,   8.1, CAL= 151.2,  -0.9, ROT= 358.8,   0.9

2025-01-09T05:48:08.077Z,1736401688.077 [DAT](INFO): #Rx 17: Read direction message, but no range.
2025-01-09T05:48:08.078Z,1736401688.078 [DAT](INFO): direction in FSK: [0.999657,-0.020940,-0.015707]
2025-01-09T05:48:08.081Z,1736401688.081 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=4.755715
2025-01-09T05:48:08.167Z,1736401688.167 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:08.202Z,1736401688.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.258020 s,
      deltaX: -0.200000 m,
      approachRate: -0.775133 m/s,
      rangeRepo size: 4

2025-01-09T05:48:08.208Z,1736401688.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.700000 m,
      bearing: 145.646000 deg,
      lat: 36.904011 deg,
      lon: -122.118915 deg,
      deltaT: 0.258020 s,
      deltaX: -0.200000 m,
      approachRate: -0.775133 m/s,
      posRepo size: 4

2025-01-09T05:48:08.209Z,1736401688.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-01-09T05:48:08.216Z,1736401688.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 11.725100 m,
      bearing: 147.814856 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.178355 deg/s,
      cmd heading: 147.618187 deg,
      new cmd heading: 147.359809 deg.

2025-01-09T05:48:08.217Z,1736401688.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571914 target range: 11.700000 and range: 11.70 m.
2025-01-09T05:48:08.249Z,1736401688.249 [DockingStepper](INFO): Stopping
2025-01-09T05:48:08.323Z,1736401688.323 [DAT](INFO): DAT read: Rx Time:05:48:07.2766 

2025-01-09T05:48:08.325Z,1736401688.325 [DAT](INFO): Rx dataTimestamp_ set to:1736401688.324135
2025-01-09T05:48:08.329Z,1736401688.329 [DAT](INFO): DAT read: Bearing 356.3,   1.4 (Local)

2025-01-09T05:48:08.331Z,1736401688.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.3,   1.4 (Local)

2025-01-09T05:48:08.333Z,1736401688.333 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=5.006797
2025-01-09T05:48:08.501Z,1736401688.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:08.508Z,1736401688.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:08.511Z,1736401688.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-01-09T05:48:08.514Z,1736401688.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 11.558084 m,
      bearing: 147.793833 deg,
      approach rate: -0.539259 m/s,
      LOS rate: -0.068859 deg/s,
      cmd heading: 147.359815 deg,
      new cmd heading: 147.295835 deg.

2025-01-09T05:48:08.515Z,1736401688.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570797 target range: 11.700000 and range: 11.70 m.
2025-01-09T05:48:08.528Z,1736401688.528 [DockingStepper](INFO): Stopping
2025-01-09T05:48:08.574Z,1736401688.574 [DAT](INFO): DAT read: Range 10 to 50 :    11.3 m (trip time 7.5 ms) speed 0.4

2025-01-09T05:48:08.582Z,1736401688.582 [DAT](INFO): DAT read: 05:48:07.2766 LVL= 23504, 29249, 23474, 30387, AGC= 51, IDX= 496,-0.02,-1.842, 3.020,-1.652,-2.014, PHS= 0.260,-1.203, 0.359, RAW= 153.2,   7.8, CAL= 153.7,  -1.4, ROT= 356.3,   1.4

2025-01-09T05:48:08.584Z,1736401688.584 [DAT](INFO): got valid direction response:
 05:48:07.2766 LVL= 23504, 29249, 23474, 30387, AGC= 51, IDX= 496,-0.02,-1.842, 3.020,-1.652,-2.014, PHS= 0.260,-1.203, 0.359, RAW= 153.2,   7.8, CAL= 153.7,  -1.4, ROT= 356.3,   1.4

2025-01-09T05:48:08.584Z,1736401688.584 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-01-09T05:48:08.585Z,1736401688.585 [DAT](INFO): direction in FSK: [0.997618,-0.064513,-0.024432]
2025-01-09T05:48:08.585Z,1736401688.585 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:08.589Z,1736401688.589 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=5.263631
2025-01-09T05:48:08.828Z,1736401688.828 [DAT](INFO): DAT read: Rx Time:05:48:07.7766 

2025-01-09T05:48:08.830Z,1736401688.830 [DAT](INFO): Rx dataTimestamp_ set to:1736401688.828737
2025-01-09T05:48:08.834Z,1736401688.834 [DAT](INFO): DAT read: Bearing 354.0,   2.5 (Local)

2025-01-09T05:48:08.836Z,1736401688.836 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.0,   2.5 (Local)

2025-01-09T05:48:08.843Z,1736401688.843 [DAT](INFO): DAT read: Range 10 to 50 :    11.3 m (trip time 7.5 ms) speed 0.4

2025-01-09T05:48:08.884Z,1736401688.884 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-01-09T05:48:08.888Z,1736401688.888 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=5.561713
2025-01-09T05:48:09.001Z,1736401689.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:09.016Z,1736401689.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 1.006000 s,
      deltaX: -0.400000 m,
      approachRate: -0.397614 m/s,
      rangeRepo size: 4

2025-01-09T05:48:09.018Z,1736401689.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.300000 m,
      bearing: 143.988787 deg,
      lat: 36.904011 deg,
      lon: -122.118912 deg,
      deltaT: 1.006000 s,
      deltaX: -0.400000 m,
      approachRate: -0.397614 m/s,
      posRepo size: 4

2025-01-09T05:48:09.018Z,1736401689.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.30 m.
2025-01-09T05:48:09.033Z,1736401689.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.300000 m,
      nav range: 11.376243 m,
      bearing: 146.495520 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.068859 deg/s,
      cmd heading: 147.295830 deg,
      new cmd heading: 147.191701 deg.

2025-01-09T05:48:09.034Z,1736401689.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568980 target range: 11.300000 and range: 11.30 m.
2025-01-09T05:48:09.071Z,1736401689.071 [DockingStepper](INFO): Stopping
2025-01-09T05:48:09.085Z,1736401689.085 [DAT](INFO): DAT read: 05:48:07.7766 LVL= 24080, 27857, 23026, 30659, AGC= 51, IDX= 511, 0.24, 1.391,-0.037, 1.655, 1.222, PHS= 0.257,-1.212, 0.430, RAW= 155.5,   6.8, CAL= 156.0,  -2.5, ROT= 354.0,   2.5

2025-01-09T05:48:09.086Z,1736401689.086 [DAT](INFO): got valid direction response:
 05:48:07.7766 LVL= 24080, 27857, 23026, 30659, AGC= 51, IDX= 511, 0.24, 1.391,-0.037, 1.655, 1.222, PHS= 0.257,-1.212, 0.430, RAW= 155.5,   6.8, CAL= 156.0,  -2.5, ROT= 354.0,   2.5

2025-01-09T05:48:09.088Z,1736401689.088 [DAT](INFO): #Rx 20: Read direction message, but no range.
2025-01-09T05:48:09.089Z,1736401689.089 [DAT](INFO): direction in FSK: [0.993575,-0.104429,-0.043619]
2025-01-09T05:48:09.107Z,1736401689.107 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=5.768964
2025-01-09T05:48:09.287Z,1736401689.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:09.308Z,1736401689.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.30 m.
2025-01-09T05:48:09.326Z,1736401689.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.300000 m,
      nav range: 11.226383 m,
      bearing: 146.497908 deg,
      approach rate: -0.511333 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 147.191697 deg,
      new cmd heading: 147.198955 deg.

2025-01-09T05:48:09.331Z,1736401689.331 [DAT](INFO): DAT read: Rx Time:05:48:08.2763 

2025-01-09T05:48:09.333Z,1736401689.333 [DAT](INFO): Rx dataTimestamp_ set to:1736401689.331845
2025-01-09T05:48:09.337Z,1736401689.337 [DAT](INFO): DAT read: Bearing 352.4,   2.3 (Local)

2025-01-09T05:48:09.338Z,1736401689.338 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.4,   2.3 (Local)

2025-01-09T05:48:09.345Z,1736401689.345 [DAT](INFO): DAT read: Range 10 to 50 :    10.8 m (trip time 7.2 ms) speed 0.4

2025-01-09T05:48:09.348Z,1736401689.348 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-01-09T05:48:09.352Z,1736401689.352 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=6.025688
2025-01-09T05:48:09.365Z,1736401689.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569106 target range: 11.300000 and range: 11.30 m.
2025-01-09T05:48:09.396Z,1736401689.396 [DockingStepper](INFO): Stopping
2025-01-09T05:48:09.584Z,1736401689.584 [DAT](INFO): DAT read: 05:48:08.2763 LVL= 21808, 25073, 21874, 30819, AGC= 50, IDX= 509,-0.32,-1.483,-2.840,-1.166,-1.608, PHS= 0.214,-1.184, 0.439, RAW= 157.4,   7.0, CAL= 157.6,  -2.3, ROT= 352.4,   2.3

2025-01-09T05:48:09.585Z,1736401689.585 [DAT](INFO): got valid direction response:
 05:48:08.2763 LVL= 21808, 25073, 21874, 30819, AGC= 50, IDX= 509,-0.32,-1.483,-2.840,-1.166,-1.608, PHS= 0.214,-1.184, 0.439, RAW= 157.4,   7.0, CAL= 157.6,  -2.3, ROT= 352.4,   2.3

2025-01-09T05:48:09.585Z,1736401689.585 [DAT](INFO): #Rx 22: Read direction message, but no range.
2025-01-09T05:48:09.586Z,1736401689.586 [DAT](INFO): direction in FSK: [0.990417,-0.132150,-0.040132]
2025-01-09T05:48:09.590Z,1736401689.590 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=6.264192
2025-01-09T05:48:09.696Z,1736401689.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:09.747Z,1736401689.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.503108 s,
      deltaX: -0.500000 m,
      approachRate: -0.993822 m/s,
      rangeRepo size: 4

2025-01-09T05:48:09.750Z,1736401689.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.800000 m,
      bearing: 141.058289 deg,
      lat: 36.904013 deg,
      lon: -122.118911 deg,
      deltaT: 0.503108 s,
      deltaX: -0.500000 m,
      approachRate: -0.993822 m/s,
      posRepo size: 4

2025-01-09T05:48:09.756Z,1736401689.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.80 m.
2025-01-09T05:48:09.765Z,1736401689.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.800000 m,
      nav range: 10.904933 m,
      bearing: 145.561371 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 147.198950 deg,
      new cmd heading: 147.209691 deg.

2025-01-09T05:48:09.766Z,1736401689.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569294 target range: 10.800000 and range: 10.80 m.
2025-01-09T05:48:09.820Z,1736401689.820 [DockingStepper](INFO): Stopping
2025-01-09T05:48:09.885Z,1736401689.885 [DAT](INFO): DAT read: Rx Time:05:48:08.7761 

2025-01-09T05:48:09.887Z,1736401689.887 [DAT](INFO): Rx dataTimestamp_ set to:1736401689.885677
2025-01-09T05:48:09.890Z,1736401689.890 [DAT](INFO): DAT read: Bearing 350.8,   2.7 (Local)

2025-01-09T05:48:09.891Z,1736401689.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.8,   2.7 (Local)

2025-01-09T05:48:09.896Z,1736401689.896 [DAT](INFO): DAT read: Range 10 to 50 :    10.5 m (trip time 7.0 ms) speed 0.4

2025-01-09T05:48:09.901Z,1736401689.901 [DAT](INFO): DAT read: 05:48:08.7761 LVL= 22976, 29361, 21602, 30643, AGC= 52, IDX= 507,-0.02,-1.241,-2.579,-0.869,-1.346, PHS= 0.193,-1.186, 0.474, RAW= 159.1,   6.8, CAL= 159.2,  -2.7, ROT= 350.8,   2.7

2025-01-09T05:48:09.902Z,1736401689.902 [DAT](INFO): got valid direction response:
 05:48:08.7761 LVL= 22976, 29361, 21602, 30643, AGC= 52, IDX= 507,-0.02,-1.241,-2.579,-0.869,-1.346, PHS= 0.193,-1.186, 0.474, RAW= 159.1,   6.8, CAL= 159.2,  -2.7, ROT= 350.8,   2.7

2025-01-09T05:48:09.902Z,1736401689.902 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-01-09T05:48:09.903Z,1736401689.903 [DAT](INFO): direction in FSK: [0.986040,-0.159704,-0.047106]
2025-01-09T05:48:09.904Z,1736401689.904 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:09.929Z,1736401689.929 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=6.603312
2025-01-09T05:48:10.128Z,1736401690.128 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=6.802956
2025-01-09T05:48:10.164Z,1736401690.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:10.184Z,1736401690.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.553832 s,
      deltaX: -0.300000 m,
      approachRate: -0.541681 m/s,
      rangeRepo size: 4

2025-01-09T05:48:10.187Z,1736401690.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.500000 m,
      bearing: 139.703179 deg,
      lat: 36.904014 deg,
      lon: -122.118908 deg,
      deltaT: 0.553832 s,
      deltaX: -0.300000 m,
      approachRate: -0.541681 m/s,
      posRepo size: 4

2025-01-09T05:48:10.187Z,1736401690.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-01-09T05:48:10.190Z,1736401690.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 10.666301 m,
      bearing: 143.924946 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 147.209687 deg,
      new cmd heading: 147.220645 deg.

2025-01-09T05:48:10.191Z,1736401690.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569485 target range: 10.500000 and range: 10.50 m.
2025-01-09T05:48:10.222Z,1736401690.222 [DockingStepper](INFO): Stopping
2025-01-09T05:48:10.380Z,1736401690.380 [DAT](INFO): DAT read: Rx Time:05:48:09.2760 

2025-01-09T05:48:10.381Z,1736401690.381 [DAT](INFO): Rx dataTimestamp_ set to:1736401690.380474
2025-01-09T05:48:10.382Z,1736401690.382 [DAT](INFO): DAT read: Bearing 349.9,   3.3 (Local)

2025-01-09T05:48:10.382Z,1736401690.382 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.9,   3.3 (Local)

2025-01-09T05:48:10.386Z,1736401690.386 [DAT](INFO): DAT read: Range 10 to 50 :    10.4 m (trip time 6.9 ms) speed 0.4

2025-01-09T05:48:10.396Z,1736401690.396 [DAT](INFO): DAT read: 05:48:09.2760 LVL= 21712, 32353, 17458, 32755, AGC= 51, IDX= 504, 0.36,-2.421, 2.504,-2.015,-2.534, PHS= 0.201,-1.199, 0.516, RAW= 159.9,   6.1, CAL= 160.1,  -3.3, ROT= 349.9,   3.3

2025-01-09T05:48:10.397Z,1736401690.397 [DAT](INFO): got valid direction response:
 05:48:09.2760 LVL= 21712, 32353, 17458, 32755, AGC= 51, IDX= 504, 0.36,-2.421, 2.504,-2.015,-2.534, PHS= 0.201,-1.199, 0.516, RAW= 159.9,   6.1, CAL= 160.1,  -3.3, ROT= 349.9,   3.3

2025-01-09T05:48:10.397Z,1736401690.397 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-01-09T05:48:10.398Z,1736401690.398 [DAT](INFO): direction in FSK: [0.982871,-0.175076,-0.057564]
2025-01-09T05:48:10.403Z,1736401690.403 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:10.406Z,1736401690.406 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=7.080619
2025-01-09T05:48:10.504Z,1736401690.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:10.551Z,1736401690.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.494797 s,
      deltaX: -0.100000 m,
      approachRate: -0.202104 m/s,
      rangeRepo size: 4

2025-01-09T05:48:10.553Z,1736401690.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.400000 m,
      bearing: 139.108167 deg,
      lat: 36.904018 deg,
      lon: -122.118905 deg,
      deltaT: 0.494797 s,
      deltaX: -0.100000 m,
      approachRate: -0.202104 m/s,
      posRepo size: 4

2025-01-09T05:48:10.554Z,1736401690.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-09T05:48:10.557Z,1736401690.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.400000 m,
      nav range: 10.327884 m,
      bearing: 140.961351 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 147.220643 deg,
      new cmd heading: 147.229313 deg.

2025-01-09T05:48:10.558Z,1736401690.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569636 target range: 10.400000 and range: 10.40 m.
2025-01-09T05:48:10.595Z,1736401690.595 [DockingStepper](INFO): Stopping
2025-01-09T05:48:10.632Z,1736401690.632 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=7.306334
2025-01-09T05:48:10.894Z,1736401690.894 [DAT](INFO): DAT read: Rx Time:05:48:09.7759 

2025-01-09T05:48:10.896Z,1736401690.896 [DAT](INFO): Rx dataTimestamp_ set to:1736401690.894534
2025-01-09T05:48:10.899Z,1736401690.899 [DAT](INFO): DAT read: Bearing 348.5,   2.9 (Local)

2025-01-09T05:48:10.900Z,1736401690.900 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.5,   2.9 (Local)

2025-01-09T05:48:10.907Z,1736401690.907 [DAT](INFO): DAT read: Range 10 to 50 :    10.2 m (trip time 6.8 ms) speed 0.4

2025-01-09T05:48:10.941Z,1736401690.941 [DAT](INFO): DAT read: 05:48:09.7759 LVL= 24656, 32513, 20674, 32755, AGC= 49, IDX= 504, 0.01, 0.389,-0.951, 0.852, 0.315, PHS= 0.162,-1.219, 0.533, RAW= 161.6,   6.6, CAL= 161.5,  -2.9, ROT= 348.5,   2.9

2025-01-09T05:48:10.942Z,1736401690.942 [DAT](INFO): got valid direction response:
 05:48:09.7759 LVL= 24656, 32513, 20674, 32755, AGC= 49, IDX= 504, 0.01, 0.389,-0.951, 0.852, 0.315, PHS= 0.162,-1.219, 0.533, RAW= 161.6,   6.6, CAL= 161.5,  -2.9, ROT= 348.5,   2.9

2025-01-09T05:48:10.955Z,1736401690.955 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-01-09T05:48:10.956Z,1736401690.956 [DAT](INFO): direction in FSK: [0.978670,-0.199113,-0.050593]
2025-01-09T05:48:10.956Z,1736401690.956 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:10.980Z,1736401690.980 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=7.654735
2025-01-09T05:48:11.072Z,1736401691.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:11.111Z,1736401691.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.514060 s,
      deltaX: -0.200000 m,
      approachRate: -0.389059 m/s,
      rangeRepo size: 4

2025-01-09T05:48:11.113Z,1736401691.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.200000 m,
      bearing: 137.769403 deg,
      lat: 36.904020 deg,
      lon: -122.118903 deg,
      deltaT: 0.514060 s,
      deltaX: -0.200000 m,
      approachRate: -0.389059 m/s,
      posRepo size: 4

2025-01-09T05:48:11.114Z,1736401691.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.20 m.
2025-01-09T05:48:11.117Z,1736401691.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.200000 m,
      nav range: 9.956056 m,
      bearing: 139.692369 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 147.229317 deg,
      new cmd heading: 147.243487 deg.

2025-01-09T05:48:11.118Z,1736401691.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569884 target range: 10.200000 and range: 10.20 m.
2025-01-09T05:48:11.140Z,1736401691.140 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=7.814224
2025-01-09T05:48:11.158Z,1736401691.158 [DockingStepper](INFO): Stopping
2025-01-09T05:48:11.393Z,1736401691.393 [DAT](INFO): DAT read: Rx Time:05:48:10.2756 

2025-01-09T05:48:11.394Z,1736401691.394 [DAT](INFO): Rx dataTimestamp_ set to:1736401691.393339
2025-01-09T05:48:11.396Z,1736401691.396 [DAT](INFO): DAT read: Bearing 347.6,   2.8 (Local)

2025-01-09T05:48:11.396Z,1736401691.396 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.6,   2.8 (Local)

2025-01-09T05:48:11.398Z,1736401691.398 [DAT](INFO): DAT read: Range 10 to 50 :     9.8 m (trip time 6.5 ms) speed 0.4

2025-01-09T05:48:11.411Z,1736401691.411 [DAT](INFO): DAT read: 05:48:10.2756 LVL= 27872, 31729, 23410, 32755, AGC= 47, IDX= 501, 0.10, 1.555, 0.210, 2.054, 1.497, PHS= 0.145,-1.240, 0.554, RAW= 162.5,   6.7, CAL= 162.4,  -2.8, ROT= 347.6,   2.8

2025-01-09T05:48:11.412Z,1736401691.412 [DAT](INFO): got valid direction response:
 05:48:10.2756 LVL= 27872, 31729, 23410, 32755, AGC= 47, IDX= 501, 0.10, 1.555, 0.210, 2.054, 1.497, PHS= 0.145,-1.240, 0.554, RAW= 162.5,   6.7, CAL= 162.4,  -2.8, ROT= 347.6,   2.8

2025-01-09T05:48:11.412Z,1736401691.412 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-01-09T05:48:11.413Z,1736401691.413 [DAT](INFO): direction in FSK: [0.975506,-0.214479,-0.048850]
2025-01-09T05:48:11.413Z,1736401691.413 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:11.417Z,1736401691.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:11.421Z,1736401691.421 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=8.095545
2025-01-09T05:48:11.467Z,1736401691.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.498805 s,
      deltaX: -0.400000 m,
      approachRate: -0.801916 m/s,
      rangeRepo size: 4

2025-01-09T05:48:11.469Z,1736401691.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.800000 m,
      bearing: 136.862731 deg,
      lat: 36.904020 deg,
      lon: -122.118901 deg,
      deltaT: 0.498805 s,
      deltaX: -0.400000 m,
      approachRate: -0.801916 m/s,
      posRepo size: 4

2025-01-09T05:48:11.469Z,1736401691.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.80 m.
2025-01-09T05:48:11.470Z,1736401691.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m.
2025-01-09T05:48:11.470Z,1736401691.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-01-09T05:48:11.478Z,1736401691.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 9.838312 m,
      bearing: 139.173593 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 147.243483 deg,
      new cmd heading: 147.251602 deg.

2025-01-09T05:48:11.483Z,1736401691.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570025 target range: 9.800000 and range: 9.80 m.
2025-01-09T05:48:11.510Z,1736401691.510 [DockingStepper](INFO): Stopping
2025-01-09T05:48:11.644Z,1736401691.644 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=8.318989
2025-01-09T05:48:11.804Z,1736401691.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:11.811Z,1736401691.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:11.825Z,1736401691.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-01-09T05:48:11.837Z,1736401691.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 9.615149 m,
      bearing: 139.197927 deg,
      approach rate: -0.575740 m/s,
      LOS rate: 0.064237 deg/s,
      cmd heading: 147.251598 deg,
      new cmd heading: 147.326294 deg.

2025-01-09T05:48:11.842Z,1736401691.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571329 target range: 9.800000 and range: 9.80 m.
2025-01-09T05:48:11.900Z,1736401691.900 [DAT](INFO): DAT read: Rx Time:05:48:10.7756 

2025-01-09T05:48:11.901Z,1736401691.901 [DAT](INFO): Rx dataTimestamp_ set to:1736401691.900394
2025-01-09T05:48:11.906Z,1736401691.906 [DAT](INFO): DAT read: Bearing 347.4,   3.6 (Local)

2025-01-09T05:48:11.907Z,1736401691.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.4,   3.6 (Local)

2025-01-09T05:48:11.913Z,1736401691.913 [DAT](INFO): DAT read: Range 10 to 50 :     9.8 m (trip time 6.5 ms) speed 0.4

2025-01-09T05:48:11.936Z,1736401691.936 [DAT](INFO): DAT read: 05:48:10.7756 LVL= 20976, 32753, 17874, 32755, AGC= 51, IDX= 500, 0.21,-1.396,-2.702,-0.908,-1.473, PHS= 0.165,-1.183, 0.562, RAW= 162.5,   5.8, CAL= 162.6,  -3.6, ROT= 347.4,   3.6

2025-01-09T05:48:11.937Z,1736401691.937 [DAT](INFO): got valid direction response:
 05:48:10.7756 LVL= 20976, 32753, 17874, 32755, AGC= 51, IDX= 500, 0.21,-1.396,-2.702,-0.908,-1.473, PHS= 0.165,-1.183, 0.562, RAW= 162.5,   5.8, CAL= 162.6,  -3.6, ROT= 347.4,   3.6

2025-01-09T05:48:11.937Z,1736401691.937 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-01-09T05:48:11.938Z,1736401691.938 [DAT](INFO): direction in FSK: [0.973991,-0.217713,-0.062791]
2025-01-09T05:48:11.938Z,1736401691.938 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:11.951Z,1736401691.951 [DockingStepper](INFO): Stopping
2025-01-09T05:48:11.958Z,1736401691.958 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.632662
2025-01-09T05:48:12.148Z,1736401692.148 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=8.822229
2025-01-09T05:48:12.234Z,1736401692.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:12.250Z,1736401692.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.507055 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:48:12.252Z,1736401692.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.800000 m,
      bearing: 137.120626 deg,
      lat: 36.904020 deg,
      lon: -122.118899 deg,
      deltaT: 0.507055 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T05:48:12.253Z,1736401692.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-01-09T05:48:12.256Z,1736401692.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 9.349673 m,
      bearing: 139.321773 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 147.326292 deg,
      new cmd heading: 147.336886 deg.

2025-01-09T05:48:12.257Z,1736401692.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571514 target range: 9.800000 and range: 9.80 m.
2025-01-09T05:48:12.300Z,1736401692.300 [DockingStepper](INFO): Stopping
2025-01-09T05:48:12.400Z,1736401692.400 [DAT](INFO): DAT read: Rx Time:05:48:11.2753 

2025-01-09T05:48:12.401Z,1736401692.401 [DAT](INFO): Rx dataTimestamp_ set to:1736401692.400542
2025-01-09T05:48:12.402Z,1736401692.402 [DAT](INFO): DAT read: Bearing 347.6,   2.9 (Local)

2025-01-09T05:48:12.402Z,1736401692.402 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.6,   2.9 (Local)

2025-01-09T05:48:12.404Z,1736401692.404 [DAT](INFO): DAT read: Range 10 to 50 :     9.3 m (trip time 6.2 ms) speed 0.4

2025-01-09T05:48:12.410Z,1736401692.410 [DAT](INFO): DAT read: 05:48:11.2753 LVL= 21264, 30705, 17682, 30563, AGC= 50, IDX= 498,-0.45, 2.513, 1.219, 2.997, 2.458, PHS= 0.143,-1.192, 0.535, RAW= 162.5,   6.6, CAL= 162.4,  -2.9, ROT= 347.6,   2.9

2025-01-09T05:48:12.411Z,1736401692.411 [DAT](INFO): got valid direction response:
 05:48:11.2753 LVL= 21264, 30705, 17682, 30563, AGC= 50, IDX= 498,-0.45, 2.513, 1.219, 2.997, 2.458, PHS= 0.143,-1.192, 0.535, RAW= 162.5,   6.6, CAL= 162.4,  -2.9, ROT= 347.6,   2.9

2025-01-09T05:48:12.412Z,1736401692.412 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-01-09T05:48:12.413Z,1736401692.413 [DAT](INFO): direction in FSK: [0.975421,-0.214460,-0.050593]
2025-01-09T05:48:12.413Z,1736401692.413 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:12.418Z,1736401692.418 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.092265
2025-01-09T05:48:12.615Z,1736401692.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:12.630Z,1736401692.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.500148 s,
      deltaX: -0.500000 m,
      approachRate: -0.999704 m/s,
      rangeRepo size: 4

2025-01-09T05:48:12.632Z,1736401692.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.300000 m,
      bearing: 137.278473 deg,
      lat: 36.904021 deg,
      lon: -122.118898 deg,
      deltaT: 1.007203 s,
      deltaX: -0.500000 m,
      approachRate: -0.496424 m/s,
      posRepo size: 4

2025-01-09T05:48:12.633Z,1736401692.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.80 m.
2025-01-09T05:48:12.636Z,1736401692.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 9.115008 m,
      bearing: 139.435785 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 147.336893 deg,
      new cmd heading: 147.346314 deg.

2025-01-09T05:48:12.637Z,1736401692.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571678 target range: 9.800000 and range: 9.30 m.
2025-01-09T05:48:12.652Z,1736401692.652 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=9.326147
2025-01-09T05:48:12.674Z,1736401692.674 [DockingStepper](INFO): Stopping
2025-01-09T05:48:12.908Z,1736401692.908 [DAT](INFO): DAT read: Rx Time:05:48:11.7752 

2025-01-09T05:48:12.911Z,1736401692.911 [DAT](INFO): Rx dataTimestamp_ set to:1736401692.909282
2025-01-09T05:48:12.915Z,1736401692.915 [DAT](INFO): DAT read: Bearing 348.4,   3.4 (Local)

2025-01-09T05:48:12.916Z,1736401692.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.4,   3.4 (Local)

2025-01-09T05:48:12.926Z,1736401692.926 [DAT](INFO): DAT read: Range 10 to 50 :     9.2 m (trip time 6.1 ms) speed 0.4

2025-01-09T05:48:12.962Z,1736401692.962 [DAT](INFO): DAT read: 05:48:11.7752 LVL= 20176, 32753, 18370, 32755, AGC= 49, IDX= 497,-0.14, 2.764, 1.518,-3.085, 2.687, PHS= 0.166,-1.121, 0.509, RAW= 161.5,   6.1, CAL= 161.6,  -3.4, ROT= 348.4,   3.4

2025-01-09T05:48:12.967Z,1736401692.967 [DAT](INFO): got valid direction response:
 05:48:11.7752 LVL= 20176, 32753, 18370, 32755, AGC= 49, IDX= 497,-0.14, 2.764, 1.518,-3.085, 2.687, PHS= 0.166,-1.121, 0.509, RAW= 161.5,   6.1, CAL= 161.6,  -3.4, ROT= 348.4,   3.4

2025-01-09T05:48:12.968Z,1736401692.968 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-01-09T05:48:12.969Z,1736401692.969 [DAT](INFO): direction in FSK: [0.977851,-0.200724,-0.059306]
2025-01-09T05:48:12.969Z,1736401692.969 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:12.977Z,1736401692.977 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.651958
2025-01-09T05:48:13.054Z,1736401693.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:13.077Z,1736401693.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.508740 s,
      deltaX: -0.100000 m,
      approachRate: -0.196565 m/s,
      rangeRepo size: 4

2025-01-09T05:48:13.096Z,1736401693.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.200000 m,
      bearing: 138.235489 deg,
      lat: 36.904021 deg,
      lon: -122.118897 deg,
      deltaT: 1.515943 s,
      deltaX: -0.600000 m,
      approachRate: -0.395793 m/s,
      posRepo size: 4

2025-01-09T05:48:13.097Z,1736401693.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.20 m. 9.80 m.
2025-01-09T05:48:13.104Z,1736401693.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 8.841818 m,
      bearing: 139.662916 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 147.346319 deg,
      new cmd heading: 147.357398 deg.

2025-01-09T05:48:13.105Z,1736401693.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571872 target range: 9.800000 and range: 9.20 m.
2025-01-09T05:48:13.143Z,1736401693.143 [DockingStepper](INFO): Stopping
2025-01-09T05:48:13.158Z,1736401693.158 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=9.832017
2025-01-09T05:48:13.408Z,1736401693.408 [DAT](INFO): DAT read: Rx Time:05:48:12.2750 

2025-01-09T05:48:13.409Z,1736401693.409 [DAT](INFO): Rx dataTimestamp_ set to:1736401693.408453
2025-01-09T05:48:13.419Z,1736401693.419 [DAT](INFO): DAT read: Bearing 349.3,   2.5 (Local)

2025-01-09T05:48:13.420Z,1736401693.420 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.3,   2.5 (Local)

2025-01-09T05:48:13.422Z,1736401693.422 [DAT](INFO): DAT read: Range 10 to 50 :     8.7 m (trip time 5.8 ms) speed 0.5

2025-01-09T05:48:13.438Z,1736401693.438 [DAT](INFO): DAT read: 05:48:12.2750 LVL= 23904, 32753, 18322, 32755, AGC= 49, IDX= 510,-0.06, 2.036, 0.789, 2.449, 1.973, PHS= 0.151,-1.137, 0.473, RAW= 160.9,   7.0, CAL= 160.7,  -2.5, ROT= 349.3,   2.5

2025-01-09T05:48:13.480Z,1736401693.480 [DAT](INFO): got valid direction response:
 05:48:12.2750 LVL= 23904, 32753, 18322, 32755, AGC= 49, IDX= 510,-0.06, 2.036, 0.789, 2.449, 1.973, PHS= 0.151,-1.137, 0.473, RAW= 160.9,   7.0, CAL= 160.7,  -2.5, ROT= 349.3,   2.5

2025-01-09T05:48:13.480Z,1736401693.480 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-01-09T05:48:13.481Z,1736401693.481 [DAT](INFO): direction in FSK: [0.981678,-0.185490,-0.043619]
2025-01-09T05:48:13.482Z,1736401693.482 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:13.517Z,1736401693.517 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.191908
2025-01-09T05:48:13.532Z,1736401693.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:13.570Z,1736401693.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.499171 s,
      deltaX: -0.500000 m,
      approachRate: -1.001661 m/s,
      rangeRepo size: 4

2025-01-09T05:48:13.577Z,1736401693.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.700000 m,
      bearing: 139.018578 deg,
      lat: 36.904020 deg,
      lon: -122.118897 deg,
      deltaT: 2.015114 s,
      deltaX: -1.100000 m,
      approachRate: -0.545875 m/s,
      posRepo size: 4

2025-01-09T05:48:13.578Z,1736401693.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 9.80 m.
2025-01-09T05:48:13.586Z,1736401693.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 8.544136 m,
      bearing: 139.927095 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 147.357397 deg,
      new cmd heading: 147.369591 deg.

2025-01-09T05:48:13.591Z,1736401693.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572085 target range: 9.800000 and range: 8.70 m.
2025-01-09T05:48:13.623Z,1736401693.623 [DockingStepper](INFO): Stopping
2025-01-09T05:48:13.661Z,1736401693.661 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=10.335193
2025-01-09T05:48:13.919Z,1736401693.919 [DAT](INFO): DAT read: Rx Time:05:48:12.7749 

2025-01-09T05:48:13.921Z,1736401693.921 [DAT](INFO): Rx dataTimestamp_ set to:1736401693.919601
2025-01-09T05:48:13.928Z,1736401693.928 [DAT](INFO): DAT read: Bearing 351.0,   2.4 (Local)

2025-01-09T05:48:13.929Z,1736401693.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.0,   2.4 (Local)

2025-01-09T05:48:13.937Z,1736401693.937 [DAT](INFO): DAT read: Range 10 to 50 :     8.6 m (trip time 5.7 ms) speed 0.6

2025-01-09T05:48:13.961Z,1736401693.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:13.971Z,1736401693.971 [DAT](INFO): DAT read: 05:48:12.7749 LVL= 25056, 32753, 19362, 32755, AGC= 49, IDX= 509,-0.02,-2.338, 2.690,-1.988,-2.428, PHS= 0.177,-1.118, 0.436, RAW= 158.9,   7.1, CAL= 159.0,  -2.4, ROT= 351.0,   2.4

2025-01-09T05:48:13.972Z,1736401693.972 [DAT](INFO): got valid direction response:
 05:48:12.7749 LVL= 25056, 32753, 19362, 32755, AGC= 49, IDX= 509,-0.02,-2.338, 2.690,-1.988,-2.428, PHS= 0.177,-1.118, 0.436, RAW= 158.9,   7.1, CAL= 159.0,  -2.4, ROT= 351.0,   2.4

2025-01-09T05:48:13.973Z,1736401693.973 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-01-09T05:48:13.974Z,1736401693.974 [DAT](INFO): direction in FSK: [0.986822,-0.156297,-0.041876]
2025-01-09T05:48:13.974Z,1736401693.974 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:13.986Z,1736401693.986 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.660143
2025-01-09T05:48:13.995Z,1736401693.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.511148 s,
      deltaX: -0.099999 m,
      approachRate: -0.195637 m/s,
      rangeRepo size: 4

2025-01-09T05:48:13.997Z,1736401693.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.600000 m,
      bearing: 140.815633 deg,
      lat: 36.904020 deg,
      lon: -122.118897 deg,
      deltaT: 2.526262 s,
      deltaX: -1.200000 m,
      approachRate: -0.475010 m/s,
      posRepo size: 4

2025-01-09T05:48:13.998Z,1736401693.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.60 m. 9.80 m.
2025-01-09T05:48:14.001Z,1736401694.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 8.277186 m,
      bearing: 140.176315 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 147.369596 deg,
      new cmd heading: 147.380013 deg.

2025-01-09T05:48:14.002Z,1736401694.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572267 target range: 9.800000 and range: 8.60 m.
2025-01-09T05:48:14.051Z,1736401694.051 [DockingStepper](INFO): Stopping
2025-01-09T05:48:14.164Z,1736401694.164 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=10.838322
2025-01-09T05:48:14.375Z,1736401694.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:14.386Z,1736401694.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:14.393Z,1736401694.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-01-09T05:48:14.402Z,1736401694.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 8.018097 m,
      bearing: 140.464995 deg,
      approach rate: -0.644117 m/s,
      LOS rate: 0.740870 deg/s,
      cmd heading: 147.380019 deg,
      new cmd heading: 148.273969 deg.

2025-01-09T05:48:14.407Z,1736401694.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.587869 target range: 9.800000 and range: 8.60 m.
2025-01-09T05:48:14.417Z,1736401694.417 [DAT](INFO): DAT read: Rx Time:05:48:13.2746 

2025-01-09T05:48:14.417Z,1736401694.417 [DAT](INFO): Rx dataTimestamp_ set to:1736401694.416912
2025-01-09T05:48:14.419Z,1736401694.419 [DAT](INFO): DAT read: Bearing 352.3,   1.8 (Local)

2025-01-09T05:48:14.419Z,1736401694.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.3,   1.8 (Local)

2025-01-09T05:48:14.421Z,1736401694.421 [DAT](INFO): DAT read: Range 10 to 50 :     8.1 m (trip time 5.4 ms) speed 0.7

2025-01-09T05:48:14.426Z,1736401694.426 [DAT](INFO): DAT read: 05:48:13.2746 LVL= 23344, 32753, 18562, 32755, AGC= 51, IDX= 506, 0.01, 2.843, 1.549,-3.123, 2.748, PHS= 0.183,-1.151, 0.409, RAW= 157.7,   7.7, CAL= 157.7,  -1.8, ROT= 352.3,   1.8

2025-01-09T05:48:14.428Z,1736401694.428 [DAT](INFO): got valid direction response:
 05:48:13.2746 LVL= 23344, 32753, 18562, 32755, AGC= 51, IDX= 506, 0.01, 2.843, 1.549,-3.123, 2.748, PHS= 0.183,-1.151, 0.409, RAW= 157.7,   7.7, CAL= 157.7,  -1.8, ROT= 352.3,   1.8

2025-01-09T05:48:14.428Z,1736401694.428 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-01-09T05:48:14.429Z,1736401694.429 [DAT](INFO): direction in FSK: [0.990494,-0.133920,-0.031411]
2025-01-09T05:48:14.429Z,1736401694.429 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:14.433Z,1736401694.433 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=11.107233
2025-01-09T05:48:14.473Z,1736401694.473 [DockingStepper](INFO): Stopping
2025-01-09T05:48:14.668Z,1736401694.668 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=11.342172
2025-01-09T05:48:14.688Z,1736401694.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:14.703Z,1736401694.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.497311 s,
      deltaX: -0.500000 m,
      approachRate: -1.005407 m/s,
      rangeRepo size: 4

2025-01-09T05:48:14.705Z,1736401694.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.100000 m,
      bearing: 142.036133 deg,
      lat: 36.904019 deg,
      lon: -122.118899 deg,
      deltaT: 3.023573 s,
      deltaX: -1.700000 m,
      approachRate: -0.562249 m/s,
      posRepo size: 4

2025-01-09T05:48:14.706Z,1736401694.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 9.80 m.
2025-01-09T05:48:14.708Z,1736401694.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 7.816901 m,
      bearing: 140.702546 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 148.273968 deg,
      new cmd heading: 148.281639 deg.

2025-01-09T05:48:14.710Z,1736401694.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.588003 target range: 9.800000 and range: 8.10 m.
2025-01-09T05:48:14.749Z,1736401694.749 [DockingStepper](INFO): Stopping
2025-01-09T05:48:14.925Z,1736401694.925 [DAT](INFO): DAT read: Rx Time:05:48:13.7744 

2025-01-09T05:48:14.928Z,1736401694.928 [DAT](INFO): Rx dataTimestamp_ set to:1736401694.925982
2025-01-09T05:48:14.934Z,1736401694.934 [DAT](INFO): DAT read: Bearing 355.0,   0.7 (Local)

2025-01-09T05:48:14.935Z,1736401694.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.0,   0.7 (Local)

2025-01-09T05:48:14.946Z,1736401694.946 [DAT](INFO): DAT read: Range 10 to 50 :     7.8 m (trip time 5.2 ms) speed 0.6

2025-01-09T05:48:14.991Z,1736401694.991 [DAT](INFO): DAT read: 05:48:13.7744 LVL= 22992, 32753, 20946, 32755, AGC= 51, IDX= 504,-0.04, 2.142, 0.866, 2.375, 2.039, PHS= 0.192,-1.126, 0.333, RAW= 155.0,   8.7, CAL= 155.0,  -0.7, ROT= 355.0,   0.7

2025-01-09T05:48:14.993Z,1736401694.993 [DAT](INFO): got valid direction response:
 05:48:13.7744 LVL= 22992, 32753, 20946, 32755, AGC= 51, IDX= 504,-0.04, 2.142, 0.866, 2.375, 2.039, PHS= 0.192,-1.126, 0.333, RAW= 155.0,   8.7, CAL= 155.0,  -0.7, ROT= 355.0,   0.7

2025-01-09T05:48:14.994Z,1736401694.994 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-01-09T05:48:15.003Z,1736401695.003 [DAT](INFO): direction in FSK: [0.996120,-0.087149,-0.012217]
2025-01-09T05:48:15.003Z,1736401695.003 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:15.019Z,1736401695.019 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=11.693472
2025-01-09T05:48:15.119Z,1736401695.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:15.165Z,1736401695.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.509070 s,
      deltaX: -0.300000 m,
      approachRate: -0.589310 m/s,
      rangeRepo size: 4

2025-01-09T05:48:15.170Z,1736401695.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.800000 m,
      bearing: 144.587056 deg,
      lat: 36.904017 deg,
      lon: -122.118900 deg,
      deltaT: 3.532643 s,
      deltaX: -2.000000 m,
      approachRate: -0.566148 m/s,
      posRepo size: 4

2025-01-09T05:48:15.172Z,1736401695.172 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=11.846213
2025-01-09T05:48:15.180Z,1736401695.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.80 m. 9.80 m.
2025-01-09T05:48:15.190Z,1736401695.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 7.547688 m,
      bearing: 141.017249 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 148.281645 deg,
      new cmd heading: 148.293097 deg.

2025-01-09T05:48:15.196Z,1736401695.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.588203 target range: 9.800000 and range: 7.80 m.
2025-01-09T05:48:15.221Z,1736401695.221 [DockingStepper](INFO): Stopping
2025-01-09T05:48:15.424Z,1736401695.424 [DAT](INFO): DAT read: Rx Time:05:48:14.2741 

2025-01-09T05:48:15.425Z,1736401695.425 [DAT](INFO): Rx dataTimestamp_ set to:1736401695.424363
2025-01-09T05:48:15.427Z,1736401695.427 [DAT](INFO): DAT read: Bearing 357.3,  -0.8 (Local)

2025-01-09T05:48:15.427Z,1736401695.427 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  -0.8 (Local)

2025-01-09T05:48:15.429Z,1736401695.429 [DAT](INFO): DAT read: Range 10 to 50 :     7.4 m (trip time 4.9 ms) speed 0.5

2025-01-09T05:48:15.434Z,1736401695.434 [DAT](INFO): DAT read: 05:48:14.2741 LVL= 27232, 32753, 20402, 32755, AGC= 51, IDX= 501,-0.10, 0.389,-0.886, 0.548, 0.279, PHS= 0.198,-1.118, 0.266, RAW= 152.5,   9.7, CAL= 152.7,   0.8, ROT= 357.3,  -0.8

2025-01-09T05:48:15.435Z,1736401695.435 [DAT](INFO): got valid direction response:
 05:48:14.2741 LVL= 27232, 32753, 20402, 32755, AGC= 51, IDX= 501,-0.10, 0.389,-0.886, 0.548, 0.279, PHS= 0.198,-1.118, 0.266, RAW= 152.5,   9.7, CAL= 152.7,   0.8, ROT= 357.3,  -0.8

2025-01-09T05:48:15.435Z,1736401695.435 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-01-09T05:48:15.436Z,1736401695.436 [DAT](INFO): direction in FSK: [0.998792,-0.047102,0.013962]
2025-01-09T05:48:15.436Z,1736401695.436 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:15.452Z,1736401695.452 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=12.126468
2025-01-09T05:48:15.483Z,1736401695.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:15.509Z,1736401695.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.498381 s,
      deltaX: -0.400000 m,
      approachRate: -0.802599 m/s,
      rangeRepo size: 4

2025-01-09T05:48:15.517Z,1736401695.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.400000 m,
      bearing: 146.876638 deg,
      lat: 36.904017 deg,
      lon: -122.118901 deg,
      deltaT: 4.031024 s,
      deltaX: -2.400000 m,
      approachRate: -0.595382 m/s,
      posRepo size: 4

2025-01-09T05:48:15.518Z,1736401695.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.40 m. 9.80 m.
2025-01-09T05:48:15.529Z,1736401695.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 7.321064 m,
      bearing: 141.295361 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 148.293092 deg,
      new cmd heading: 148.301606 deg.

2025-01-09T05:48:15.530Z,1736401695.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.588351 target range: 9.800000 and range: 7.40 m.
2025-01-09T05:48:15.568Z,1736401695.568 [DockingStepper](INFO): Stopping
2025-01-09T05:48:15.677Z,1736401695.677 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=12.350542
2025-01-09T05:48:15.932Z,1736401695.932 [DAT](INFO): DAT read: Rx Time:05:48:14.7740 

2025-01-09T05:48:15.933Z,1736401695.933 [DAT](INFO): Rx dataTimestamp_ set to:1736401695.932419
2025-01-09T05:48:15.938Z,1736401695.938 [DAT](INFO): DAT read: Bearing 358.4,  -2.6 (Local)

2025-01-09T05:48:15.940Z,1736401695.940 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  -2.6 (Local)

2025-01-09T05:48:15.952Z,1736401695.952 [DAT](INFO): DAT read: Range 10 to 50 :     7.2 m (trip time 4.8 ms) speed 0.6

2025-01-09T05:48:15.988Z,1736401695.988 [DAT](INFO): DAT read: 05:48:14.7740 LVL= 29312, 32753, 21186, 32755, AGC= 53, IDX= 500,-0.25, 2.082, 0.739, 2.200, 1.973, PHS= 0.197,-1.187, 0.224, RAW= 150.9,  11.0, CAL= 151.6,   2.6, ROT= 358.4,  -2.6

2025-01-09T05:48:15.989Z,1736401695.989 [DAT](INFO): got valid direction response:
 05:48:14.7740 LVL= 29312, 32753, 21186, 32755, AGC= 53, IDX= 500,-0.25, 2.082, 0.739, 2.200, 1.973, PHS= 0.197,-1.187, 0.224, RAW= 150.9,  11.0, CAL= 151.6,   2.6, ROT= 358.4,  -2.6

2025-01-09T05:48:15.989Z,1736401695.989 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-01-09T05:48:15.990Z,1736401695.990 [DAT](INFO): direction in FSK: [0.998581,-0.027893,0.045363]
2025-01-09T05:48:15.995Z,1736401695.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:15.999Z,1736401695.999 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:16.002Z,1736401696.002 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=12.676543
2025-01-09T05:48:16.053Z,1736401696.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.508056 s,
      deltaX: -0.200000 m,
      approachRate: -0.393658 m/s,
      rangeRepo size: 4

2025-01-09T05:48:16.060Z,1736401696.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.200000 m,
      bearing: 147.763619 deg,
      lat: 36.904016 deg,
      lon: -122.118904 deg,
      deltaT: 4.539080 s,
      deltaX: -2.600000 m,
      approachRate: -0.572803 m/s,
      posRepo size: 4

2025-01-09T05:48:16.061Z,1736401696.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.20 m. 9.80 m.
2025-01-09T05:48:16.068Z,1736401696.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 7.002002 m,
      bearing: 141.717845 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 148.301603 deg,
      new cmd heading: 148.315089 deg.

2025-01-09T05:48:16.069Z,1736401696.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.588587 target range: 9.800000 and range: 7.20 m.
2025-01-09T05:48:16.113Z,1736401696.113 [DockingStepper](INFO): Stopping
2025-01-09T05:48:16.180Z,1736401696.180 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=12.854433
2025-01-09T05:48:16.393Z,1736401696.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:16.414Z,1736401696.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:16.420Z,1736401696.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-01-09T05:48:16.428Z,1736401696.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 6.764801 m,
      bearing: 142.024182 deg,
      approach rate: -0.645737 m/s,
      LOS rate: 0.863179 deg/s,
      cmd heading: 148.315085 deg,
      new cmd heading: 149.266226 deg.

2025-01-09T05:48:16.429Z,1736401696.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605187 target range: 9.800000 and range: 7.20 m.
2025-01-09T05:48:16.432Z,1736401696.432 [DAT](INFO): DAT read: Rx Time:05:48:15.2737 

2025-01-09T05:48:16.433Z,1736401696.433 [DAT](INFO): Rx dataTimestamp_ set to:1736401696.432672
2025-01-09T05:48:16.434Z,1736401696.434 [DAT](INFO): DAT read: Bearing   0.0,  -3.5 (Local)

2025-01-09T05:48:16.435Z,1736401696.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.0,  -3.5 (Local)

2025-01-09T05:48:16.437Z,1736401696.437 [DAT](INFO): DAT read: Range 10 to 50 :     6.8 m (trip time 4.5 ms) speed 0.7

2025-01-09T05:48:16.441Z,1736401696.441 [DAT](INFO): DAT read: 05:48:15.2737 LVL= 29328, 32753, 20114, 32755, AGC= 53, IDX= 497,-0.46, 1.351,-0.086, 1.411, 1.216, PHS= 0.223,-1.255, 0.192, RAW= 149.0,  11.5, CAL= 150.0,   3.5, ROT=   0.0,  -3.5

2025-01-09T05:48:16.444Z,1736401696.444 [DAT](INFO): got valid direction response:
 05:48:15.2737 LVL= 29328, 32753, 20114, 32755, AGC= 53, IDX= 497,-0.46, 1.351,-0.086, 1.411, 1.216, PHS= 0.223,-1.255, 0.192, RAW= 149.0,  11.5, CAL= 150.0,   3.5, ROT=   0.0,  -3.5

2025-01-09T05:48:16.444Z,1736401696.444 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-01-09T05:48:16.445Z,1736401696.445 [DAT](INFO): direction in FSK: [0.998135,0.000000,0.061049]
2025-01-09T05:48:16.445Z,1736401696.445 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:16.449Z,1736401696.449 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=13.123961
2025-01-09T05:48:16.483Z,1736401696.483 [DockingStepper](INFO): Stopping
2025-01-09T05:48:16.684Z,1736401696.684 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=13.358301
2025-01-09T05:48:16.710Z,1736401696.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:16.742Z,1736401696.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.500253 s,
      deltaX: -0.400000 m,
      approachRate: -0.799595 m/s,
      rangeRepo size: 4

2025-01-09T05:48:16.749Z,1736401696.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.800000 m,
      bearing: 149.335253 deg,
      lat: 36.904016 deg,
      lon: -122.118907 deg,
      deltaT: 5.039333 s,
      deltaX: -3.000000 m,
      approachRate: -0.595317 m/s,
      posRepo size: 4

2025-01-09T05:48:16.755Z,1736401696.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.80 m. 9.80 m.
2025-01-09T05:48:16.760Z,1736401696.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 6.575860 m,
      bearing: 142.285248 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 149.266230 deg,
      new cmd heading: 149.274164 deg.

2025-01-09T05:48:16.762Z,1736401696.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605326 target range: 9.800000 and range: 6.80 m.
2025-01-09T05:48:16.796Z,1736401696.796 [DockingStepper](INFO): Stopping
2025-01-09T05:48:16.937Z,1736401696.937 [DAT](INFO): DAT read: Rx Time:05:48:15.7736 

2025-01-09T05:48:16.937Z,1736401696.937 [DAT](INFO): Rx dataTimestamp_ set to:1736401696.936741
2025-01-09T05:48:16.938Z,1736401696.938 [DAT](INFO): DAT read: Bearing   0.9,  -5.3 (Local)

2025-01-09T05:48:16.939Z,1736401696.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,  -5.3 (Local)

2025-01-09T05:48:16.941Z,1736401696.941 [DAT](INFO): DAT read: Range 10 to 50 :     6.6 m (trip time 4.4 ms) speed 0.6

2025-01-09T05:48:16.948Z,1736401696.948 [DAT](INFO): DAT read: 05:48:15.7736 LVL= 31456, 32753, 25138, 32755, AGC= 51, IDX= 511, 0.29,-1.987, 2.787,-1.965,-2.115, PHS= 0.216,-1.334, 0.147, RAW= 147.7,  12.8, CAL= 149.1,   5.3, ROT=   0.9,  -5.3

2025-01-09T05:48:16.952Z,1736401696.952 [DAT](INFO): got valid direction response:
 05:48:15.7736 LVL= 31456, 32753, 25138, 32755, AGC= 51, IDX= 511, 0.29,-1.987, 2.787,-1.965,-2.115, PHS= 0.216,-1.334, 0.147, RAW= 147.7,  12.8, CAL= 149.1,   5.3, ROT=   0.9,  -5.3

2025-01-09T05:48:16.954Z,1736401696.954 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-01-09T05:48:16.971Z,1736401696.971 [DAT](INFO): direction in FSK: [0.995602,0.015640,0.092371]
2025-01-09T05:48:16.972Z,1736401696.972 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:17.016Z,1736401697.016 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=13.689617
2025-01-09T05:48:17.164Z,1736401697.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:17.188Z,1736401697.188 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=13.862219
2025-01-09T05:48:17.193Z,1736401697.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.504069 s,
      deltaX: -0.200000 m,
      approachRate: -0.396772 m/s,
      rangeRepo size: 4

2025-01-09T05:48:17.199Z,1736401697.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.600000 m,
      bearing: 150.091264 deg,
      lat: 36.904015 deg,
      lon: -122.118907 deg,
      deltaT: 5.543402 s,
      deltaX: -3.200000 m,
      approachRate: -0.577263 m/s,
      posRepo size: 4

2025-01-09T05:48:17.200Z,1736401697.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.60 m. 9.80 m.
2025-01-09T05:48:17.207Z,1736401697.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 6.317740 m,
      bearing: 142.518374 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 149.274167 deg,
      new cmd heading: 149.285346 deg.

2025-01-09T05:48:17.208Z,1736401697.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605521 target range: 9.800000 and range: 6.60 m.
2025-01-09T05:48:17.231Z,1736401697.231 [DockingStepper](INFO): Stopping
2025-01-09T05:48:17.440Z,1736401697.440 [DAT](INFO): DAT read: Rx Time:05:48:16.2732 

2025-01-09T05:48:17.441Z,1736401697.441 [DAT](INFO): Rx dataTimestamp_ set to:1736401697.440400
2025-01-09T05:48:17.442Z,1736401697.442 [DAT](INFO): DAT read: Bearing   1.7,  -7.1 (Local)

2025-01-09T05:48:17.443Z,1736401697.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.7,  -7.1 (Local)

2025-01-09T05:48:17.445Z,1736401697.445 [DAT](INFO): DAT read: Range 10 to 50 :     6.2 m (trip time 4.1 ms) speed 0.6

2025-01-09T05:48:17.450Z,1736401697.450 [DAT](INFO): DAT read: 05:48:16.2732 LVL= 32752, 32753, 27746, 32755, AGC= 48, IDX= 508, 0.26, 1.958, 0.409, 1.940, 1.843, PHS= 0.203,-1.387, 0.094, RAW= 146.5,  14.1, CAL= 148.3,   7.1, ROT=   1.7,  -7.1

2025-01-09T05:48:17.451Z,1736401697.451 [DAT](INFO): got valid direction response:
 05:48:16.2732 LVL= 32752, 32753, 27746, 32755, AGC= 48, IDX= 508, 0.26, 1.958, 0.409, 1.940, 1.843, PHS= 0.203,-1.387, 0.094, RAW= 146.5,  14.1, CAL= 148.3,   7.1, ROT=   1.7,  -7.1

2025-01-09T05:48:17.451Z,1736401697.451 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-01-09T05:48:17.452Z,1736401697.452 [DAT](INFO): direction in FSK: [0.991895,0.029439,0.123601]
2025-01-09T05:48:17.452Z,1736401697.452 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:17.456Z,1736401697.456 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=14.130964
2025-01-09T05:48:17.541Z,1736401697.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:17.569Z,1736401697.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.503659 s,
      deltaX: -0.400000 m,
      approachRate: -0.794188 m/s,
      rangeRepo size: 4

2025-01-09T05:48:17.577Z,1736401697.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.200000 m,
      bearing: 150.675151 deg,
      lat: 36.904015 deg,
      lon: -122.118908 deg,
      deltaT: 6.047061 s,
      deltaX: -3.600000 m,
      approachRate: -0.595331 m/s,
      posRepo size: 4

2025-01-09T05:48:17.578Z,1736401697.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.20 m. 9.80 m.
2025-01-09T05:48:17.584Z,1736401697.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 6.104034 m,
      bearing: 142.726390 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 149.285341 deg,
      new cmd heading: 149.294673 deg.

2025-01-09T05:48:17.585Z,1736401697.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605684 target range: 9.800000 and range: 6.20 m.
2025-01-09T05:48:17.620Z,1736401697.620 [DockingStepper](INFO): Stopping
2025-01-09T05:48:17.692Z,1736401697.692 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=14.366463
2025-01-09T05:48:17.941Z,1736401697.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:17.945Z,1736401697.945 [DAT](INFO): DAT read: Rx Time:05:48:16.7731 

2025-01-09T05:48:17.947Z,1736401697.947 [DAT](INFO): Rx dataTimestamp_ set to:1736401697.945598
2025-01-09T05:48:17.951Z,1736401697.951 [DAT](INFO): DAT read: Bearing   1.0,  -4.8 (Local)

2025-01-09T05:48:17.952Z,1736401697.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  -4.8 (Local)

2025-01-09T05:48:17.966Z,1736401697.966 [DAT](INFO): DAT read: Range 10 to 50 :     6.0 m (trip time 4.0 ms) speed 0.4

2025-01-09T05:48:18.018Z,1736401698.018 [DAT](INFO): DAT read: 05:48:16.7731 LVL= 32752, 32753, 27810, 32755, AGC= 50, IDX= 507, 0.25, 2.635, 1.050, 2.648, 2.482, PHS= 0.241,-1.385, 0.163, RAW= 147.5,  12.3, CAL= 149.0,   4.8, ROT=   1.0,  -4.8

2025-01-09T05:48:18.031Z,1736401698.031 [DAT](INFO): got valid direction response:
 05:48:16.7731 LVL= 32752, 32753, 27810, 32755, AGC= 50, IDX= 507, 0.25, 2.635, 1.050, 2.648, 2.482, PHS= 0.241,-1.385, 0.163, RAW= 147.5,  12.3, CAL= 149.0,   4.8, ROT=   1.0,  -4.8

2025-01-09T05:48:18.032Z,1736401698.032 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-01-09T05:48:18.033Z,1736401698.033 [DAT](INFO): direction in FSK: [0.996341,0.017391,0.083678]
2025-01-09T05:48:18.033Z,1736401698.033 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:18.053Z,1736401698.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.505198 s,
      deltaX: -0.200000 m,
      approachRate: -0.395884 m/s,
      rangeRepo size: 4

2025-01-09T05:48:18.053Z,1736401698.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-01-09T05:48:18.062Z,1736401698.062 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=14.736088
2025-01-09T05:48:18.077Z,1736401698.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 5.877627 m,
      bearing: 142.964899 deg,
      approach rate: -0.468242 m/s,
      LOS rate: 0.512268 deg/s,
      cmd heading: 149.294671 deg,
      new cmd heading: 150.037715 deg.

2025-01-09T05:48:18.078Z,1736401698.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.618652 target range: 9.800000 and range: 6.00 m.
2025-01-09T05:48:18.123Z,1736401698.123 [DockingStepper](INFO): Stopping
2025-01-09T05:48:18.196Z,1736401698.196 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=14.870256
2025-01-09T05:48:18.396Z,1736401698.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:18.413Z,1736401698.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-01-09T05:48:18.432Z,1736401698.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 5.625869 m,
      bearing: 143.037730 deg,
      approach rate: -0.698248 m/s,
      LOS rate: 0.211037 deg/s,
      cmd heading: 150.037714 deg,
      new cmd heading: 150.265985 deg.

2025-01-09T05:48:18.433Z,1736401698.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.622636 target range: 9.800000 and range: 6.00 m.
2025-01-09T05:48:18.448Z,1736401698.448 [DAT](INFO): DAT read: Rx Time:05:48:17.2728 

2025-01-09T05:48:18.449Z,1736401698.449 [DAT](INFO): Rx dataTimestamp_ set to:1736401698.448547
2025-01-09T05:48:18.450Z,1736401698.450 [DAT](INFO): DAT read: Bearing 358.5,  -0.6 (Local)

2025-01-09T05:48:18.451Z,1736401698.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  -0.6 (Local)

2025-01-09T05:48:18.453Z,1736401698.453 [DAT](INFO): DAT read: Range 10 to 50 :     5.6 m (trip time 3.7 ms) speed 0.4

2025-01-09T05:48:18.457Z,1736401698.457 [DAT](INFO): DAT read: 05:48:17.2728 LVL= 32752, 32753, 25922, 32755, AGC= 52, IDX= 504, 0.25, 2.699, 1.106, 2.825, 2.514, PHS= 0.273,-1.361, 0.308, RAW= 151.0,   9.5, CAL= 151.5,   0.6, ROT= 358.5,  -0.6

2025-01-09T05:48:18.460Z,1736401698.460 [DAT](INFO): got valid direction response:
 05:48:17.2728 LVL= 32752, 32753, 25922, 32755, AGC= 52, IDX= 504, 0.25, 2.699, 1.106, 2.825, 2.514, PHS= 0.273,-1.361, 0.308, RAW= 151.0,   9.5, CAL= 151.5,   0.6, ROT= 358.5,  -0.6

2025-01-09T05:48:18.460Z,1736401698.460 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-01-09T05:48:18.461Z,1736401698.461 [DAT](INFO): direction in FSK: [0.999603,-0.026176,0.010472]
2025-01-09T05:48:18.461Z,1736401698.461 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:18.466Z,1736401698.466 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=15.140486
2025-01-09T05:48:18.479Z,1736401698.479 [DockingStepper](INFO): Stopping
2025-01-09T05:48:18.700Z,1736401698.700 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=15.374118
2025-01-09T05:48:18.744Z,1736401698.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:18.824Z,1736401698.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.502949 s,
      deltaX: -0.400000 m,
      approachRate: -0.795309 m/s,
      rangeRepo size: 4

2025-01-09T05:48:18.847Z,1736401698.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.600000 m,
      bearing: 148.178696 deg,
      lat: 36.904014 deg,
      lon: -122.118908 deg,
      deltaT: 7.055208 s,
      deltaX: -4.200000 m,
      approachRate: -0.595305 m/s,
      posRepo size: 4

2025-01-09T05:48:18.856Z,1736401698.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.60 m. 9.80 m.
2025-01-09T05:48:18.872Z,1736401698.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 5.433035 m,
      bearing: 143.099498 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 150.265979 deg,
      new cmd heading: 150.275647 deg.

2025-01-09T05:48:18.873Z,1736401698.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.622805 target range: 9.800000 and range: 5.60 m.
2025-01-09T05:48:18.901Z,1736401698.901 [DockingStepper](INFO): Stopping
2025-01-09T05:48:18.953Z,1736401698.953 [DAT](INFO): DAT read: Rx Time:05:48:17.7729 

2025-01-09T05:48:18.955Z,1736401698.955 [DAT](INFO): Rx dataTimestamp_ set to:1736401698.953828
2025-01-09T05:48:18.958Z,1736401698.958 [DAT](INFO): DAT read: Bearing 354.8,   4.1 (Local)

2025-01-09T05:48:18.961Z,1736401698.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,   4.1 (Local)

2025-01-09T05:48:18.964Z,1736401698.964 [DAT](INFO): DAT read: Range 10 to 50 :     5.7 m (trip time 3.8 ms) speed 0.4

2025-01-09T05:48:18.973Z,1736401698.973 [DAT](INFO): DAT read: 05:48:17.7729 LVL= 32608, 32753, 26402, 32755, AGC= 51, IDX= 502, 0.25,-2.320, 2.345,-2.092,-2.600, PHS= 0.367,-1.292, 0.504, RAW= 153.9,   4.9, CAL= 155.2,  -4.1, ROT= 354.8,   4.1

2025-01-09T05:48:19.013Z,1736401699.013 [DAT](INFO): got valid direction response:
 05:48:17.7729 LVL= 32608, 32753, 26402, 32755, AGC= 51, IDX= 502, 0.25,-2.320, 2.345,-2.092,-2.600, PHS= 0.367,-1.292, 0.504, RAW= 153.9,   4.9, CAL= 155.2,  -4.1, ROT= 354.8,   4.1

2025-01-09T05:48:19.014Z,1736401699.014 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-01-09T05:48:19.036Z,1736401699.036 [DAT](INFO): direction in FSK: [0.993336,-0.090401,-0.071497]
2025-01-09T05:48:19.037Z,1736401699.037 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:19.055Z,1736401699.055 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=15.729838
2025-01-09T05:48:19.204Z,1736401699.204 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=15.878277
2025-01-09T05:48:19.216Z,1736401699.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:19.258Z,1736401699.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.505281 s,
      deltaX: 0.100000 m,
      approachRate: 0.197909 m/s,
      rangeRepo size: 4

2025-01-09T05:48:19.273Z,1736401699.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.700000 m,
      bearing: 145.012201 deg,
      lat: 36.904015 deg,
      lon: -122.118906 deg,
      deltaT: 7.560489 s,
      deltaX: -4.100000 m,
      approachRate: -0.542293 m/s,
      posRepo size: 4

2025-01-09T05:48:19.274Z,1736401699.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.70 m. 9.80 m.
2025-01-09T05:48:19.278Z,1736401699.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 5.176440 m,
      bearing: 142.972343 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 150.275650 deg,
      new cmd heading: 150.286904 deg.

2025-01-09T05:48:19.284Z,1736401699.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623001 target range: 9.800000 and range: 5.70 m.
2025-01-09T05:48:19.336Z,1736401699.336 [DockingStepper](INFO): Stopping
2025-01-09T05:48:19.456Z,1736401699.456 [DAT](INFO): DAT read: Rx Time:05:48:18.2725 

2025-01-09T05:48:19.457Z,1736401699.457 [DAT](INFO): Rx dataTimestamp_ set to:1736401699.456477
2025-01-09T05:48:19.458Z,1736401699.458 [DAT](INFO): DAT read: Bearing 353.8,   5.1 (Local)

2025-01-09T05:48:19.458Z,1736401699.458 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,   5.1 (Local)

2025-01-09T05:48:19.462Z,1736401699.462 [DAT](INFO): DAT read: Range 10 to 50 :     5.1 m (trip time 3.4 ms) speed 0.4

2025-01-09T05:48:19.484Z,1736401699.484 [DAT](INFO): DAT read: 05:48:18.2725 LVL= 30512, 32753, 21746, 32755, AGC= 52, IDX= 499, 0.33,-2.886, 1.723,-2.624, 3.088, PHS= 0.398,-1.318, 0.568, RAW= 154.7,   3.9, CAL= 156.2,  -5.1, ROT= 353.8,   5.1

2025-01-09T05:48:19.485Z,1736401699.485 [DAT](INFO): got valid direction response:
 05:48:18.2725 LVL= 30512, 32753, 21746, 32755, AGC= 52, IDX= 499, 0.33,-2.886, 1.723,-2.624, 3.088, PHS= 0.398,-1.318, 0.568, RAW= 154.7,   3.9, CAL= 156.2,  -5.1, ROT= 353.8,   5.1

2025-01-09T05:48:19.486Z,1736401699.486 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-01-09T05:48:19.494Z,1736401699.494 [DAT](INFO): direction in FSK: [0.990215,-0.107572,-0.088894]
2025-01-09T05:48:19.494Z,1736401699.494 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:19.529Z,1736401699.529 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=16.203661
2025-01-09T05:48:19.580Z,1736401699.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:19.608Z,1736401699.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.502649 s,
      deltaX: -0.600000 m,
      approachRate: -1.193676 m/s,
      rangeRepo size: 4

2025-01-09T05:48:19.615Z,1736401699.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.100000 m,
      bearing: 144.080411 deg,
      lat: 36.904016 deg,
      lon: -122.118905 deg,
      deltaT: 8.063138 s,
      deltaX: -4.700000 m,
      approachRate: -0.582900 m/s,
      posRepo size: 4

2025-01-09T05:48:19.616Z,1736401699.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.10 m. 9.80 m.
2025-01-09T05:48:19.628Z,1736401699.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 4.978539 m,
      bearing: 142.867751 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 150.286906 deg,
      new cmd heading: 150.295462 deg.

2025-01-09T05:48:19.629Z,1736401699.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623151 target range: 9.800000 and range: 5.10 m.
2025-01-09T05:48:19.658Z,1736401699.658 [DockingStepper](INFO): Stopping
2025-01-09T05:48:19.708Z,1736401699.708 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=16.382238
2025-01-09T05:48:19.963Z,1736401699.963 [DAT](INFO): DAT read: Rx Time:05:48:18.7724 

2025-01-09T05:48:19.964Z,1736401699.964 [DAT](INFO): Rx dataTimestamp_ set to:1736401699.963436
2025-01-09T05:48:19.965Z,1736401699.965 [DAT](INFO): DAT read: Bearing 353.2,   5.1 (Local)

2025-01-09T05:48:19.965Z,1736401699.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.2,   5.1 (Local)

2025-01-09T05:48:19.968Z,1736401699.968 [DAT](INFO): DAT read: Range 10 to 50 :     5.0 m (trip time 3.3 ms) speed 0.4

2025-01-09T05:48:19.981Z,1736401699.981 [DAT](INFO): DAT read: 05:48:18.7724 LVL= 27376, 32753, 21554, 32755, AGC= 51, IDX= 499,-0.43,-2.330, 2.299,-2.043,-2.625, PHS= 0.383,-1.313, 0.579, RAW= 155.4,   3.9, CAL= 156.8,  -5.1, ROT= 353.2,   5.1

2025-01-09T05:48:19.993Z,1736401699.993 [DAT](INFO): got valid direction response:
 05:48:18.7724 LVL= 27376, 32753, 21554, 32755, AGC= 51, IDX= 499,-0.43,-2.330, 2.299,-2.043,-2.625, PHS= 0.383,-1.313, 0.579, RAW= 155.4,   3.9, CAL= 156.8,  -5.1, ROT= 353.2,   5.1

2025-01-09T05:48:19.994Z,1736401699.994 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-01-09T05:48:20.001Z,1736401700.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:20.016Z,1736401700.016 [DAT](INFO): direction in FSK: [0.989034,-0.117935,-0.088894]
2025-01-09T05:48:20.017Z,1736401700.017 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:20.052Z,1736401700.052 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=16.726254
2025-01-09T05:48:20.097Z,1736401700.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.506959 s,
      deltaX: -0.100000 m,
      approachRate: -0.197254 m/s,
      rangeRepo size: 4

2025-01-09T05:48:20.103Z,1736401700.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.000000 m,
      bearing: 143.483607 deg,
      lat: 36.904016 deg,
      lon: -122.118902 deg,
      deltaT: 8.570097 s,
      deltaX: -4.800000 m,
      approachRate: -0.560087 m/s,
      posRepo size: 4

2025-01-09T05:48:20.104Z,1736401700.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.00 m. 9.80 m.
2025-01-09T05:48:20.115Z,1736401700.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 4.749941 m,
      bearing: 142.736075 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 150.295458 deg,
      new cmd heading: 150.307673 deg.

2025-01-09T05:48:20.116Z,1736401700.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623364 target range: 9.800000 and range: 5.00 m.
2025-01-09T05:48:20.150Z,1736401700.150 [DockingStepper](INFO): Stopping
2025-01-09T05:48:20.213Z,1736401700.213 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=16.887529
2025-01-09T05:48:20.465Z,1736401700.465 [DAT](INFO): DAT read: Rx Time:05:48:19.2722 

2025-01-09T05:48:20.465Z,1736401700.465 [DAT](INFO): Rx dataTimestamp_ set to:1736401700.464739
2025-01-09T05:48:20.466Z,1736401700.466 [DAT](INFO): DAT read: Bearing 356.3,   4.8 (Local)

2025-01-09T05:48:20.467Z,1736401700.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.3,   4.8 (Local)

2025-01-09T05:48:20.469Z,1736401700.469 [DAT](INFO): DAT read: Range 10 to 50 :     4.7 m (trip time 3.1 ms) speed 0.4

2025-01-09T05:48:20.473Z,1736401700.473 [DAT](INFO): DAT read: 05:48:19.2722 LVL= 19728, 29921, 21490, 27843, AGC= 46, IDX= 496, 0.07, 1.486,-0.111, 1.645, 1.165, PHS= 0.409,-1.229, 0.477, RAW= 152.0,   4.1, CAL= 153.7,  -4.8, ROT= 356.3,   4.8

2025-01-09T05:48:20.475Z,1736401700.475 [DAT](INFO): got valid direction response:
 05:48:19.2722 LVL= 19728, 29921, 21490, 27843, AGC= 46, IDX= 496, 0.07, 1.486,-0.111, 1.645, 1.165, PHS= 0.409,-1.229, 0.477, RAW= 152.0,   4.1, CAL= 153.7,  -4.8, ROT= 356.3,   4.8

2025-01-09T05:48:20.475Z,1736401700.475 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-01-09T05:48:20.477Z,1736401700.477 [DAT](INFO): direction in FSK: [0.994416,-0.064306,-0.083678]
2025-01-09T05:48:20.477Z,1736401700.477 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:20.482Z,1736401700.482 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=17.156137
2025-01-09T05:48:20.508Z,1736401700.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:20.540Z,1736401700.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.501303 s,
      deltaX: -0.300000 m,
      approachRate: -0.598441 m/s,
      rangeRepo size: 4

2025-01-09T05:48:20.547Z,1736401700.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.700000 m,
      bearing: 146.459348 deg,
      lat: 36.904017 deg,
      lon: -122.118902 deg,
      deltaT: 9.071400 s,
      deltaX: -5.100000 m,
      approachRate: -0.562207 m/s,
      posRepo size: 4

2025-01-09T05:48:20.548Z,1736401700.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.70 m. 9.80 m.
2025-01-09T05:48:20.550Z,1736401700.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 4.478041 m,
      bearing: 142.368282 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 150.307670 deg,
      new cmd heading: 150.318655 deg.

2025-01-09T05:48:20.561Z,1736401700.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623555 target range: 9.800000 and range: 4.70 m.
2025-01-09T05:48:20.604Z,1736401700.604 [DockingStepper](INFO): Stopping
2025-01-09T05:48:20.722Z,1736401700.722 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=17.395720
2025-01-09T05:48:20.872Z,1736401700.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:20.887Z,1736401700.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:20.890Z,1736401700.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-01-09T05:48:20.897Z,1736401700.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 4.282963 m,
      bearing: 142.076855 deg,
      approach rate: -0.557362 m/s,
      LOS rate: -0.870563 deg/s,
      cmd heading: 150.318653 deg,
      new cmd heading: 149.404634 deg.

2025-01-09T05:48:20.897Z,1736401700.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.607603 target range: 9.800000 and range: 4.70 m.
2025-01-09T05:48:20.941Z,1736401700.941 [DockingStepper](INFO): Stopped
2025-01-09T05:48:20.972Z,1736401700.972 [DAT](INFO): DAT read: Rx Time:05:48:19.7722 

2025-01-09T05:48:20.973Z,1736401700.973 [DAT](INFO): Rx dataTimestamp_ set to:1736401700.972503
2025-01-09T05:48:20.974Z,1736401700.974 [DAT](INFO): DAT read: Bearing 184.9,  43.6 (Local)

2025-01-09T05:48:20.975Z,1736401700.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.9,  43.6 (Local)

2025-01-09T05:48:20.977Z,1736401700.977 [DAT](INFO): DAT read: Range 10 to 50 :     4.7 m (trip time 3.1 ms) speed 0.4

2025-01-09T05:48:20.981Z,1736401700.981 [DAT](INFO): DAT read: 05:48:19.7722 LVL= 13216, 30449, 19778, 26851, AGC= 44, IDX= 512,-0.38, 1.764,-2.521, 2.079, 1.571, PHS= 0.281, 2.238, 0.505, RAW= 324.0, -30.0, CAL= 325.1, -43.6, ROT= 184.9,  43.6

2025-01-09T05:48:20.982Z,1736401700.982 [DAT](INFO): got valid direction response:
 05:48:19.7722 LVL= 13216, 30449, 19778, 26851, AGC= 44, IDX= 512,-0.38, 1.764,-2.521, 2.079, 1.571, PHS= 0.281, 2.238, 0.505, RAW= 324.0, -30.0, CAL= 325.1, -43.6, ROT= 184.9,  43.6

2025-01-09T05:48:20.983Z,1736401700.983 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-01-09T05:48:20.984Z,1736401700.984 [DAT](INFO): direction in FSK: [-0.721525,-0.061856,-0.689620]
2025-01-09T05:48:20.984Z,1736401700.984 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:20.994Z,1736401700.994 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=17.668447
2025-01-09T05:48:21.131Z,1736401701.131 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-01-09T05:48:21.131Z,1736401701.131 [DockingStepper] No Fault, FailCount= 1
2025-01-09T05:48:21.224Z,1736401701.224 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=17.898235
2025-01-09T05:48:21.261Z,1736401701.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:21.293Z,1736401701.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.507764 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:48:21.313Z,1736401701.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.700000 m,
      bearing: 327.446551 deg,
      lat: 36.904018 deg,
      lon: -122.118902 deg,
      deltaT: 9.579164 s,
      deltaX: -5.100000 m,
      approachRate: -0.532406 m/s,
      posRepo size: 4

2025-01-09T05:48:21.322Z,1736401701.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.70 m. 9.80 m.
2025-01-09T05:48:21.352Z,1736401701.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 4.081062 m,
      bearing: 141.675254 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 149.404637 deg,
      new cmd heading: 149.414601 deg.

2025-01-09T05:48:21.368Z,1736401701.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.607777 target range: 9.800000 and range: 4.70 m.
2025-01-09T05:48:21.397Z,1736401701.397 [DockingStepper](INFO): Start
2025-01-09T05:48:21.397Z,1736401701.397 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-09T05:48:21.477Z,1736401701.477 [DAT](INFO): DAT read: Rx Time:05:48:20.2719 

2025-01-09T05:48:21.478Z,1736401701.478 [DAT](INFO): Rx dataTimestamp_ set to:1736401701.477452
2025-01-09T05:48:21.479Z,1736401701.479 [DAT](INFO): DAT read: Bearing   9.5,   0.7 (Local)

2025-01-09T05:48:21.480Z,1736401701.480 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.5,   0.7 (Local)

2025-01-09T05:48:21.482Z,1736401701.482 [DAT](INFO): DAT read: Range 10 to 50 :     4.2 m (trip time 2.8 ms) speed 0.4

2025-01-09T05:48:21.486Z,1736401701.486 [DAT](INFO): DAT read: 05:48:20.2719 LVL= 12768, 32113, 20018, 28659, AGC= 46, IDX= 509, 0.01, 0.314,-1.016, 0.053,-0.044, PHS= 0.446,-0.925, 0.095, RAW= 135.7,   6.3, CAL= 140.5,  -0.7, ROT=   9.5,   0.7

2025-01-09T05:48:21.487Z,1736401701.487 [DAT](INFO): got valid direction response:
 05:48:20.2719 LVL= 12768, 32113, 20018, 28659, AGC= 46, IDX= 509, 0.01, 0.314,-1.016, 0.053,-0.044, PHS= 0.446,-0.925, 0.095, RAW= 135.7,   6.3, CAL= 140.5,  -0.7, ROT=   9.5,   0.7

2025-01-09T05:48:21.488Z,1736401701.488 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-01-09T05:48:21.489Z,1736401701.489 [DAT](INFO): direction in FSK: [0.986212,0.165035,-0.012217]
2025-01-09T05:48:21.489Z,1736401701.489 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:21.495Z,1736401701.495 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=18.169638
2025-01-09T05:48:21.531Z,1736401701.531 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-09T05:48:21.630Z,1736401701.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:21.661Z,1736401701.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.504949 s,
      deltaX: -0.500000 m,
      approachRate: -0.990199 m/s,
      rangeRepo size: 4

2025-01-09T05:48:21.668Z,1736401701.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.200000 m,
      bearing: 158.960408 deg,
      lat: 36.904018 deg,
      lon: -122.118903 deg,
      deltaT: 10.084113 s,
      deltaX: -5.600000 m,
      approachRate: -0.555329 m/s,
      posRepo size: 4

2025-01-09T05:48:21.669Z,1736401701.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.20 m. 9.80 m.
2025-01-09T05:48:21.677Z,1736401701.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 3.889529 m,
      bearing: 141.258431 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 149.414595 deg,
      new cmd heading: 149.423734 deg.

2025-01-09T05:48:21.678Z,1736401701.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.607936 target range: 9.800000 and range: 4.20 m.
2025-01-09T05:48:21.708Z,1736401701.708 [DockingStepper](INFO): Starting
2025-01-09T05:48:21.729Z,1736401701.729 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=18.403255
2025-01-09T05:48:21.983Z,1736401701.983 [DAT](INFO): DAT read: Rx Time:05:48:20.7718 

2025-01-09T05:48:21.984Z,1736401701.984 [DAT](INFO): Rx dataTimestamp_ set to:1736401701.983127
2025-01-09T05:48:21.985Z,1736401701.985 [DAT](INFO): DAT read: Bearing  23.8,  -3.5 (Local)

2025-01-09T05:48:21.986Z,1736401701.986 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.8,  -3.5 (Local)

2025-01-09T05:48:21.991Z,1736401701.991 [DAT](INFO): DAT read: Range 10 to 50 :     4.1 m (trip time 2.7 ms) speed 0.4

2025-01-09T05:48:22.021Z,1736401702.021 [DAT](INFO): DAT read: 05:48:20.7718 LVL= 13984, 28433, 17506, 27219, AGC= 48, IDX= 509,-0.38,-0.392,-1.744,-1.066,-0.879, PHS= 0.575,-0.818,-0.189, RAW= 116.8,   7.2, CAL= 126.2,   3.5, ROT=  23.8,  -3.5

2025-01-09T05:48:22.025Z,1736401702.025 [DAT](INFO): got valid direction response:
 05:48:20.7718 LVL= 13984, 28433, 17506, 27219, AGC= 48, IDX= 509,-0.38,-0.392,-1.744,-1.066,-0.879, PHS= 0.575,-0.818,-0.189, RAW= 116.8,   7.2, CAL= 126.2,   3.5, ROT=  23.8,  -3.5

2025-01-09T05:48:22.026Z,1736401702.026 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-01-09T05:48:22.056Z,1736401702.056 [DAT](INFO): direction in FSK: [0.913253,0.402793,0.061049]
2025-01-09T05:48:22.057Z,1736401702.057 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:22.085Z,1736401702.085 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=18.759272
2025-01-09T05:48:22.162Z,1736401702.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:22.199Z,1736401702.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.505675 s,
      deltaX: -0.100000 m,
      approachRate: -0.197755 m/s,
      rangeRepo size: 4

2025-01-09T05:48:22.201Z,1736401702.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.100000 m,
      bearing: 172.665950 deg,
      lat: 36.904017 deg,
      lon: -122.118912 deg,
      deltaT: 10.589788 s,
      deltaX: -5.700000 m,
      approachRate: -0.538254 m/s,
      posRepo size: 4

2025-01-09T05:48:22.202Z,1736401702.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.10 m. 9.80 m.
2025-01-09T05:48:22.209Z,1736401702.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 3.614801 m,
      bearing: 140.615062 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 149.423734 deg,
      new cmd heading: 149.436942 deg.

2025-01-09T05:48:22.223Z,1736401702.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608167 target range: 9.800000 and range: 4.10 m.
2025-01-09T05:48:22.235Z,1736401702.235 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=18.909491
2025-01-09T05:48:22.256Z,1736401702.256 [DockingStepper](INFO): Starting
2025-01-09T05:48:22.453Z,1736401702.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:22.486Z,1736401702.486 [DAT](INFO): DAT read: Rx Time:05:48:21.2715 

2025-01-09T05:48:22.487Z,1736401702.487 [DAT](INFO): Rx dataTimestamp_ set to:1736401702.486472
2025-01-09T05:48:22.489Z,1736401702.489 [DAT](INFO): DAT read: Bearing  35.2,  -3.2 (Local)

2025-01-09T05:48:22.490Z,1736401702.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.2,  -3.2 (Local)

2025-01-09T05:48:22.494Z,1736401702.494 [DAT](INFO): DAT read: Range 10 to 50 :     3.6 m (trip time 2.4 ms) speed 0.4

2025-01-09T05:48:22.501Z,1736401702.501 [DAT](INFO): DAT read: 05:48:21.2715 LVL= 14224, 32753, 19442, 31699, AGC= 47, IDX= 506, 0.20,-2.739, 1.867, 2.360, 2.770, PHS= 0.862,-0.856,-0.413, RAW= 104.4,   5.3, CAL= 114.8,   3.2, ROT=  35.2,  -3.2

2025-01-09T05:48:22.508Z,1736401702.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-01-09T05:48:22.515Z,1736401702.515 [DAT](INFO): got valid direction response:
 05:48:21.2715 LVL= 14224, 32753, 19442, 31699, AGC= 47, IDX= 506, 0.20,-2.739, 1.867, 2.360, 2.770, PHS= 0.862,-0.856,-0.413, RAW= 104.4,   5.3, CAL= 114.8,   3.2, ROT=  35.2,  -3.2

2025-01-09T05:48:22.515Z,1736401702.515 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-01-09T05:48:22.516Z,1736401702.516 [DAT](INFO): direction in FSK: [0.815871,0.575534,0.055822]
2025-01-09T05:48:22.516Z,1736401702.516 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:22.520Z,1736401702.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 3.464065 m,
      bearing: 140.220922 deg,
      approach rate: -0.522030 m/s,
      LOS rate: -1.424373 deg/s,
      cmd heading: 149.436944 deg,
      new cmd heading: 148.203271 deg.

2025-01-09T05:48:22.521Z,1736401702.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586635 target range: 9.800000 and range: 4.10 m.
2025-01-09T05:48:22.532Z,1736401702.532 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=19.206619
2025-01-09T05:48:22.548Z,1736401702.548 [DockingStepper](INFO): Starting
2025-01-09T05:48:22.595Z,1736401702.595 [DockingStepper](INFO): Init string: /1z7615aE13561N3m50
2025-01-09T05:48:22.737Z,1736401702.737 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=19.411224
2025-01-09T05:48:22.853Z,1736401702.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:22.869Z,1736401702.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.503345 s,
      deltaX: -0.500000 m,
      approachRate: -0.993354 m/s,
      rangeRepo size: 4

2025-01-09T05:48:22.872Z,1736401702.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.600000 m,
      bearing: 184.057725 deg,
      lat: 36.904012 deg,
      lon: -122.118921 deg,
      deltaT: 11.093133 s,
      deltaX: -6.200000 m,
      approachRate: -0.558904 m/s,
      posRepo size: 4

2025-01-09T05:48:22.873Z,1736401702.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.60 m. 9.80 m.
2025-01-09T05:48:22.896Z,1736401702.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 3.258096 m,
      bearing: 139.619257 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008256 deg/s,
      cmd heading: 148.203275 deg,
      new cmd heading: 148.212834 deg.

2025-01-09T05:48:22.897Z,1736401702.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586802 target range: 9.800000 and range: 3.60 m.
2025-01-09T05:48:22.927Z,1736401702.927 [DockingStepper](INFO): Starting
2025-01-09T05:48:22.988Z,1736401702.988 [DAT](INFO): DAT read: Rx Time:05:48:21.7714 

2025-01-09T05:48:22.988Z,1736401702.988 [DAT](INFO): Rx dataTimestamp_ set to:1736401702.988141
2025-01-09T05:48:22.990Z,1736401702.990 [DAT](INFO): DAT read: Range 10 to 50 :     3.5 m (trip time 2.3 ms) speed 0.4

2025-01-09T05:48:22.990Z,1736401702.990 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-01-09T05:48:22.991Z,1736401702.991 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=19.665705
2025-01-09T05:48:23.240Z,1736401703.240 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=19.914139
2025-01-09T05:48:23.320Z,1736401703.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:23.336Z,1736401703.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:23.344Z,1736401703.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.501669 s,
      deltaX: -0.100000 m,
      approachRate: -0.199334 m/s,
      rangeRepo size: 4

2025-01-09T05:48:23.345Z,1736401703.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-01-09T05:48:23.352Z,1736401703.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 3.009665 m,
      bearing: 138.962033 deg,
      approach rate: -0.529548 m/s,
      LOS rate: -1.516523 deg/s,
      cmd heading: 148.212837 deg,
      new cmd heading: 146.079447 deg.

2025-01-09T05:48:23.353Z,1736401703.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549567 target range: 9.800000 and range: 3.50 m.
2025-01-09T05:48:23.396Z,1736401703.396 [DockingStepper](INFO): Starting
2025-01-09T05:48:23.492Z,1736401703.492 [DAT](INFO): DAT read: Rx Time:05:48:22.2712 

2025-01-09T05:48:23.493Z,1736401703.493 [DAT](INFO): Rx dataTimestamp_ set to:1736401703.492432
2025-01-09T05:48:23.495Z,1736401703.495 [DAT](INFO): DAT read: Range 10 to 50 :     3.2 m (trip time 2.1 ms) speed 0.4

2025-01-09T05:48:23.495Z,1736401703.495 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-01-09T05:48:23.496Z,1736401703.496 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=20.170624
2025-01-09T05:48:23.661Z,1736401703.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:23.686Z,1736401703.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.504291 s,
      deltaX: -0.300000 m,
      approachRate: -0.594895 m/s,
      rangeRepo size: 4

2025-01-09T05:48:23.691Z,1736401703.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-01-09T05:48:23.699Z,1736401703.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 2.828925 m,
      bearing: 138.406058 deg,
      approach rate: -0.520232 m/s,
      LOS rate: -1.702509 deg/s,
      cmd heading: 146.079441 deg,
      new cmd heading: 144.305546 deg.

2025-01-09T05:48:23.700Z,1736401703.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518607 target range: 9.800000 and range: 3.20 m.
2025-01-09T05:48:23.741Z,1736401703.741 [DockingStepper](INFO): Starting
2025-01-09T05:48:23.745Z,1736401703.745 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=20.419025
2025-01-09T05:48:23.996Z,1736401703.996 [DAT](INFO): DAT read: Rx Time:05:48:22.7712 

2025-01-09T05:48:23.996Z,1736401703.996 [DAT](INFO): Rx dataTimestamp_ set to:1736401703.995951
2025-01-09T05:48:23.997Z,1736401703.997 [DAT](INFO): DAT read: Range 10 to 50 :     3.2 m (trip time 2.1 ms) speed 0.4

2025-01-09T05:48:23.998Z,1736401703.998 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-01-09T05:48:23.999Z,1736401703.999 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=20.673504
2025-01-09T05:48:24.173Z,1736401704.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:24.190Z,1736401704.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.503519 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:48:24.195Z,1736401704.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-01-09T05:48:24.198Z,1736401704.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 2.550067 m,
      bearing: 137.732194 deg,
      approach rate: -0.553155 m/s,
      LOS rate: -1.482846 deg/s,
      cmd heading: 144.305546 deg,
      new cmd heading: 142.064085 deg.

2025-01-09T05:48:24.205Z,1736401704.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.479486 target range: 9.800000 and range: 3.20 m.
2025-01-09T05:48:24.248Z,1736401704.248 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=20.922272
2025-01-09T05:48:24.258Z,1736401704.258 [DockingStepper](INFO): Starting
2025-01-09T05:48:24.291Z,1736401704.291 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-09T05:48:24.482Z,1736401704.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:24.491Z,1736401704.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-01-09T05:48:24.495Z,1736401704.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 2.381883 m,
      bearing: 137.250020 deg,
      approach rate: -0.557978 m/s,
      LOS rate: -1.712625 deg/s,
      cmd heading: 142.064083 deg,
      new cmd heading: 140.515817 deg.

2025-01-09T05:48:24.496Z,1736401704.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452464 target range: 9.800000 and range: 3.20 m.
2025-01-09T05:48:24.500Z,1736401704.500 [DAT](INFO): DAT read: Rx Time:05:48:23.2709 

2025-01-09T05:48:24.501Z,1736401704.501 [DAT](INFO): Rx dataTimestamp_ set to:1736401704.500532
2025-01-09T05:48:24.502Z,1736401704.502 [DAT](INFO): DAT read: Bearing 202.5, -50.3 (Local)

2025-01-09T05:48:24.502Z,1736401704.502 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.5, -50.3 (Local)

2025-01-09T05:48:24.504Z,1736401704.504 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.4

2025-01-09T05:48:24.510Z,1736401704.510 [DAT](INFO): DAT read: 05:48:23.2709 LVL= 13280, 18897, 10434, 13267, AGC= 42, IDX= 501,-0.10,-2.084,-0.490,-1.215, 0.286, PHS=-2.283,-0.729,-1.504, RAW= 299.9,  49.9, CAL= 307.5,  50.3, ROT= 202.5, -50.3

2025-01-09T05:48:24.511Z,1736401704.511 [DAT](INFO): got valid direction response:
 05:48:23.2709 LVL= 13280, 18897, 10434, 13267, AGC= 42, IDX= 501,-0.10,-2.084,-0.490,-1.215, 0.286, PHS=-2.283,-0.729,-1.504, RAW= 299.9,  49.9, CAL= 307.5,  50.3, ROT= 202.5, -50.3

2025-01-09T05:48:24.511Z,1736401704.511 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-01-09T05:48:24.512Z,1736401704.512 [DAT](INFO): direction in FSK: [-0.590145,-0.244446,0.769400]
2025-01-09T05:48:24.513Z,1736401704.513 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:24.541Z,1736401704.541 [DockingStepper](INFO): Starting
2025-01-09T05:48:24.545Z,1736401704.545 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=21.219351
2025-01-09T05:48:24.753Z,1736401704.753 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=21.427454
2025-01-09T05:48:24.877Z,1736401704.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:24.913Z,1736401704.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504581 s,
      deltaX: -0.500000 m,
      approachRate: -0.990921 m/s,
      rangeRepo size: 4

2025-01-09T05:48:24.922Z,1736401704.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.700000 m,
      bearing: 359.566239 deg,
      lat: 36.904012 deg,
      lon: -122.118921 deg,
      deltaT: 13.107193 s,
      deltaX: -7.100000 m,
      approachRate: -0.541687 m/s,
      posRepo size: 4

2025-01-09T05:48:24.926Z,1736401704.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-01-09T05:48:24.927Z,1736401704.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-01-09T05:48:24.964Z,1736401704.964 [DockingStepper](INFO): Changing to mode: 2
2025-01-09T05:48:24.964Z,1736401704.964 [DockingStepper](INFO): Armed mode.
2025-01-09T05:48:25.005Z,1736401705.005 [DAT](INFO): DAT read: Rx Time:05:48:23.7708 

2025-01-09T05:48:25.005Z,1736401705.005 [DAT](INFO): Rx dataTimestamp_ set to:1736401705.004693
2025-01-09T05:48:25.007Z,1736401705.007 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.4

2025-01-09T05:48:25.008Z,1736401705.008 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-01-09T05:48:25.009Z,1736401705.009 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=21.683641
2025-01-09T05:48:25.256Z,1736401705.256 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=21.930271
2025-01-09T05:48:25.372Z,1736401705.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:25.395Z,1736401705.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:25.401Z,1736401705.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504161 s,
      deltaX: -0.100000 m,
      approachRate: -0.198350 m/s,
      rangeRepo size: 4

2025-01-09T05:48:25.509Z,1736401705.509 [DAT](INFO): DAT read: Rx Time:05:48:24.2708 

2025-01-09T05:48:25.510Z,1736401705.510 [DAT](INFO): Rx dataTimestamp_ set to:1736401705.509140
2025-01-09T05:48:25.512Z,1736401705.512 [DAT](INFO): DAT read: Bearing 184.8, -46.0 (Local)

2025-01-09T05:48:25.512Z,1736401705.512 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.8, -46.0 (Local)

2025-01-09T05:48:25.515Z,1736401705.515 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.4

2025-01-09T05:48:25.521Z,1736401705.521 [DAT](INFO): DAT read: 05:48:24.2708 LVL= 14512, 15729,  7490, 13651, AGC= 37, IDX= 496, 0.29,-2.287,-1.091,-2.025,-0.684, PHS=-1.514,-0.360,-1.344, RAW= 322.1,  46.5, CAL= 325.2,  46.0, ROT= 184.8, -46.0

2025-01-09T05:48:25.522Z,1736401705.522 [DAT](INFO): got valid direction response:
 05:48:24.2708 LVL= 14512, 15729,  7490, 13651, AGC= 37, IDX= 496, 0.29,-2.287,-1.091,-2.025,-0.684, PHS=-1.514,-0.360,-1.344, RAW= 322.1,  46.5, CAL= 325.2,  46.0, ROT= 184.8, -46.0

2025-01-09T05:48:25.522Z,1736401705.522 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-01-09T05:48:25.561Z,1736401705.561 [DAT](INFO): direction in FSK: [-0.692222,-0.058128,0.719340]
2025-01-09T05:48:25.561Z,1736401705.561 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:25.569Z,1736401705.569 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=22.243315
2025-01-09T05:48:25.684Z,1736401705.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:25.718Z,1736401705.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504447 s,
      deltaX: -0.200000 m,
      approachRate: -0.396473 m/s,
      rangeRepo size: 4

2025-01-09T05:48:25.720Z,1736401705.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.400000 m,
      bearing: 340.474382 deg,
      lat: 36.904012 deg,
      lon: -122.118921 deg,
      deltaT: 1.008608 s,
      deltaX: -0.300000 m,
      approachRate: -0.297440 m/s,
      posRepo size: 4

2025-01-09T05:48:25.761Z,1736401705.761 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=22.435038
2025-01-09T05:48:26.014Z,1736401706.014 [DAT](INFO): DAT read: Rx Time:05:48:24.7708 

2025-01-09T05:48:26.015Z,1736401706.015 [DAT](INFO): Rx dataTimestamp_ set to:1736401706.014035
2025-01-09T05:48:26.016Z,1736401706.016 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.3

2025-01-09T05:48:26.017Z,1736401706.017 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-01-09T05:48:26.018Z,1736401706.018 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=22.692049
2025-01-09T05:48:26.203Z,1736401706.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:26.214Z,1736401706.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504895 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:48:26.265Z,1736401706.265 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=22.938810
2025-01-09T05:48:26.491Z,1736401706.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:26.516Z,1736401706.516 [DAT](INFO): DAT read: Rx Time:05:48:25.2705 

2025-01-09T05:48:26.516Z,1736401706.516 [DAT](INFO): Rx dataTimestamp_ set to:1736401706.516070
2025-01-09T05:48:26.517Z,1736401706.517 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.3

2025-01-09T05:48:26.518Z,1736401706.518 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-01-09T05:48:26.519Z,1736401706.519 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=23.193659
2025-01-09T05:48:26.768Z,1736401706.768 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=23.442459
2025-01-09T05:48:26.895Z,1736401706.895 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:48:26.906Z,1736401706.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:26.917Z,1736401706.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.502035 s,
      deltaX: -0.400000 m,
      approachRate: -0.796757 m/s,
      rangeRepo size: 4

2025-01-09T05:48:27.021Z,1736401707.021 [DAT](INFO): DAT read: Rx Time:05:48:25.7704 

2025-01-09T05:48:27.022Z,1736401707.022 [DAT](INFO): Rx dataTimestamp_ set to:1736401707.021623
2025-01-09T05:48:27.023Z,1736401707.023 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.3

2025-01-09T05:48:27.024Z,1736401707.024 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-01-09T05:48:27.025Z,1736401707.025 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=23.699207
2025-01-09T05:48:27.272Z,1736401707.272 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=23.946352
2025-01-09T05:48:27.341Z,1736401707.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:27.385Z,1736401707.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.505553 s,
      deltaX: -0.200000 m,
      approachRate: -0.395606 m/s,
      rangeRepo size: 4

2025-01-09T05:48:27.524Z,1736401707.524 [DAT](INFO): DAT read: Rx Time:05:48:26.2706 

2025-01-09T05:48:27.525Z,1736401707.525 [DAT](INFO): Rx dataTimestamp_ set to:1736401707.524655
2025-01-09T05:48:27.529Z,1736401707.529 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.2

2025-01-09T05:48:27.530Z,1736401707.530 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-01-09T05:48:27.531Z,1736401707.531 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=24.205427
2025-01-09T05:48:27.718Z,1736401707.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:27.725Z,1736401707.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:27.732Z,1736401707.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503032 s,
      deltaX: 0.300000 m,
      approachRate: 0.596383 m/s,
      rangeRepo size: 4

2025-01-09T05:48:27.733Z,1736401707.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m.
2025-01-09T05:48:27.777Z,1736401707.777 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=24.451929
2025-01-09T05:48:27.899Z,1736401707.899 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:48:28.031Z,1736401708.031 [DAT](INFO): DAT read: Rx Time:05:48:26.7704 

2025-01-09T05:48:28.032Z,1736401708.032 [DAT](INFO): Rx dataTimestamp_ set to:1736401708.031477
2025-01-09T05:48:28.035Z,1736401708.035 [DAT](INFO): DAT read: Bearing 341.5,  44.0 (Local)

2025-01-09T05:48:28.036Z,1736401708.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.5,  44.0 (Local)

2025-01-09T05:48:28.039Z,1736401708.039 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-01-09T05:48:28.064Z,1736401708.064 [DAT](INFO): DAT read: 05:48:26.7704 LVL= 10736, 16049, 14242, 17715, AGC= 43, IDX= 507, 0.42,-2.929, 2.113,-2.273, 1.885, PHS= 1.557, 0.275, 2.122, RAW= 167.4, -40.5, CAL= 168.5, -44.0, ROT= 341.5,  44.0

2025-01-09T05:48:28.065Z,1736401708.065 [DAT](INFO): got valid direction response:
 05:48:26.7704 LVL= 10736, 16049, 14242, 17715, AGC= 43, IDX= 507, 0.42,-2.929, 2.113,-2.273, 1.885, PHS= 1.557, 0.275, 2.122, RAW= 167.4, -40.5, CAL= 168.5, -44.0, ROT= 341.5,  44.0

2025-01-09T05:48:28.065Z,1736401708.065 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-01-09T05:48:28.071Z,1736401708.071 [DAT](INFO): direction in FSK: [0.682167,-0.228250,-0.694658]
2025-01-09T05:48:28.071Z,1736401708.071 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:28.075Z,1736401708.075 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=24.749563
2025-01-09T05:48:28.271Z,1736401708.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:28.280Z,1736401708.280 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=24.954323
2025-01-09T05:48:28.298Z,1736401708.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.506822 s,
      deltaX: -0.300000 m,
      approachRate: -0.591924 m/s,
      rangeRepo size: 4

2025-01-09T05:48:28.320Z,1736401708.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.800000 m,
      bearing: 130.837396 deg,
      lat: 36.904014 deg,
      lon: -122.118921 deg,
      deltaT: 2.522337 s,
      deltaX: -0.600000 m,
      approachRate: -0.237875 m/s,
      posRepo size: 4

2025-01-09T05:48:28.321Z,1736401708.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.80 m.
2025-01-09T05:48:28.523Z,1736401708.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:28.532Z,1736401708.532 [DAT](INFO): DAT read: Rx Time:05:48:27.2702 

2025-01-09T05:48:28.533Z,1736401708.533 [DAT](INFO): Rx dataTimestamp_ set to:1736401708.532269
2025-01-09T05:48:28.534Z,1736401708.534 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-01-09T05:48:28.534Z,1736401708.534 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-01-09T05:48:28.535Z,1736401708.535 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=25.209822
2025-01-09T05:48:28.538Z,1736401708.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.500792 s,
      deltaX: -0.300000 m,
      approachRate: -0.599051 m/s,
      rangeRepo size: 4

2025-01-09T05:48:28.785Z,1736401708.785 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=25.459135
2025-01-09T05:48:28.916Z,1736401708.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:29.037Z,1736401709.037 [DAT](INFO): DAT read: Rx Time:05:48:27.7706 

2025-01-09T05:48:29.038Z,1736401709.038 [DAT](INFO): Rx dataTimestamp_ set to:1736401709.037427
2025-01-09T05:48:29.040Z,1736401709.040 [DAT](INFO): DAT read: Bearing  67.5,  11.2 (Local)

2025-01-09T05:48:29.040Z,1736401709.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.5,  11.2 (Local)

2025-01-09T05:48:29.045Z,1736401709.045 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:29.057Z,1736401709.057 [DAT](INFO): DAT read: 05:48:27.7706 LVL= 11552, 18273, 16370, 16627, AGC= 43, IDX= 508,-0.31,-1.049,-2.437,-2.941,-2.237, PHS= 1.277,-0.153,-0.707, RAW=  74.3,  -4.8, CAL=  82.5, -11.2, ROT=  67.5,  11.2

2025-01-09T05:48:29.058Z,1736401709.058 [DAT](INFO): got valid direction response:
 05:48:27.7706 LVL= 11552, 18273, 16370, 16627, AGC= 43, IDX= 508,-0.31,-1.049,-2.437,-2.941,-2.237, PHS= 1.277,-0.153,-0.707, RAW=  74.3,  -4.8, CAL=  82.5, -11.2, ROT=  67.5,  11.2

2025-01-09T05:48:29.059Z,1736401709.059 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-01-09T05:48:29.060Z,1736401709.060 [DAT](INFO): direction in FSK: [0.375395,0.906284,-0.194234]
2025-01-09T05:48:29.061Z,1736401709.061 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:29.068Z,1736401709.068 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=25.742321
2025-01-09T05:48:29.288Z,1736401709.288 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=25.962130
2025-01-09T05:48:29.407Z,1736401709.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:29.444Z,1736401709.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.505158 s,
      deltaX: 0.600000 m,
      approachRate: 1.187747 m/s,
      rangeRepo size: 4

2025-01-09T05:48:29.446Z,1736401709.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.100000 m,
      bearing: 224.215827 deg,
      lat: 36.904014 deg,
      lon: -122.118918 deg,
      deltaT: 1.005950 s,
      deltaX: 0.300000 m,
      approachRate: 0.298226 m/s,
      posRepo size: 4

2025-01-09T05:48:29.540Z,1736401709.540 [DAT](INFO): DAT read: Rx Time:05:48:28.2708 

2025-01-09T05:48:29.541Z,1736401709.541 [DAT](INFO): Rx dataTimestamp_ set to:1736401709.540654
2025-01-09T05:48:29.543Z,1736401709.543 [DAT](INFO): DAT read: Bearing  63.4,  13.0 (Local)

2025-01-09T05:48:29.544Z,1736401709.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.4,  13.0 (Local)

2025-01-09T05:48:29.546Z,1736401709.546 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-01-09T05:48:29.553Z,1736401709.553 [DAT](INFO): DAT read: 05:48:28.2708 LVL= 14576, 24561, 27106, 17875, AGC= 43, IDX= 505, 0.23,-0.637,-2.029,-2.390,-1.801, PHS= 1.252,-0.181,-0.592, RAW=  77.7,  -5.8, CAL=  86.6, -13.0, ROT=  63.4,  13.0

2025-01-09T05:48:29.554Z,1736401709.554 [DAT](INFO): got valid direction response:
 05:48:28.2708 LVL= 14576, 24561, 27106, 17875, AGC= 43, IDX= 505, 0.23,-0.637,-2.029,-2.390,-1.801, PHS= 1.252,-0.181,-0.592, RAW=  77.7,  -5.8, CAL=  86.6, -13.0, ROT=  63.4,  13.0

2025-01-09T05:48:29.555Z,1736401709.555 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-01-09T05:48:29.556Z,1736401709.556 [DAT](INFO): direction in FSK: [0.436283,0.871237,-0.224951]
2025-01-09T05:48:29.557Z,1736401709.557 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:29.562Z,1736401709.562 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=26.236309
2025-01-09T05:48:29.752Z,1736401709.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:29.771Z,1736401709.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.503227 s,
      deltaX: 0.300000 m,
      approachRate: 0.596153 m/s,
      rangeRepo size: 4

2025-01-09T05:48:29.773Z,1736401709.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.400000 m,
      bearing: 220.231274 deg,
      lat: 36.904014 deg,
      lon: -122.118913 deg,
      deltaT: 0.503227 s,
      deltaX: 0.300000 m,
      approachRate: 0.596153 m/s,
      posRepo size: 4

2025-01-09T05:48:29.774Z,1736401709.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.40 m.
2025-01-09T05:48:29.775Z,1736401709.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.40 m.
2025-01-09T05:48:29.775Z,1736401709.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-01-09T05:48:29.792Z,1736401709.792 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=26.466196
2025-01-09T05:48:30.044Z,1736401710.044 [DAT](INFO): DAT read: Rx Time:05:48:28.7706 

2025-01-09T05:48:30.045Z,1736401710.045 [DAT](INFO): Rx dataTimestamp_ set to:1736401710.044336
2025-01-09T05:48:30.046Z,1736401710.046 [DAT](INFO): DAT read: Bearing  68.9,   7.4 (Local)

2025-01-09T05:48:30.046Z,1736401710.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.9,   7.4 (Local)

2025-01-09T05:48:30.048Z,1736401710.048 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:30.053Z,1736401710.053 [DAT](INFO): DAT read: 05:48:28.7706 LVL= 21296, 32753, 24514, 23907, AGC= 46, IDX= 506, 0.46,-3.141, 1.510, 0.914, 1.824, PHS= 1.406,-0.268,-0.914, RAW=  74.4,  -2.2, CAL=  81.1,  -7.4, ROT=  68.9,   7.4

2025-01-09T05:48:30.054Z,1736401710.054 [DAT](INFO): got valid direction response:
 05:48:28.7706 LVL= 21296, 32753, 24514, 23907, AGC= 46, IDX= 506, 0.46,-3.141, 1.510, 0.914, 1.824, PHS= 1.406,-0.268,-0.914, RAW=  74.4,  -2.2, CAL=  81.1,  -7.4, ROT=  68.9,   7.4

2025-01-09T05:48:30.054Z,1736401710.054 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-01-09T05:48:30.055Z,1736401710.055 [DAT](INFO): direction in FSK: [0.356998,0.925183,-0.128796]
2025-01-09T05:48:30.056Z,1736401710.056 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:30.072Z,1736401710.072 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=26.746321
2025-01-09T05:48:30.216Z,1736401710.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:30.245Z,1736401710.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503682 s,
      deltaX: -0.300000 m,
      approachRate: -0.595614 m/s,
      rangeRepo size: 4

2025-01-09T05:48:30.256Z,1736401710.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.100000 m,
      bearing: 232.875553 deg,
      lat: 36.904004 deg,
      lon: -122.118913 deg,
      deltaT: 0.503682 s,
      deltaX: -0.300000 m,
      approachRate: -0.595614 m/s,
      posRepo size: 4

2025-01-09T05:48:30.285Z,1736401710.285 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T05:48:30.285Z,1736401710.285 [DockingStepper](INFO): Standby mode.
2025-01-09T05:48:30.296Z,1736401710.296 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=26.970407
2025-01-09T05:48:30.340Z,1736401710.340 [DockingStepper](INFO): Commanding positive:54494
2025-01-09T05:48:30.548Z,1736401710.548 [DAT](INFO): DAT read: Rx Time:05:48:29.2706 

2025-01-09T05:48:30.549Z,1736401710.549 [DAT](INFO): Rx dataTimestamp_ set to:1736401710.548461
2025-01-09T05:48:30.550Z,1736401710.550 [DAT](INFO): DAT read: Bearing 197.6, -42.4 (Local)

2025-01-09T05:48:30.550Z,1736401710.550 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.6, -42.4 (Local)

2025-01-09T05:48:30.552Z,1736401710.552 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:30.557Z,1736401710.557 [DAT](INFO): DAT read: 05:48:29.2706 LVL= 15152, 32753, 21090, 24371, AGC= 44, IDX= 512, 0.30, 2.529,-1.987,-2.923,-1.555, PHS=-2.111,-0.385,-1.371, RAW= 304.7,  42.3, CAL= 312.4,  42.4, ROT= 197.6, -42.4

2025-01-09T05:48:30.558Z,1736401710.558 [DAT](INFO): got valid direction response:
 05:48:29.2706 LVL= 15152, 32753, 21090, 24371, AGC= 44, IDX= 512, 0.30, 2.529,-1.987,-2.923,-1.555, PHS=-2.111,-0.385,-1.371, RAW= 304.7,  42.3, CAL= 312.4,  42.4, ROT= 197.6, -42.4

2025-01-09T05:48:30.558Z,1736401710.558 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-01-09T05:48:30.560Z,1736401710.560 [DAT](INFO): direction in FSK: [-0.703889,-0.223287,0.674302]
2025-01-09T05:48:30.560Z,1736401710.560 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:30.564Z,1736401710.564 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=27.238691
2025-01-09T05:48:30.620Z,1736401710.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:30.664Z,1736401710.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504125 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:48:30.666Z,1736401710.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.100000 m,
      bearing: 12.340709 deg,
      lat: 36.904004 deg,
      lon: -122.118913 deg,
      deltaT: 0.504125 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T05:48:30.800Z,1736401710.800 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=27.474380
2025-01-09T05:48:30.944Z,1736401710.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:30.951Z,1736401710.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:31.053Z,1736401711.053 [DAT](INFO): DAT read: Rx Time:05:48:29.7706 

2025-01-09T05:48:31.054Z,1736401711.054 [DAT](INFO): Rx dataTimestamp_ set to:1736401711.053417
2025-01-09T05:48:31.055Z,1736401711.055 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:31.056Z,1736401711.056 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-01-09T05:48:31.056Z,1736401711.056 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=27.730986
2025-01-09T05:48:31.308Z,1736401711.308 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=27.981424
2025-01-09T05:48:31.381Z,1736401711.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:31.390Z,1736401711.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504956 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-09T05:48:31.556Z,1736401711.556 [DAT](INFO): DAT read: Rx Time:05:48:30.2705 

2025-01-09T05:48:31.556Z,1736401711.556 [DAT](INFO): Rx dataTimestamp_ set to:1736401711.555928
2025-01-09T05:48:31.557Z,1736401711.557 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:48:31.558Z,1736401711.558 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-01-09T05:48:31.560Z,1736401711.560 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=28.234213
2025-01-09T05:48:31.753Z,1736401711.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:31.770Z,1736401711.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.502511 s,
      deltaX: -0.100000 m,
      approachRate: -0.199000 m/s,
      rangeRepo size: 4

2025-01-09T05:48:31.813Z,1736401711.813 [DAT](INFO): DAT read: Rx Time:05:48:30.7706 

2025-01-09T05:48:31.818Z,1736401711.818 [DAT](INFO): Rx dataTimestamp_ set to:1736401711.813795
2025-01-09T05:48:31.819Z,1736401711.819 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=28.493973
2025-01-09T05:48:32.060Z,1736401712.060 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:32.061Z,1736401712.061 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-01-09T05:48:32.062Z,1736401712.062 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=28.736263
2025-01-09T05:48:32.154Z,1736401712.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:32.228Z,1736401712.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503088 s,
      deltaX: 0.100000 m,
      approachRate: 0.198772 m/s,
      rangeRepo size: 4

2025-01-09T05:48:32.323Z,1736401712.323 [DAT](INFO): DAT read: Rx Time:05:48:31.2705 

2025-01-09T05:48:32.325Z,1736401712.325 [DAT](INFO): Rx dataTimestamp_ set to:1736401712.324044
2025-01-09T05:48:32.328Z,1736401712.328 [DAT](INFO): DAT read: Bearing  68.7, -14.4 (Local)

2025-01-09T05:48:32.329Z,1736401712.329 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.7, -14.4 (Local)

2025-01-09T05:48:32.336Z,1736401712.336 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:48:32.338Z,1736401712.338 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-01-09T05:48:32.354Z,1736401712.354 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=29.027641
2025-01-09T05:48:32.576Z,1736401712.576 [DAT](INFO): DAT read: 05:48:31.2705 LVL= 19552, 27169, 17202, 23827, AGC= 45, IDX= 504, 0.16, 1.469,-0.347,-0.848, 0.488, PHS= 1.069,-0.788,-1.339, RAW=  77.4,   9.7, CAL=  81.3,  14.4, ROT=  68.7, -14.4

2025-01-09T05:48:32.578Z,1736401712.578 [DAT](INFO): got valid direction response:
 05:48:31.2705 LVL= 19552, 27169, 17202, 23827, AGC= 45, IDX= 504, 0.16, 1.469,-0.347,-0.848, 0.488, PHS= 1.069,-0.788,-1.339, RAW=  77.4,   9.7, CAL=  81.3,  14.4, ROT=  68.7, -14.4

2025-01-09T05:48:32.578Z,1736401712.578 [DAT](INFO): #Rx 69: Read direction message, but no range.
2025-01-09T05:48:32.579Z,1736401712.579 [DAT](INFO): direction in FSK: [0.351839,0.902420,0.248690]
2025-01-09T05:48:32.583Z,1736401712.583 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=29.256954
2025-01-09T05:48:32.594Z,1736401712.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:32.608Z,1736401712.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.265028 s,
      deltaX: -0.100000 m,
      approachRate: -0.377318 m/s,
      rangeRepo size: 4

2025-01-09T05:48:32.612Z,1736401712.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.000000 m,
      bearing: 256.346385 deg,
      lat: 36.904004 deg,
      lon: -122.118913 deg,
      deltaT: 1.775583 s,
      deltaX: -0.100000 m,
      approachRate: -0.056319 m/s,
      posRepo size: 4

2025-01-09T05:48:32.829Z,1736401712.829 [DAT](INFO): DAT read: Rx Time:05:48:31.7706 

2025-01-09T05:48:32.832Z,1736401712.832 [DAT](INFO): Rx dataTimestamp_ set to:1736401712.830072
2025-01-09T05:48:32.833Z,1736401712.833 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:32.834Z,1736401712.834 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-01-09T05:48:32.835Z,1736401712.835 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=29.509739
2025-01-09T05:48:32.966Z,1736401712.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:32.973Z,1736401712.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:32.977Z,1736401712.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.506028 s,
      deltaX: 0.100000 m,
      approachRate: 0.197617 m/s,
      rangeRepo size: 4

2025-01-09T05:48:33.076Z,1736401713.076 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=29.750132
2025-01-09T05:48:33.332Z,1736401713.332 [DAT](INFO): DAT read: Rx Time:05:48:32.2705 

2025-01-09T05:48:33.333Z,1736401713.333 [DAT](INFO): Rx dataTimestamp_ set to:1736401713.332231
2025-01-09T05:48:33.342Z,1736401713.342 [DAT](INFO): DAT read: Bearing  66.5, -13.2 (Local)

2025-01-09T05:48:33.343Z,1736401713.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.5, -13.2 (Local)

2025-01-09T05:48:33.371Z,1736401713.371 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:48:33.384Z,1736401713.384 [DAT](INFO): DAT read: 05:48:32.2705 LVL= 13888, 26241, 15458, 19827, AGC= 44, IDX= 504, 0.02, 2.660, 0.882, 0.471, 1.706, PHS= 1.043,-0.777,-1.237, RAW=  79.0,   9.3, CAL=  83.5,  13.2, ROT=  66.5, -13.2

2025-01-09T05:48:33.385Z,1736401713.385 [DAT](INFO): got valid direction response:
 05:48:32.2705 LVL= 13888, 26241, 15458, 19827, AGC= 44, IDX= 504, 0.02, 2.660, 0.882, 0.471, 1.706, PHS= 1.043,-0.777,-1.237, RAW=  79.0,   9.3, CAL=  83.5,  13.2, ROT=  66.5, -13.2

2025-01-09T05:48:33.386Z,1736401713.386 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-01-09T05:48:33.400Z,1736401713.400 [DAT](INFO): direction in FSK: [0.388214,0.892830,0.228351]
2025-01-09T05:48:33.400Z,1736401713.400 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:33.445Z,1736401713.445 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=30.119358
2025-01-09T05:48:33.531Z,1736401713.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:33.578Z,1736401713.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.502159 s,
      deltaX: -0.100000 m,
      approachRate: -0.199140 m/s,
      rangeRepo size: 4

2025-01-09T05:48:33.580Z,1736401713.580 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=30.254316
2025-01-09T05:48:33.589Z,1736401713.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.000000 m,
      bearing: 260.838353 deg,
      lat: 36.904008 deg,
      lon: -122.118914 deg,
      deltaT: 1.008187 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-01-09T05:48:33.833Z,1736401713.833 [DAT](INFO): DAT read: Rx Time:05:48:32.7706 

2025-01-09T05:48:33.834Z,1736401713.834 [DAT](INFO): Rx dataTimestamp_ set to:1736401713.833320
2025-01-09T05:48:33.836Z,1736401713.836 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:33.836Z,1736401713.836 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-01-09T05:48:33.837Z,1736401713.837 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=30.511673
2025-01-09T05:48:33.905Z,1736401713.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:33.922Z,1736401713.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.501089 s,
      deltaX: 0.100000 m,
      approachRate: 0.199565 m/s,
      rangeRepo size: 4

2025-01-09T05:48:34.084Z,1736401714.084 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=30.758139
2025-01-09T05:48:34.336Z,1736401714.336 [DAT](INFO): DAT read: Rx Time:05:48:33.2704 

2025-01-09T05:48:34.336Z,1736401714.336 [DAT](INFO): Rx dataTimestamp_ set to:1736401714.336055
2025-01-09T05:48:34.337Z,1736401714.337 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-01-09T05:48:34.338Z,1736401714.338 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-01-09T05:48:34.339Z,1736401714.339 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=31.013611
2025-01-09T05:48:34.352Z,1736401714.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:34.378Z,1736401714.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.502735 s,
      deltaX: -0.300000 m,
      approachRate: -0.596736 m/s,
      rangeRepo size: 4

2025-01-09T05:48:34.589Z,1736401714.589 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=31.262835
2025-01-09T05:48:34.803Z,1736401714.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:34.840Z,1736401714.840 [DAT](INFO): DAT read: Rx Time:05:48:33.7705 

2025-01-09T05:48:34.840Z,1736401714.840 [DAT](INFO): Rx dataTimestamp_ set to:1736401714.840173
2025-01-09T05:48:34.842Z,1736401714.842 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:48:34.843Z,1736401714.843 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-01-09T05:48:34.844Z,1736401714.844 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=31.518852
2025-01-09T05:48:34.850Z,1736401714.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.504118 s,
      deltaX: 0.200000 m,
      approachRate: 0.396733 m/s,
      rangeRepo size: 4

2025-01-09T05:48:35.092Z,1736401715.092 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=31.766218
2025-01-09T05:48:35.209Z,1736401715.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:35.220Z,1736401715.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:35.345Z,1736401715.345 [DAT](INFO): DAT read: Rx Time:05:48:34.2704 

2025-01-09T05:48:35.346Z,1736401715.346 [DAT](INFO): Rx dataTimestamp_ set to:1736401715.345375
2025-01-09T05:48:35.348Z,1736401715.348 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-01-09T05:48:35.349Z,1736401715.349 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-01-09T05:48:35.350Z,1736401715.350 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=32.024376
2025-01-09T05:48:35.596Z,1736401715.596 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=32.270218
2025-01-09T05:48:35.636Z,1736401715.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:48:35.637Z,1736401715.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:35.648Z,1736401715.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.505202 s,
      deltaX: -0.200000 m,
      approachRate: -0.395881 m/s,
      rangeRepo size: 4

2025-01-09T05:48:35.852Z,1736401715.852 [DAT](INFO): DAT read: Rx Time:05:48:34.7710 

2025-01-09T05:48:35.854Z,1736401715.854 [DAT](INFO): Rx dataTimestamp_ set to:1736401715.853071
2025-01-09T05:48:35.858Z,1736401715.858 [DAT](INFO): DAT read: Bearing 178.9,  -9.5 (Local)

2025-01-09T05:48:35.868Z,1736401715.868 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.9,  -9.5 (Local)

2025-01-09T05:48:35.870Z,1736401715.870 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed -0.1

2025-01-09T05:48:35.875Z,1736401715.875 [DAT](INFO): DAT read: 05:48:34.7710 LVL= 15472, 11361,  8466, 19299, AGC= 46, IDX=   2,-0.28, 0.193, 1.903, 0.332, 1.033, PHS=-0.752, 0.917,-0.703, RAW= 328.5,   6.6, CAL= 331.1,   9.5, ROT= 178.9,  -9.5

2025-01-09T05:48:35.878Z,1736401715.878 [DAT](INFO): got valid direction response:
 05:48:34.7710 LVL= 15472, 11361,  8466, 19299, AGC= 46, IDX=   2,-0.28, 0.193, 1.903, 0.332, 1.033, PHS=-0.752, 0.917,-0.703, RAW= 328.5,   6.6, CAL= 331.1,   9.5, ROT= 178.9,  -9.5

2025-01-09T05:48:35.878Z,1736401715.878 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-01-09T05:48:35.917Z,1736401715.917 [DAT](INFO): direction in FSK: [-0.986104,0.018934,0.165048]
2025-01-09T05:48:35.917Z,1736401715.917 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:35.926Z,1736401715.926 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=32.599705
2025-01-09T05:48:36.071Z,1736401716.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-09T05:48:36.072Z,1736401716.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:36.087Z,1736401716.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.507696 s,
      deltaX: 1.100000 m,
      approachRate: 2.166651 m/s,
      rangeRepo size: 4

2025-01-09T05:48:36.089Z,1736401716.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.900000 m,
      bearing: 29.668545 deg,
      lat: 36.904010 deg,
      lon: -122.118914 deg,
      deltaT: 2.520840 s,
      deltaX: 0.900000 m,
      approachRate: 0.357024 m/s,
      posRepo size: 4

2025-01-09T05:48:36.100Z,1736401716.100 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=32.774048
2025-01-09T05:48:36.356Z,1736401716.356 [DAT](INFO): DAT read: Rx Time:05:48:35.2706 

2025-01-09T05:48:36.358Z,1736401716.358 [DAT](INFO): Rx dataTimestamp_ set to:1736401716.357179
2025-01-09T05:48:36.365Z,1736401716.365 [DAT](INFO): DAT read: Bearing 150.7, -19.1 (Local)

2025-01-09T05:48:36.365Z,1736401716.365 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.7, -19.1 (Local)

2025-01-09T05:48:36.368Z,1736401716.368 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:36.388Z,1736401716.388 [DAT](INFO): DAT read: 05:48:35.2706 LVL= 14384, 11937, 11442, 17299, AGC= 41, IDX= 494, 0.30,-1.373,-0.145,-2.428,-0.846, PHS=-0.439, 0.748,-1.585, RAW= 359.4,  12.6, CAL= 359.3,  19.1, ROT= 150.7, -19.1

2025-01-09T05:48:36.390Z,1736401716.390 [DAT](INFO): got valid direction response:
 05:48:35.2706 LVL= 14384, 11937, 11442, 17299, AGC= 41, IDX= 494, 0.30,-1.373,-0.145,-2.428,-0.846, PHS=-0.439, 0.748,-1.585, RAW= 359.4,  12.6, CAL= 359.3,  19.1, ROT= 150.7, -19.1

2025-01-09T05:48:36.390Z,1736401716.390 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-01-09T05:48:36.395Z,1736401716.395 [DAT](INFO): direction in FSK: [-0.824061,0.462441,0.327218]
2025-01-09T05:48:36.395Z,1736401716.395 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:36.400Z,1736401716.400 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=33.074440
2025-01-09T05:48:36.552Z,1736401716.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:36.584Z,1736401716.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504108 s,
      deltaX: -0.800000 m,
      approachRate: -1.586962 m/s,
      rangeRepo size: 4

2025-01-09T05:48:36.591Z,1736401716.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.100000 m,
      bearing: 2.899032 deg,
      lat: 36.904028 deg,
      lon: -122.118908 deg,
      deltaT: 0.504108 s,
      deltaX: -0.800000 m,
      approachRate: -1.586962 m/s,
      posRepo size: 4

2025-01-09T05:48:36.593Z,1736401716.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 2.10 m. Lat: 36.904028 Lon: -122.118908 Cable present.
2025-01-09T05:48:36.593Z,1736401716.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-01-09T05:48:36.593Z,1736401716.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-01-09T05:48:36.596Z,1736401716.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-01-09T05:48:36.604Z,1736401716.604 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=33.278461
2025-01-09T05:48:36.861Z,1736401716.861 [DAT](INFO): DAT read: Rx Time:05:48:35.7707 

2025-01-09T05:48:36.862Z,1736401716.862 [DAT](INFO): Rx dataTimestamp_ set to:1736401716.861327
2025-01-09T05:48:36.868Z,1736401716.868 [DAT](INFO): DAT read: Bearing  80.0, -34.1 (Local)

2025-01-09T05:48:36.868Z,1736401716.868 [DAT](INFO): Local bearing/azimuth received:
 Bearing  80.0, -34.1 (Local)

2025-01-09T05:48:36.870Z,1736401716.870 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-09T05:48:36.904Z,1736401716.904 [DAT](INFO): DAT read: 05:48:35.7707 LVL= 12000, 13233, 12242, 16675, AGC= 40, IDX= 508, 0.03, 2.769, 1.480, 0.891, 2.553, PHS= 0.305,-1.025,-1.664, RAW=  71.4,  25.9, CAL=  70.0,  34.1, ROT=  80.0, -34.1

2025-01-09T05:48:36.905Z,1736401716.905 [DAT](INFO): got valid direction response:
 05:48:35.7707 LVL= 12000, 13233, 12242, 16675, AGC= 40, IDX= 508, 0.03, 2.769, 1.480, 0.891, 2.553, PHS= 0.305,-1.025,-1.664, RAW=  71.4,  25.9, CAL=  70.0,  34.1, ROT=  80.0, -34.1

2025-01-09T05:48:36.905Z,1736401716.905 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-01-09T05:48:36.906Z,1736401716.906 [DAT](INFO): direction in FSK: [0.143791,0.815480,0.560639]
2025-01-09T05:48:36.906Z,1736401716.906 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:36.922Z,1736401716.922 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=33.596775
2025-01-09T05:48:37.032Z,1736401717.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:37.046Z,1736401717.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-01-09T05:48:37.046Z,1736401717.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-01-09T05:48:37.046Z,1736401717.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-01-09T05:48:37.088Z,1736401717.088 [DockingStepper](INFO): Pause
2025-01-09T05:48:37.108Z,1736401717.108 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=33.782272
2025-01-09T05:48:37.364Z,1736401717.364 [DAT](INFO): DAT read: Rx Time:05:48:36.2706 

2025-01-09T05:48:37.364Z,1736401717.364 [DAT](INFO): Rx dataTimestamp_ set to:1736401717.363990
2025-01-09T05:48:37.366Z,1736401717.366 [DAT](INFO): DAT read: Bearing 103.4, -39.9 (Local)

2025-01-09T05:48:37.366Z,1736401717.366 [DAT](INFO): Local bearing/azimuth received:
 Bearing 103.4, -39.9 (Local)

2025-01-09T05:48:37.368Z,1736401717.368 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:37.373Z,1736401717.373 [DAT](INFO): DAT read: 05:48:36.2706 LVL= 12496, 15009, 14162, 18547, AGC= 41, IDX= 507, 0.10, 1.063, 0.638,-0.174, 1.265, PHS=-0.114,-0.580,-1.443, RAW=  50.2,  32.9, CAL=  46.6,  39.9, ROT= 103.4, -39.9

2025-01-09T05:48:37.374Z,1736401717.374 [DAT](INFO): got valid direction response:
 05:48:36.2706 LVL= 12496, 15009, 14162, 18547, AGC= 41, IDX= 507, 0.10, 1.063, 0.638,-0.174, 1.265, PHS=-0.114,-0.580,-1.443, RAW=  50.2,  32.9, CAL=  46.6,  39.9, ROT= 103.4, -39.9

2025-01-09T05:48:37.374Z,1736401717.374 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-01-09T05:48:37.376Z,1736401717.376 [DAT](INFO): direction in FSK: [-0.177789,0.746280,0.641450]
2025-01-09T05:48:37.377Z,1736401717.377 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:37.381Z,1736401717.381 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=34.055305
2025-01-09T05:48:37.512Z,1736401717.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:37.536Z,1736401717.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-01-09T05:48:37.537Z,1736401717.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-09T05:48:37.537Z,1736401717.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-01-09T05:48:37.537Z,1736401717.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-09T05:48:37.537Z,1736401717.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-01-09T05:48:37.537Z,1736401717.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-01-09T05:48:37.537Z,1736401717.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-01-09T05:48:37.537Z,1736401717.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-01-09T05:48:37.537Z,1736401717.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-01-09T05:48:37.538Z,1736401717.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-01-09T05:48:37.538Z,1736401717.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-09T05:48:37.612Z,1736401717.612 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=34.286438
2025-01-09T05:48:37.831Z,1736401717.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:37.849Z,1736401717.849 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-01-09T05:48:37.850Z,1736401717.850 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-01-09T05:48:37.850Z,1736401717.850 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-01-09T05:48:37.850Z,1736401717.850 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-01-09T05:48:37.850Z,1736401717.850 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-01-09T05:48:37.850Z,1736401717.850 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-01-09T05:48:37.855Z,1736401717.855 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-01-09T05:48:37.855Z,1736401717.855 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-01-09T05:48:37.855Z,1736401717.855 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-01-09T05:48:37.856Z,1736401717.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:37.856Z,1736401717.856 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-01-09T05:48:37.856Z,1736401717.856 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-01-09T05:48:37.857Z,1736401717.857 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-01-09T05:48:37.857Z,1736401717.857 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-01-09T05:48:37.857Z,1736401717.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-01-09T05:48:37.857Z,1736401717.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-09T05:48:37.857Z,1736401717.857 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-01-09T05:48:37.857Z,1736401717.857 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-01-09T05:48:37.864Z,1736401717.864 [DAT](INFO): DAT read: Rx Time:05:48:36.7706 

2025-01-09T05:48:37.864Z,1736401717.864 [DAT](INFO): Rx dataTimestamp_ set to:1736401717.864117
2025-01-09T05:48:37.865Z,1736401717.865 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:37.866Z,1736401717.866 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-01-09T05:48:37.867Z,1736401717.867 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=34.541714
2025-01-09T05:48:38.116Z,1736401718.116 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=34.790211
2025-01-09T05:48:38.244Z,1736401718.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:38.308Z,1736401718.308 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-01-09T05:48:38.309Z,1736401718.309 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-01-09T05:48:38.368Z,1736401718.368 [DAT](INFO): DAT read: Rx Time:05:48:37.2706 

2025-01-09T05:48:38.369Z,1736401718.369 [DAT](INFO): Rx dataTimestamp_ set to:1736401718.368474
2025-01-09T05:48:38.370Z,1736401718.370 [DAT](INFO): DAT read: Bearing 172.8, -48.4 (Local)

2025-01-09T05:48:38.370Z,1736401718.370 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.8, -48.4 (Local)

2025-01-09T05:48:38.372Z,1736401718.372 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:38.378Z,1736401718.378 [DAT](INFO): DAT read: 05:48:37.2706 LVL= 15248, 17905, 13026, 17299, AGC= 40, IDX= 506, 0.22,-1.345,-0.548,-1.385,-0.166, PHS=-1.091,-0.335,-1.221, RAW= 337.8,  48.5, CAL= 337.2,  48.4, ROT= 172.8, -48.4

2025-01-09T05:48:38.379Z,1736401718.379 [DAT](INFO): got valid direction response:
 05:48:37.2706 LVL= 15248, 17905, 13026, 17299, AGC= 40, IDX= 506, 0.22,-1.345,-0.548,-1.385,-0.166, PHS=-1.091,-0.335,-1.221, RAW= 337.8,  48.5, CAL= 337.2,  48.4, ROT= 172.8, -48.4

2025-01-09T05:48:38.379Z,1736401718.379 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-01-09T05:48:38.380Z,1736401718.380 [DAT](INFO): direction in FSK: [-0.658691,0.083212,0.747798]
2025-01-09T05:48:38.380Z,1736401718.380 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:38.388Z,1736401718.388 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=35.062542
2025-01-09T05:48:38.620Z,1736401718.620 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=35.294006
2025-01-09T05:48:38.666Z,1736401718.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:38.672Z,1736401718.672 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-01-09T05:48:38.672Z,1736401718.672 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-01-09T05:48:38.672Z,1736401718.672 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-01-09T05:48:38.872Z,1736401718.872 [DAT](INFO): DAT read: Rx Time:05:48:37.7707 

2025-01-09T05:48:38.873Z,1736401718.873 [DAT](INFO): Rx dataTimestamp_ set to:1736401718.872418
2025-01-09T05:48:38.874Z,1736401718.874 [DAT](INFO): DAT read: Bearing 200.0, -41.6 (Local)

2025-01-09T05:48:38.874Z,1736401718.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.0, -41.6 (Local)

2025-01-09T05:48:38.877Z,1736401718.877 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-09T05:48:38.882Z,1736401718.882 [DAT](INFO): DAT read: 05:48:37.7707 LVL= 14944, 17121, 12530, 15859, AGC= 39, IDX= 507, 0.25,-0.283, 1.249, 0.518, 1.612, PHS=-1.808,-0.316,-1.097, RAW= 301.5,  41.4, CAL= 310.0,  41.6, ROT= 200.0, -41.6

2025-01-09T05:48:38.883Z,1736401718.883 [DAT](INFO): got valid direction response:
 05:48:37.7707 LVL= 14944, 17121, 12530, 15859, AGC= 39, IDX= 507, 0.25,-0.283, 1.249, 0.518, 1.612, PHS=-1.808,-0.316,-1.097, RAW= 301.5,  41.4, CAL= 310.0,  41.6, ROT= 200.0, -41.6

2025-01-09T05:48:38.883Z,1736401718.883 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-01-09T05:48:38.884Z,1736401718.884 [DAT](INFO): direction in FSK: [-0.702700,-0.255762,0.663926]
2025-01-09T05:48:38.884Z,1736401718.884 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:38.888Z,1736401718.888 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=35.562843
2025-01-09T05:48:39.036Z,1736401719.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:39.124Z,1736401719.124 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=35.798161
2025-01-09T05:48:39.377Z,1736401719.377 [DAT](INFO): DAT read: Rx Time:05:48:38.2702 

2025-01-09T05:48:39.377Z,1736401719.377 [DAT](INFO): Rx dataTimestamp_ set to:1736401719.377110
2025-01-09T05:48:39.379Z,1736401719.379 [DAT](INFO): DAT read: Bearing 205.3, -37.4 (Local)

2025-01-09T05:48:39.379Z,1736401719.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.3, -37.4 (Local)

2025-01-09T05:48:39.381Z,1736401719.381 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-01-09T05:48:39.385Z,1736401719.385 [DAT](INFO): DAT read: 05:48:38.2702 LVL= 16432, 19105, 13330, 17251, AGC= 39, IDX= 506, 0.30,-1.645, 0.149,-0.551, 0.391, PHS=-1.948,-0.195,-0.945, RAW= 295.2,  35.6, CAL= 304.7,  37.4, ROT= 205.3, -37.4

2025-01-09T05:48:39.387Z,1736401719.387 [DAT](INFO): got valid direction response:
 05:48:38.2702 LVL= 16432, 19105, 13330, 17251, AGC= 39, IDX= 506, 0.30,-1.645, 0.149,-0.551, 0.391, PHS=-1.948,-0.195,-0.945, RAW= 295.2,  35.6, CAL= 304.7,  37.4, ROT= 205.3, -37.4

2025-01-09T05:48:39.387Z,1736401719.387 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-01-09T05:48:39.388Z,1736401719.388 [DAT](INFO): direction in FSK: [-0.718216,-0.339499,0.607376]
2025-01-09T05:48:39.388Z,1736401719.388 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:39.392Z,1736401719.392 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=36.066231
2025-01-09T05:48:39.515Z,1736401719.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:39.628Z,1736401719.628 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=36.302361
2025-01-09T05:48:39.880Z,1736401719.880 [DAT](INFO): DAT read: Rx Time:05:48:38.7703 

2025-01-09T05:48:39.881Z,1736401719.881 [DAT](INFO): Rx dataTimestamp_ set to:1736401719.880488
2025-01-09T05:48:39.882Z,1736401719.882 [DAT](INFO): DAT read: Bearing 210.4, -36.3 (Local)

2025-01-09T05:48:39.882Z,1736401719.882 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.4, -36.3 (Local)

2025-01-09T05:48:39.884Z,1736401719.884 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-01-09T05:48:39.889Z,1736401719.889 [DAT](INFO): DAT read: 05:48:38.7703 LVL= 19440, 20001, 15906, 19539, AGC= 39, IDX= 507, 0.37,-0.798, 1.271, 0.643, 1.540, PHS=-2.250,-0.221,-0.900, RAW= 289.2,  33.7, CAL= 299.6,  36.3, ROT= 210.4, -36.3

2025-01-09T05:48:39.890Z,1736401719.890 [DAT](INFO): got valid direction response:
 05:48:38.7703 LVL= 19440, 20001, 15906, 19539, AGC= 39, IDX= 507, 0.37,-0.798, 1.271, 0.643, 1.540, PHS=-2.250,-0.221,-0.900, RAW= 289.2,  33.7, CAL= 299.6,  36.3, ROT= 210.4, -36.3

2025-01-09T05:48:39.891Z,1736401719.891 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-01-09T05:48:39.892Z,1736401719.892 [DAT](INFO): direction in FSK: [-0.695124,-0.407827,0.592013]
2025-01-09T05:48:39.892Z,1736401719.892 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:39.901Z,1736401719.901 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=36.575245
2025-01-09T05:48:39.921Z,1736401719.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:40.132Z,1736401720.132 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=36.806389
2025-01-09T05:48:40.255Z,1736401720.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:40.268Z,1736401720.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:40.384Z,1736401720.384 [DAT](INFO): DAT read: Rx Time:05:48:39.2702 

2025-01-09T05:48:40.384Z,1736401720.384 [DAT](INFO): Rx dataTimestamp_ set to:1736401720.384027
2025-01-09T05:48:40.387Z,1736401720.387 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-01-09T05:48:40.390Z,1736401720.390 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-01-09T05:48:40.396Z,1736401720.396 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=37.070297
2025-01-09T05:48:40.636Z,1736401720.636 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=37.310131
2025-01-09T05:48:40.680Z,1736401720.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:40.888Z,1736401720.888 [DAT](INFO): DAT read: Rx Time:05:48:39.7703 

2025-01-09T05:48:40.888Z,1736401720.888 [DAT](INFO): Rx dataTimestamp_ set to:1736401720.887945
2025-01-09T05:48:40.889Z,1736401720.889 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-01-09T05:48:40.890Z,1736401720.890 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-01-09T05:48:40.891Z,1736401720.891 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=37.565544
2025-01-09T05:48:41.056Z,1736401721.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:41.140Z,1736401721.140 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=37.814293
2025-01-09T05:48:41.393Z,1736401721.393 [DAT](INFO): DAT read: Rx Time:05:48:40.2709 

2025-01-09T05:48:41.393Z,1736401721.393 [DAT](INFO): Rx dataTimestamp_ set to:1736401721.392875
2025-01-09T05:48:41.395Z,1736401721.395 [DAT](INFO): DAT read: Bearing 161.6,  -5.3 (Local)

2025-01-09T05:48:41.395Z,1736401721.395 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.6,  -5.3 (Local)

2025-01-09T05:48:41.397Z,1736401721.397 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-01-09T05:48:41.402Z,1736401721.402 [DAT](INFO): DAT read: 05:48:40.2709 LVL= 11760, 17185, 13490, 17427, AGC= 39, IDX= 510,-0.11, 2.037,-3.017, 1.604, 2.444, PHS=-0.319, 0.869,-0.843, RAW= 347.4,   3.9, CAL= 348.4,   5.3, ROT= 161.6,  -5.3

2025-01-09T05:48:41.403Z,1736401721.403 [DAT](INFO): got valid direction response:
 05:48:40.2709 LVL= 11760, 17185, 13490, 17427, AGC= 39, IDX= 510,-0.11, 2.037,-3.017, 1.604, 2.444, PHS=-0.319, 0.869,-0.843, RAW= 347.4,   3.9, CAL= 348.4,   5.3, ROT= 161.6,  -5.3

2025-01-09T05:48:41.403Z,1736401721.403 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-01-09T05:48:41.404Z,1736401721.404 [DAT](INFO): direction in FSK: [-0.944819,0.314299,0.092371]
2025-01-09T05:48:41.404Z,1736401721.404 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:41.408Z,1736401721.408 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=38.082584
2025-01-09T05:48:41.553Z,1736401721.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:41.578Z,1736401721.578 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-01-09T05:48:41.578Z,1736401721.578 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-01-09T05:48:41.578Z,1736401721.578 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-01-09T05:48:41.578Z,1736401721.578 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-01-09T05:48:41.644Z,1736401721.644 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=38.318684
2025-01-09T05:48:41.872Z,1736401721.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:41.879Z,1736401721.879 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-01-09T05:48:41.880Z,1736401721.880 [lineCaptureHoming:LineCapture:M] Stopped
2025-01-09T05:48:41.882Z,1736401721.882 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-01-09T05:48:41.882Z,1736401721.882 [lineCaptureHoming:LineCapture] Stopped
2025-01-09T05:48:41.882Z,1736401721.882 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-01-09T05:48:41.882Z,1736401721.882 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-01-09T05:48:41.882Z,1736401721.882 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-01-09T05:48:41.882Z,1736401721.882 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-09T05:48:41.882Z,1736401721.882 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-09T05:48:41.882Z,1736401721.882 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-09T05:48:41.882Z,1736401721.882 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-09T05:48:41.883Z,1736401721.883 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-09T05:48:41.883Z,1736401721.883 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-09T05:48:41.883Z,1736401721.883 [lineCaptureHoming:LineCapture:G] Stopped
2025-01-09T05:48:41.883Z,1736401721.883 [lineCaptureHoming:LineCapture:H] Stopped
2025-01-09T05:48:41.883Z,1736401721.883 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-01-09T05:48:41.883Z,1736401721.883 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-01-09T05:48:41.883Z,1736401721.883 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-01-09T05:48:41.883Z,1736401721.883 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-01-09T05:48:41.883Z,1736401721.883 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-01-09T05:48:41.883Z,1736401721.883 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-01-09T05:48:41.883Z,1736401721.883 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-01-09T05:48:41.884Z,1736401721.884 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-01-09T05:48:41.884Z,1736401721.884 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-09T05:48:41.896Z,1736401721.896 [DAT](INFO): DAT read: Rx Time:05:48:40.7709 

2025-01-09T05:48:41.896Z,1736401721.896 [DAT](INFO): Rx dataTimestamp_ set to:1736401721.896082
2025-01-09T05:48:41.897Z,1736401721.897 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-01-09T05:48:41.898Z,1736401721.898 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-01-09T05:48:41.899Z,1736401721.899 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=38.573669
2025-01-09T05:48:42.148Z,1736401722.148 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=38.822170
2025-01-09T05:48:42.276Z,1736401722.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:42.288Z,1736401722.288 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-01-09T05:48:42.289Z,1736401722.289 [lineCaptureHoming:Lap:B] Stopped
2025-01-09T05:48:42.289Z,1736401722.289 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-01-09T05:48:42.289Z,1736401722.289 [lineCaptureHoming:Lap:C] Running Loop=1
2025-01-09T05:48:42.324Z,1736401722.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:42.401Z,1736401722.401 [DAT](INFO): DAT read: Rx Time:05:48:41.2705 

2025-01-09T05:48:42.401Z,1736401722.401 [DAT](INFO): Rx dataTimestamp_ set to:1736401722.400847
2025-01-09T05:48:42.402Z,1736401722.402 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:48:42.403Z,1736401722.403 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-01-09T05:48:42.404Z,1736401722.404 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=39.078381
2025-01-09T05:48:42.652Z,1736401722.652 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=39.326275
2025-01-09T05:48:42.702Z,1736401722.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:42.709Z,1736401722.709 [lineCaptureHoming:Lap:C] Stopped
2025-01-09T05:48:42.709Z,1736401722.709 [lineCaptureHoming:Lap:D] Running Loop=1
2025-01-09T05:48:42.904Z,1736401722.904 [DAT](INFO): DAT read: Rx Time:05:48:41.7707 

2025-01-09T05:48:42.904Z,1736401722.904 [DAT](INFO): Rx dataTimestamp_ set to:1736401722.903920
2025-01-09T05:48:42.905Z,1736401722.905 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-09T05:48:42.906Z,1736401722.906 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-01-09T05:48:42.907Z,1736401722.907 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=39.581497
2025-01-09T05:48:43.081Z,1736401723.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:43.103Z,1736401723.103 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-01-09T05:48:43.103Z,1736401723.103 [lineCaptureHoming:Lap:D] Stopped
2025-01-09T05:48:43.103Z,1736401723.103 [lineCaptureHoming:Lap:E] Running Loop=1
2025-01-09T05:48:43.103Z,1736401723.103 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-01-09T05:48:43.156Z,1736401723.156 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=39.830074
2025-01-09T05:48:43.409Z,1736401723.409 [DAT](INFO): DAT read: Rx Time:05:48:42.2705 

2025-01-09T05:48:43.410Z,1736401723.410 [DAT](INFO): Rx dataTimestamp_ set to:1736401723.409482
2025-01-09T05:48:43.416Z,1736401723.416 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:48:43.416Z,1736401723.416 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-01-09T05:48:43.417Z,1736401723.417 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=40.091911
2025-01-09T05:48:43.529Z,1736401723.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:43.535Z,1736401723.535 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-01-09T05:48:43.535Z,1736401723.535 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-01-09T05:48:43.535Z,1736401723.535 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-01-09T05:48:43.535Z,1736401723.535 [lineCaptureHoming:restartDHCP:A](IMPORTANT): Restarting DHCP...
2025-01-09T05:48:43.536Z,1736401723.536 [lineCaptureHoming:restartDHCP:A] Stopped
2025-01-09T05:48:43.536Z,1736401723.536 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-01-09T05:48:43.660Z,1736401723.660 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=40.334633
2025-01-09T05:48:43.891Z,1736401723.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:43.898Z,1736401723.898 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-01-09T05:48:43.898Z,1736401723.898 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-01-09T05:48:43.899Z,1736401723.899 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-01-09T05:48:43.899Z,1736401723.899 [lineCaptureHoming:restartDHCP] Stopped
2025-01-09T05:48:43.899Z,1736401723.899 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-01-09T05:48:43.915Z,1736401723.915 [DAT](INFO): DAT read: Rx Time:05:48:42.7706 

2025-01-09T05:48:43.915Z,1736401723.915 [DAT](INFO): Rx dataTimestamp_ set to:1736401723.914942
2025-01-09T05:48:43.917Z,1736401723.917 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:43.918Z,1736401723.918 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-01-09T05:48:43.927Z,1736401723.927 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=40.596886
2025-01-09T05:48:43.945Z,1736401723.945 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-01-09T05:48:44.164Z,1736401724.164 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=40.838856
2025-01-09T05:48:44.412Z,1736401724.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:44.416Z,1736401724.416 [DAT](INFO): DAT read: Rx Time:05:48:43.2705 

2025-01-09T05:48:44.417Z,1736401724.417 [DAT](INFO): Rx dataTimestamp_ set to:1736401724.416555
2025-01-09T05:48:44.418Z,1736401724.418 [DAT](INFO): DAT read: Bearing 175.3, -22.8 (Local)

2025-01-09T05:48:44.419Z,1736401724.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.3, -22.8 (Local)

2025-01-09T05:48:44.422Z,1736401724.422 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:48:44.434Z,1736401724.434 [DAT](INFO): DAT read: 05:48:43.2705 LVL= 10352, 18001, 11154, 15123, AGC= 41, IDX= 511, 0.14, 1.066, 2.323, 1.095, 1.910, PHS=-0.756, 0.461,-0.818, RAW= 332.5,  17.5, CAL= 334.7,  22.8, ROT= 175.3, -22.8

2025-01-09T05:48:44.444Z,1736401724.444 [DAT](INFO): got valid direction response:
 05:48:43.2705 LVL= 10352, 18001, 11154, 15123, AGC= 41, IDX= 511, 0.14, 1.066, 2.323, 1.095, 1.910, PHS=-0.756, 0.461,-0.818, RAW= 332.5,  17.5, CAL= 334.7,  22.8, ROT= 175.3, -22.8

2025-01-09T05:48:44.444Z,1736401724.444 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-01-09T05:48:44.445Z,1736401724.445 [DAT](INFO): direction in FSK: [-0.918763,0.075536,0.387516]
2025-01-09T05:48:44.446Z,1736401724.446 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:44.456Z,1736401724.456 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=41.130085
2025-01-09T05:48:44.470Z,1736401724.470 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-01-09T05:48:44.470Z,1736401724.470 [lineCaptureHoming:Lap:E] Stopped
2025-01-09T05:48:44.470Z,1736401724.470 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-01-09T05:48:44.479Z,1736401724.479 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-01-09T05:48:44.479Z,1736401724.479 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-01-09T05:48:44.480Z,1736401724.480 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-01-09T05:48:44.668Z,1736401724.668 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=41.342670
2025-01-09T05:48:44.782Z,1736401724.782 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-01-09UTC054844_sh
  
2025-01-09T05:48:44.840Z,1736401724.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:44.873Z,1736401724.873 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  8.000000 min 
2025-01-09T05:48:44.873Z,1736401724.873 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-01-09T05:48:44.873Z,1736401724.873 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-01-09T05:48:44.874Z,1736401724.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:48:44.921Z,1736401724.921 [DAT](INFO): DAT read: Rx Time:05:48:43.7706 

2025-01-09T05:48:44.921Z,1736401724.921 [DAT](INFO): Rx dataTimestamp_ set to:1736401724.920933
2025-01-09T05:48:44.926Z,1736401724.926 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:44.927Z,1736401724.927 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-01-09T05:48:44.929Z,1736401724.929 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=41.603035
2025-01-09T05:48:45.120Z,1736401725.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:45.137Z,1736401725.137 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-01-09T05:48:45.137Z,1736401725.137 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-01-09T05:48:45.172Z,1736401725.172 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=41.846413
2025-01-09T05:48:45.434Z,1736401725.434 [DAT](INFO): DAT read: Rx Time:05:48:44.2705 

2025-01-09T05:48:45.436Z,1736401725.436 [DAT](INFO): Rx dataTimestamp_ set to:1736401725.434797
2025-01-09T05:48:45.438Z,1736401725.438 [DAT](INFO): DAT read: Bearing 176.7, -21.6 (Local)

2025-01-09T05:48:45.438Z,1736401725.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.7, -21.6 (Local)

2025-01-09T05:48:45.442Z,1736401725.442 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:48:45.449Z,1736401725.449 [DAT](INFO): DAT read: 05:48:44.2705 LVL= 12432, 18497, 11794, 17075, AGC= 42, IDX= 511, 0.38,-0.285, 1.058,-0.209, 0.582, PHS=-0.779, 0.522,-0.794, RAW= 330.6,  15.8, CAL= 333.3,  21.6, ROT= 176.7, -21.6

2025-01-09T05:48:45.452Z,1736401725.452 [DAT](INFO): got valid direction response:
 05:48:44.2705 LVL= 12432, 18497, 11794, 17075, AGC= 42, IDX= 511, 0.38,-0.285, 1.058,-0.209, 0.582, PHS=-0.779, 0.522,-0.794, RAW= 330.6,  15.8, CAL= 333.3,  21.6, ROT= 176.7, -21.6

2025-01-09T05:48:45.453Z,1736401725.453 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-01-09T05:48:45.455Z,1736401725.455 [DAT](INFO): direction in FSK: [-0.928235,0.053522,0.368125]
2025-01-09T05:48:45.456Z,1736401725.456 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:45.469Z,1736401725.469 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=42.143814
2025-01-09T05:48:45.595Z,1736401725.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:45.617Z,1736401725.617 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-01-09T05:48:45.617Z,1736401725.617 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-01-09T05:48:45.617Z,1736401725.617 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-01-09T05:48:45.617Z,1736401725.617 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-01-09T05:48:45.680Z,1736401725.680 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=42.354160
2025-01-09T05:48:45.924Z,1736401725.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:45.933Z,1736401725.933 [DAT](INFO): DAT read: Rx Time:05:48:44.7706 

2025-01-09T05:48:45.933Z,1736401725.933 [DAT](INFO): Rx dataTimestamp_ set to:1736401725.932698
2025-01-09T05:48:45.934Z,1736401725.934 [DAT](INFO): DAT read: Bearing 175.1, -23.9 (Local)

2025-01-09T05:48:45.935Z,1736401725.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.1, -23.9 (Local)

2025-01-09T05:48:45.937Z,1736401725.937 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:45.942Z,1736401725.942 [DAT](INFO): DAT read: 05:48:44.7706 LVL=  9968, 17633, 10786, 15091, AGC= 41, IDX= 511, 0.28, 1.710, 2.906, 1.733, 2.546, PHS=-0.748, 0.407,-0.815, RAW= 332.8,  19.0, CAL= 334.9,  23.9, ROT= 175.1, -23.9

2025-01-09T05:48:45.944Z,1736401725.944 [DAT](INFO): got valid direction response:
 05:48:44.7706 LVL=  9968, 17633, 10786, 15091, AGC= 41, IDX= 511, 0.28, 1.710, 2.906, 1.733, 2.546, PHS=-0.748, 0.407,-0.815, RAW= 332.8,  19.0, CAL= 334.9,  23.9, ROT= 175.1, -23.9

2025-01-09T05:48:45.945Z,1736401725.945 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-01-09T05:48:45.945Z,1736401725.945 [DAT](INFO): direction in FSK: [-0.910913,0.078093,0.405142]
2025-01-09T05:48:45.946Z,1736401725.946 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:45.955Z,1736401725.955 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=42.624851
2025-01-09T05:48:45.956Z,1736401725.956 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-01-09T05:48:45.957Z,1736401725.957 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-01-09T05:48:46.148Z,1736401726.148 [DockingStepper](INFO): Resume
2025-01-09T05:48:46.185Z,1736401726.185 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=42.859173
2025-01-09T05:48:46.367Z,1736401726.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:46.437Z,1736401726.437 [DAT](INFO): DAT read: Rx Time:05:48:45.2705 

2025-01-09T05:48:46.438Z,1736401726.438 [DAT](INFO): Rx dataTimestamp_ set to:1736401726.437388
2025-01-09T05:48:46.439Z,1736401726.439 [DAT](INFO): DAT read: Bearing 172.9, -24.3 (Local)

2025-01-09T05:48:46.439Z,1736401726.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.9, -24.3 (Local)

2025-01-09T05:48:46.441Z,1736401726.441 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:48:46.446Z,1736401726.446 [DAT](INFO): DAT read: 05:48:45.2705 LVL= 11280, 17905, 11762, 16371, AGC= 42, IDX= 510, 0.17, 2.270,-2.811, 2.221, 3.110, PHS=-0.752, 0.409,-0.891, RAW= 335.6,  19.4, CAL= 337.1,  24.3, ROT= 172.9, -24.3

2025-01-09T05:48:46.447Z,1736401726.447 [DAT](INFO): got valid direction response:
 05:48:45.2705 LVL= 11280, 17905, 11762, 16371, AGC= 42, IDX= 510, 0.17, 2.270,-2.811, 2.221, 3.110, PHS=-0.752, 0.409,-0.891, RAW= 335.6,  19.4, CAL= 337.1,  24.3, ROT= 172.9, -24.3

2025-01-09T05:48:46.448Z,1736401726.448 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-01-09T05:48:46.449Z,1736401726.449 [DAT](INFO): direction in FSK: [-0.904415,0.112651,0.411514]
2025-01-09T05:48:46.449Z,1736401726.449 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:46.483Z,1736401726.483 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=43.157421
2025-01-09T05:48:46.483Z,1736401726.483 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-01-09T05:48:46.515Z,1736401726.515 [DockingStepper](INFO): Resuming
2025-01-09T05:48:46.688Z,1736401726.688 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=43.362080
2025-01-09T05:48:46.688Z,1736401726.688 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-01-09T05:48:46.780Z,1736401726.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:46.799Z,1736401726.799 [DockingStepper](INFO): Start
2025-01-09T05:48:46.799Z,1736401726.799 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-09T05:48:46.916Z,1736401726.916 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-09T05:48:46.940Z,1736401726.940 [DAT](INFO): DAT read: Rx Time:05:48:45.7706 

2025-01-09T05:48:46.940Z,1736401726.940 [DAT](INFO): Rx dataTimestamp_ set to:1736401726.940117
2025-01-09T05:48:46.941Z,1736401726.941 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:46.943Z,1736401726.943 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-01-09T05:48:46.944Z,1736401726.944 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=43.618759
2025-01-09T05:48:46.944Z,1736401726.944 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-01-09T05:48:47.121Z,1736401727.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:47.192Z,1736401727.192 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=43.866234
2025-01-09T05:48:47.299Z,1736401727.299 [DockingStepper](INFO): Starting
2025-01-09T05:48:47.448Z,1736401727.448 [DAT](INFO): DAT read: Rx Time:05:48:46.2706 

2025-01-09T05:48:47.449Z,1736401727.449 [DAT](INFO): Rx dataTimestamp_ set to:1736401727.448118
2025-01-09T05:48:47.453Z,1736401727.453 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:47.456Z,1736401727.456 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-01-09T05:48:47.459Z,1736401727.459 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=44.132912
2025-01-09T05:48:47.573Z,1736401727.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:47.635Z,1736401727.635 [DockingStepper](INFO): Starting
2025-01-09T05:48:47.696Z,1736401727.696 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=44.370060
2025-01-09T05:48:47.925Z,1736401727.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:47.956Z,1736401727.956 [DAT](INFO): DAT read: Rx Time:05:48:46.7707 

2025-01-09T05:48:47.957Z,1736401727.957 [DAT](INFO): Rx dataTimestamp_ set to:1736401727.956281
2025-01-09T05:48:47.958Z,1736401727.958 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-09T05:48:47.958Z,1736401727.958 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-01-09T05:48:47.961Z,1736401727.961 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.635250
2025-01-09T05:48:48.103Z,1736401728.103 [DockingStepper](INFO): Starting
2025-01-09T05:48:48.155Z,1736401728.155 [DockingStepper](INFO): Init string: /1z16337aE13561N3m50
2025-01-09T05:48:48.209Z,1736401728.209 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.882866
2025-01-09T05:48:48.364Z,1736401728.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:48.464Z,1736401728.464 [DAT](INFO): DAT read: Rx Time:05:48:47.2706 

2025-01-09T05:48:48.466Z,1736401728.466 [DAT](INFO): Rx dataTimestamp_ set to:1736401728.464583
2025-01-09T05:48:48.467Z,1736401728.467 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:48.468Z,1736401728.468 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-01-09T05:48:48.469Z,1736401728.469 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=45.143272
2025-01-09T05:48:48.615Z,1736401728.615 [DockingStepper](INFO): Starting
2025-01-09T05:48:48.712Z,1736401728.712 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=45.386677
2025-01-09T05:48:48.869Z,1736401728.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:48.902Z,1736401728.902 [DockingStepper](INFO): Starting
2025-01-09T05:48:48.964Z,1736401728.964 [DAT](INFO): DAT read: Rx Time:05:48:47.7707 

2025-01-09T05:48:48.964Z,1736401728.964 [DAT](INFO): Rx dataTimestamp_ set to:1736401728.963960
2025-01-09T05:48:48.965Z,1736401728.965 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-09T05:48:48.966Z,1736401728.966 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-01-09T05:48:48.967Z,1736401728.967 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.641502
2025-01-09T05:48:49.180Z,1736401729.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:49.199Z,1736401729.199 [DockingStepper](INFO): Starting
2025-01-09T05:48:49.216Z,1736401729.216 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.890804
2025-01-09T05:48:49.475Z,1736401729.475 [DAT](INFO): DAT read: Rx Time:05:48:48.2706 

2025-01-09T05:48:49.477Z,1736401729.477 [DAT](INFO): Rx dataTimestamp_ set to:1736401729.475615
2025-01-09T05:48:49.482Z,1736401729.482 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:49.496Z,1736401729.496 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-01-09T05:48:49.497Z,1736401729.497 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=46.171364
2025-01-09T05:48:49.621Z,1736401729.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:49.639Z,1736401729.639 [DockingStepper](INFO): Starting
2025-01-09T05:48:49.671Z,1736401729.671 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-09T05:48:49.720Z,1736401729.720 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=46.394249
2025-01-09T05:48:49.972Z,1736401729.972 [DAT](INFO): DAT read: Rx Time:05:48:48.7706 

2025-01-09T05:48:49.973Z,1736401729.973 [DAT](INFO): Rx dataTimestamp_ set to:1736401729.972663
2025-01-09T05:48:49.974Z,1736401729.974 [DAT](INFO): DAT read: Bearing 153.6, -15.1 (Local)

2025-01-09T05:48:49.975Z,1736401729.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.6, -15.1 (Local)

2025-01-09T05:48:49.978Z,1736401729.978 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:49.982Z,1736401729.982 [DAT](INFO): DAT read: 05:48:48.7706 LVL= 14688, 13665, 13138, 17395, AGC= 41, IDX= 509,-0.17,-1.282, 0.050,-2.211,-0.764, PHS=-0.430, 0.862,-1.450, RAW= 356.1,  10.2, CAL= 356.4,  15.1, ROT= 153.6, -15.1

2025-01-09T05:48:49.983Z,1736401729.983 [DAT](INFO): got valid direction response:
 05:48:48.7706 LVL= 14688, 13665, 13138, 17395, AGC= 41, IDX= 509,-0.17,-1.282, 0.050,-2.211,-0.764, PHS=-0.430, 0.862,-1.450, RAW= 356.1,  10.2, CAL= 356.4,  15.1, ROT= 153.6, -15.1

2025-01-09T05:48:49.984Z,1736401729.984 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-01-09T05:48:49.985Z,1736401729.985 [DAT](INFO): direction in FSK: [-0.864785,0.429283,0.260505]
2025-01-09T05:48:49.985Z,1736401729.985 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:49.989Z,1736401729.989 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.663452
2025-01-09T05:48:50.079Z,1736401730.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:50.224Z,1736401730.224 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.898151
2025-01-09T05:48:50.267Z,1736401730.267 [DockingStepper](INFO): Starting
2025-01-09T05:48:50.481Z,1736401730.481 [DAT](INFO): DAT read: Rx Time:05:48:49.2706 

2025-01-09T05:48:50.483Z,1736401730.483 [DAT](INFO): Rx dataTimestamp_ set to:1736401730.481449
2025-01-09T05:48:50.488Z,1736401730.488 [DAT](INFO): DAT read: Bearing 161.2, -19.3 (Local)

2025-01-09T05:48:50.490Z,1736401730.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.2, -19.3 (Local)

2025-01-09T05:48:50.497Z,1736401730.497 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:50.547Z,1736401730.547 [DAT](INFO): DAT read: 05:48:49.2706 LVL= 12928, 14225, 13810, 18595, AGC= 40, IDX= 508,-0.04, 3.024,-2.054, 2.596,-2.628, PHS=-0.543, 0.621,-1.061, RAW= 347.5,  13.1, CAL= 348.8,  19.3, ROT= 161.2, -19.3

2025-01-09T05:48:50.548Z,1736401730.548 [DAT](INFO): got valid direction response:
 05:48:49.2706 LVL= 12928, 14225, 13810, 18595, AGC= 40, IDX= 508,-0.04, 3.024,-2.054, 2.596,-2.628, PHS=-0.543, 0.621,-1.061, RAW= 347.5,  13.1, CAL= 348.8,  19.3, ROT= 161.2, -19.3

2025-01-09T05:48:50.549Z,1736401730.549 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-01-09T05:48:50.550Z,1736401730.550 [DAT](INFO): direction in FSK: [-0.893448,0.304155,0.330514]
2025-01-09T05:48:50.550Z,1736401730.550 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:50.566Z,1736401730.566 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.240353
2025-01-09T05:48:50.625Z,1736401730.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:50.728Z,1736401730.728 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.402523
2025-01-09T05:48:50.818Z,1736401730.818 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T05:48:50.818Z,1736401730.818 [DockingStepper](INFO): Standby mode.
2025-01-09T05:48:50.932Z,1736401730.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:50.980Z,1736401730.980 [DAT](INFO): DAT read: Rx Time:05:48:49.7707 

2025-01-09T05:48:50.981Z,1736401730.981 [DAT](INFO): Rx dataTimestamp_ set to:1736401730.980571
2025-01-09T05:48:50.982Z,1736401730.982 [DAT](INFO): DAT read: Bearing 164.6, -18.6 (Local)

2025-01-09T05:48:50.982Z,1736401730.982 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.6, -18.6 (Local)

2025-01-09T05:48:50.984Z,1736401730.984 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-09T05:48:50.989Z,1736401730.989 [DAT](INFO): DAT read: 05:48:49.7707 LVL= 12320, 15473, 14530, 18723, AGC= 39, IDX= 509, 0.07,-2.295,-1.139,-2.581,-1.674, PHS=-0.534, 0.582,-0.911, RAW= 344.0,  12.8, CAL= 345.4,  18.6, ROT= 164.6, -18.6

2025-01-09T05:48:50.990Z,1736401730.990 [DAT](INFO): got valid direction response:
 05:48:49.7707 LVL= 12320, 15473, 14530, 18723, AGC= 39, IDX= 509, 0.07,-2.295,-1.139,-2.581,-1.674, PHS=-0.534, 0.582,-0.911, RAW= 344.0,  12.8, CAL= 345.4,  18.6, ROT= 164.6, -18.6

2025-01-09T05:48:50.991Z,1736401730.991 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-01-09T05:48:50.992Z,1736401730.992 [DAT](INFO): direction in FSK: [-0.913739,0.251686,0.318959]
2025-01-09T05:48:50.992Z,1736401730.992 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:51.025Z,1736401731.025 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=47.692886
2025-01-09T05:48:51.232Z,1736401731.232 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=47.906273
2025-01-09T05:48:51.392Z,1736401731.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:51.489Z,1736401731.489 [DAT](INFO): DAT read: Rx Time:05:48:50.2706 

2025-01-09T05:48:51.492Z,1736401731.492 [DAT](INFO): Rx dataTimestamp_ set to:1736401731.490015
2025-01-09T05:48:51.496Z,1736401731.496 [DAT](INFO): DAT read: Bearing 177.9, -51.6 (Local)

2025-01-09T05:48:51.497Z,1736401731.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.9, -51.6 (Local)

2025-01-09T05:48:51.509Z,1736401731.509 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:51.533Z,1736401731.533 [DAT](INFO): DAT read: 05:48:50.2706 LVL= 13200, 16113, 12098, 15507, AGC= 40, IDX= 505,-0.36,-0.713, 0.102,-0.648, 0.573, PHS=-1.198,-0.424,-1.224, RAW= 331.6,  51.9, CAL= 332.1,  51.6, ROT= 177.9, -51.6

2025-01-09T05:48:51.534Z,1736401731.534 [DAT](INFO): got valid direction response:
 05:48:50.2706 LVL= 13200, 16113, 12098, 15507, AGC= 40, IDX= 505,-0.36,-0.713, 0.102,-0.648, 0.573, PHS=-1.198,-0.424,-1.224, RAW= 331.6,  51.9, CAL= 332.1,  51.6, ROT= 177.9, -51.6

2025-01-09T05:48:51.534Z,1736401731.534 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-01-09T05:48:51.541Z,1736401731.541 [DAT](INFO): direction in FSK: [-0.620731,0.022761,0.783693]
2025-01-09T05:48:51.541Z,1736401731.541 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:51.561Z,1736401731.561 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.235966
2025-01-09T05:48:51.737Z,1736401731.737 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.410957
2025-01-09T05:48:51.783Z,1736401731.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:51.989Z,1736401731.989 [DAT](INFO): DAT read: Rx Time:05:48:50.7707 

2025-01-09T05:48:51.989Z,1736401731.989 [DAT](INFO): Rx dataTimestamp_ set to:1736401731.988914
2025-01-09T05:48:51.991Z,1736401731.991 [DAT](INFO): DAT read: Bearing 201.7, -40.5 (Local)

2025-01-09T05:48:51.991Z,1736401731.991 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.7, -40.5 (Local)

2025-01-09T05:48:51.994Z,1736401731.994 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-09T05:48:51.999Z,1736401731.999 [DAT](INFO): DAT read: 05:48:50.7707 LVL= 15680, 17937, 13986, 18163, AGC= 40, IDX= 506,-0.30,-0.365, 1.232, 0.524, 1.578, PHS=-1.855,-0.298,-1.057, RAW= 299.2,  40.1, CAL= 308.3,  40.5, ROT= 201.7, -40.5

2025-01-09T05:48:52.001Z,1736401732.001 [DAT](INFO): got valid direction response:
 05:48:50.7707 LVL= 15680, 17937, 13986, 18163, AGC= 40, IDX= 506,-0.30,-0.365, 1.232, 0.524, 1.578, PHS=-1.855,-0.298,-1.057, RAW= 299.2,  40.1, CAL= 308.3,  40.5, ROT= 201.7, -40.5

2025-01-09T05:48:52.001Z,1736401732.001 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-01-09T05:48:52.002Z,1736401732.002 [DAT](INFO): direction in FSK: [-0.706518,-0.281158,0.649448]
2025-01-09T05:48:52.002Z,1736401732.002 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:52.006Z,1736401732.006 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.680138
2025-01-09T05:48:52.160Z,1736401732.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:52.241Z,1736401732.241 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.915279
2025-01-09T05:48:52.500Z,1736401732.500 [DAT](INFO): DAT read: Rx Time:05:48:51.2706 

2025-01-09T05:48:52.502Z,1736401732.502 [DAT](INFO): Rx dataTimestamp_ set to:1736401732.501061
2025-01-09T05:48:52.506Z,1736401732.506 [DAT](INFO): DAT read: Bearing 205.8, -37.9 (Local)

2025-01-09T05:48:52.507Z,1736401732.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.8, -37.9 (Local)

2025-01-09T05:48:52.535Z,1736401732.535 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:52.556Z,1736401732.556 [DAT](INFO): DAT read: 05:48:51.2706 LVL= 16624, 19761, 14642, 19219, AGC= 40, IDX= 505,-0.26,-1.156, 0.637,-0.040, 0.912, PHS=-1.981,-0.229,-0.955, RAW= 294.4,  36.3, CAL= 304.2,  37.9, ROT= 205.8, -37.9

2025-01-09T05:48:52.558Z,1736401732.558 [DAT](INFO): got valid direction response:
 05:48:51.2706 LVL= 16624, 19761, 14642, 19219, AGC= 40, IDX= 505,-0.26,-1.156, 0.637,-0.040, 0.912, PHS=-1.981,-0.229,-0.955, RAW= 294.4,  36.3, CAL= 304.2,  37.9, ROT= 205.8, -37.9

2025-01-09T05:48:52.575Z,1736401732.575 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-01-09T05:48:52.577Z,1736401732.577 [DAT](INFO): direction in FSK: [-0.710427,-0.343434,0.614285]
2025-01-09T05:48:52.577Z,1736401732.577 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:52.589Z,1736401732.589 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.263924
2025-01-09T05:48:52.646Z,1736401732.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:52.746Z,1736401732.746 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.420147
2025-01-09T05:48:52.977Z,1736401732.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:52.996Z,1736401732.996 [DAT](INFO): DAT read: Rx Time:05:48:51.7703 

2025-01-09T05:48:52.997Z,1736401732.997 [DAT](INFO): Rx dataTimestamp_ set to:1736401732.996493
2025-01-09T05:48:52.998Z,1736401732.998 [DAT](INFO): DAT read: Bearing 210.3, -35.9 (Local)

2025-01-09T05:48:52.998Z,1736401732.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.3, -35.9 (Local)

2025-01-09T05:48:53.000Z,1736401733.000 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-01-09T05:48:53.006Z,1736401733.006 [DAT](INFO): DAT read: 05:48:51.7703 LVL= 18672, 19825, 15746, 19555, AGC= 39, IDX= 505,-0.20,-1.504, 0.610,-0.043, 0.858, PHS=-2.274,-0.201,-0.904, RAW= 289.5,  33.2, CAL= 299.7,  35.9, ROT= 210.3, -35.9

2025-01-09T05:48:53.007Z,1736401733.007 [DAT](INFO): got valid direction response:
 05:48:51.7703 LVL= 18672, 19825, 15746, 19555, AGC= 39, IDX= 505,-0.20,-1.504, 0.610,-0.043, 0.858, PHS=-2.274,-0.201,-0.904, RAW= 289.5,  33.2, CAL= 299.7,  35.9, ROT= 210.3, -35.9

2025-01-09T05:48:53.007Z,1736401733.007 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-01-09T05:48:53.008Z,1736401733.008 [DAT](INFO): direction in FSK: [-0.699386,-0.408688,0.586372]
2025-01-09T05:48:53.009Z,1736401733.009 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:53.043Z,1736401733.043 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.700954
2025-01-09T05:48:53.248Z,1736401733.248 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.922256
2025-01-09T05:48:53.389Z,1736401733.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:53.504Z,1736401733.504 [DAT](INFO): DAT read: Rx Time:05:48:52.2702 

2025-01-09T05:48:53.506Z,1736401733.506 [DAT](INFO): Rx dataTimestamp_ set to:1736401733.504625
2025-01-09T05:48:53.510Z,1736401733.510 [DAT](INFO): DAT read: Bearing 210.0, -35.1 (Local)

2025-01-09T05:48:53.511Z,1736401733.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.0, -35.1 (Local)

2025-01-09T05:48:53.527Z,1736401733.527 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-01-09T05:48:53.567Z,1736401733.567 [DAT](INFO): DAT read: 05:48:52.2702 LVL= 17024, 20273, 14034, 17619, AGC= 39, IDX= 504,-0.17,-2.747,-0.677,-1.334,-0.485, PHS=-2.174,-0.145,-0.852, RAW= 290.1,  32.1, CAL= 300.0,  35.1, ROT= 210.0, -35.1

2025-01-09T05:48:53.568Z,1736401733.568 [DAT](INFO): got valid direction response:
 05:48:52.2702 LVL= 17024, 20273, 14034, 17619, AGC= 39, IDX= 504,-0.17,-2.747,-0.677,-1.334,-0.485, PHS=-2.174,-0.145,-0.852, RAW= 290.1,  32.1, CAL= 300.0,  35.1, ROT= 210.0, -35.1

2025-01-09T05:48:53.568Z,1736401733.568 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-01-09T05:48:53.570Z,1736401733.570 [DAT](INFO): direction in FSK: [-0.708538,-0.409075,0.575005]
2025-01-09T05:48:53.575Z,1736401733.575 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:53.591Z,1736401733.591 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.265411
2025-01-09T05:48:53.752Z,1736401733.752 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.426582
2025-01-09T05:48:53.886Z,1736401733.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:54.004Z,1736401734.004 [DAT](INFO): DAT read: Rx Time:05:48:52.7703 

2025-01-09T05:48:54.005Z,1736401734.005 [DAT](INFO): Rx dataTimestamp_ set to:1736401734.004644
2025-01-09T05:48:54.008Z,1736401734.008 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-01-09T05:48:54.009Z,1736401734.009 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-01-09T05:48:54.011Z,1736401734.011 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.685665
2025-01-09T05:48:54.179Z,1736401734.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:54.256Z,1736401734.256 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.930687
2025-01-09T05:48:54.511Z,1736401734.511 [DAT](INFO): DAT read: Rx Time:05:48:53.2702 

2025-01-09T05:48:54.513Z,1736401734.513 [DAT](INFO): Rx dataTimestamp_ set to:1736401734.511804
2025-01-09T05:48:54.517Z,1736401734.517 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-01-09T05:48:54.519Z,1736401734.519 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-01-09T05:48:54.523Z,1736401734.523 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.196308
2025-01-09T05:48:54.667Z,1736401734.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:54.761Z,1736401734.761 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.435459
2025-01-09T05:48:54.964Z,1736401734.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:55.012Z,1736401735.012 [DAT](INFO): DAT read: Rx Time:05:48:53.7703 

2025-01-09T05:48:55.012Z,1736401735.012 [DAT](INFO): Rx dataTimestamp_ set to:1736401735.011985
2025-01-09T05:48:55.013Z,1736401735.013 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-01-09T05:48:55.014Z,1736401735.014 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-01-09T05:48:55.015Z,1736401735.015 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=51.689522
2025-01-09T05:48:55.264Z,1736401735.264 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=51.938190
2025-01-09T05:48:55.372Z,1736401735.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:55.519Z,1736401735.519 [DAT](INFO): DAT read: Rx Time:05:48:54.2702 

2025-01-09T05:48:55.521Z,1736401735.521 [DAT](INFO): Rx dataTimestamp_ set to:1736401735.519565
2025-01-09T05:48:55.527Z,1736401735.527 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-01-09T05:48:55.529Z,1736401735.529 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-01-09T05:48:55.532Z,1736401735.532 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=52.206421
2025-01-09T05:48:55.768Z,1736401735.768 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=52.442020
2025-01-09T05:48:55.828Z,1736401735.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:56.020Z,1736401736.020 [DAT](INFO): DAT read: Rx Time:05:48:54.7703 

2025-01-09T05:48:56.021Z,1736401736.021 [DAT](INFO): Rx dataTimestamp_ set to:1736401736.020653
2025-01-09T05:48:56.023Z,1736401736.023 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-01-09T05:48:56.024Z,1736401736.024 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-01-09T05:48:56.027Z,1736401736.027 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=52.700073
2025-01-09T05:48:56.180Z,1736401736.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:56.273Z,1736401736.273 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=52.946930
2025-01-09T05:48:56.527Z,1736401736.527 [DAT](INFO): DAT read: Rx Time:05:48:55.2703 

2025-01-09T05:48:56.529Z,1736401736.529 [DAT](INFO): Rx dataTimestamp_ set to:1736401736.527360
2025-01-09T05:48:56.533Z,1736401736.533 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-01-09T05:48:56.536Z,1736401736.536 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-01-09T05:48:56.540Z,1736401736.540 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=53.213814
2025-01-09T05:48:56.687Z,1736401736.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:56.777Z,1736401736.777 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=53.450863
2025-01-09T05:48:57.028Z,1736401737.028 [DAT](INFO): DAT read: Rx Time:05:48:55.7707 

2025-01-09T05:48:57.029Z,1736401737.029 [DAT](INFO): Rx dataTimestamp_ set to:1736401737.028393
2025-01-09T05:48:57.030Z,1736401737.030 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-09T05:48:57.031Z,1736401737.031 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-01-09T05:48:57.032Z,1736401737.032 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=53.706600
2025-01-09T05:48:57.112Z,1736401737.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:57.280Z,1736401737.280 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=53.954082
2025-01-09T05:48:57.506Z,1736401737.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:57.533Z,1736401737.533 [DAT](INFO): DAT read: Rx Time:05:48:56.2706 

2025-01-09T05:48:57.534Z,1736401737.534 [DAT](INFO): Rx dataTimestamp_ set to:1736401737.533277
2025-01-09T05:48:57.535Z,1736401737.535 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:57.535Z,1736401737.535 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-01-09T05:48:57.536Z,1736401737.536 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=54.210815
2025-01-09T05:48:57.785Z,1736401737.785 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=54.459160
2025-01-09T05:48:57.968Z,1736401737.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:58.037Z,1736401738.037 [DAT](INFO): DAT read: Rx Time:05:48:56.7707 

2025-01-09T05:48:58.037Z,1736401738.037 [DAT](INFO): Rx dataTimestamp_ set to:1736401738.036693
2025-01-09T05:48:58.039Z,1736401738.039 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-09T05:48:58.040Z,1736401738.040 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-01-09T05:48:58.041Z,1736401738.041 [DAT](INFO): ****** received valid address query ******
2025-01-09T05:48:58.041Z,1736401738.041 [DAT](INFO): ****** received valid ping request ******
2025-01-09T05:48:58.041Z,1736401738.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:48:58.044Z,1736401738.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T05:48:58.288Z,1736401738.288 [DAT](INFO): Reached modem response timeout
2025-01-09T05:48:58.288Z,1736401738.288 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:48:58.288Z,1736401738.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:48:58.356Z,1736401738.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:58.540Z,1736401738.540 [DAT](INFO): DAT read: Rx Time:05:48:57.2705 

2025-01-09T05:48:58.540Z,1736401738.540 [DAT](INFO): Rx dataTimestamp_ set to:1736401738.539990
2025-01-09T05:48:58.541Z,1736401738.541 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:48:58.544Z,1736401738.544 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:48:58.549Z,1736401738.549 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:48:58.550Z,1736401738.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:48:58.793Z,1736401738.793 [DAT](INFO): Reached modem response timeout
2025-01-09T05:48:58.794Z,1736401738.794 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:48:58.794Z,1736401738.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:48:58.873Z,1736401738.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:59.045Z,1736401739.045 [DAT](INFO): DAT read: Rx Time:05:48:57.7706 

2025-01-09T05:48:59.045Z,1736401739.045 [DAT](INFO): Rx dataTimestamp_ set to:1736401739.044876
2025-01-09T05:48:59.047Z,1736401739.047 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:48:59.048Z,1736401739.048 [DAT](INFO): DAT read: Bearing 178.1, -19.7 (Local)

2025-01-09T05:48:59.048Z,1736401739.048 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.1, -19.7 (Local)

2025-01-09T05:48:59.050Z,1736401739.050 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:48:59.055Z,1736401739.055 [DAT](INFO): DAT read: 05:48:57.7706 LVL= 11984, 17073, 10690, 16019, AGC= 41, IDX= 510,-0.08,-0.329, 1.034,-0.204, 0.505, PHS=-0.747, 0.576,-0.712, RAW= 328.7,  13.4, CAL= 331.9,  19.7, ROT= 178.1, -19.7

2025-01-09T05:48:59.056Z,1736401739.056 [DAT](INFO): got valid direction response:
 05:48:57.7706 LVL= 11984, 17073, 10690, 16019, AGC= 41, IDX= 510,-0.08,-0.329, 1.034,-0.204, 0.505, PHS=-0.747, 0.576,-0.712, RAW= 328.7,  13.4, CAL= 331.9,  19.7, ROT= 178.1, -19.7

2025-01-09T05:48:59.056Z,1736401739.056 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:48:59.057Z,1736401739.057 [DAT](INFO): direction in FSK: [-0.940953,0.031214,0.337095]
2025-01-09T05:48:59.057Z,1736401739.057 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:59.062Z,1736401739.062 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:48:59.062Z,1736401739.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:48:59.188Z,1736401739.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:59.295Z,1736401739.295 [DAT](INFO): Reached modem response timeout
2025-01-09T05:48:59.296Z,1736401739.296 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:48:59.296Z,1736401739.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:48:59.548Z,1736401739.548 [DAT](INFO): DAT read: Rx Time:05:48:58.2705 

2025-01-09T05:48:59.549Z,1736401739.549 [DAT](INFO): Rx dataTimestamp_ set to:1736401739.548423
2025-01-09T05:48:59.550Z,1736401739.550 [DAT](INFO): DAT read: Bearing 176.5, -20.1 (Local)

2025-01-09T05:48:59.550Z,1736401739.550 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.5, -20.1 (Local)

2025-01-09T05:48:59.552Z,1736401739.552 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:48:59.558Z,1736401739.558 [DAT](INFO): DAT read: 05:48:58.2705 LVL= 13072, 17745, 11762, 17331, AGC= 42, IDX= 509,-0.04,-1.662,-0.297,-1.589,-0.828, PHS=-0.745, 0.578,-0.764, RAW= 330.7,  13.9, CAL= 333.5,  20.1, ROT= 176.5, -20.1

2025-01-09T05:48:59.562Z,1736401739.562 [DAT](INFO): got valid direction response:
 05:48:58.2705 LVL= 13072, 17745, 11762, 17331, AGC= 42, IDX= 509,-0.04,-1.662,-0.297,-1.589,-0.828, PHS=-0.745, 0.578,-0.764, RAW= 330.7,  13.9, CAL= 333.5,  20.1, ROT= 176.5, -20.1

2025-01-09T05:48:59.567Z,1736401739.567 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:48:59.568Z,1736401739.568 [DAT](INFO): direction in FSK: [-0.937343,0.057330,0.343660]
2025-01-09T05:48:59.568Z,1736401739.568 [DAT](INFO): publishing direction and range info
2025-01-09T05:48:59.572Z,1736401739.572 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:48:59.572Z,1736401739.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:48:59.660Z,1736401739.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:48:59.800Z,1736401739.800 [DAT](INFO): Reached modem response timeout
2025-01-09T05:48:59.800Z,1736401739.800 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:48:59.801Z,1736401739.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:48:59.999Z,1736401739.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:00.053Z,1736401740.053 [DAT](INFO): DAT read: Rx Time:05:48:58.7706 

2025-01-09T05:49:00.054Z,1736401740.054 [DAT](INFO): Rx dataTimestamp_ set to:1736401740.053523
2025-01-09T05:49:00.056Z,1736401740.056 [DAT](INFO): DAT read: Bearing 176.5, -21.0 (Local)

2025-01-09T05:49:00.056Z,1736401740.056 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.5, -21.0 (Local)

2025-01-09T05:49:00.061Z,1736401740.061 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:49:00.066Z,1736401740.066 [DAT](INFO): DAT read: 05:48:58.7706 LVL= 12592, 17521, 12018, 16883, AGC= 42, IDX= 510,-0.06, 0.044, 1.479, 0.113, 0.945, PHS=-0.813, 0.580,-0.836, RAW= 330.8,  15.1, CAL= 333.5,  21.0, ROT= 176.5, -21.0

2025-01-09T05:49:00.072Z,1736401740.072 [DAT](INFO): got valid direction response:
 05:48:58.7706 LVL= 12592, 17521, 12018, 16883, AGC= 42, IDX= 510,-0.06, 0.044, 1.479, 0.113, 0.945, PHS=-0.813, 0.580,-0.836, RAW= 330.8,  15.1, CAL= 333.5,  21.0, ROT= 176.5, -21.0

2025-01-09T05:49:00.073Z,1736401740.073 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:49:00.074Z,1736401740.074 [DAT](INFO): direction in FSK: [-0.931839,0.056994,0.358368]
2025-01-09T05:49:00.074Z,1736401740.074 [DAT](INFO): publishing direction and range info
2025-01-09T05:49:00.082Z,1736401740.082 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:00.087Z,1736401740.087 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:00.304Z,1736401740.304 [DAT](INFO): Reached modem response timeout
2025-01-09T05:49:00.304Z,1736401740.304 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:00.305Z,1736401740.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:00.403Z,1736401740.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:00.556Z,1736401740.556 [DAT](INFO): DAT read: Rx Time:05:4859270 

2025-01-09T05:49:00.557Z,1736401740.557 [DAT](INFO): Rx dataTimestamp_ set to:1736401740.556287
2025-01-09T05:49:00.561Z,1736401740.561 [DAT](INFO): DAT read: Bearing 173.9, -22.1 (Local)

2025-01-09T05:49:00.562Z,1736401740.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.9, -22.1 (Local)

2025-01-09T05:49:00.564Z,1736401740.564 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:49:00.569Z,1736401740.569 [DAT](INFO): DAT read: 05:48:59.2705 LVL= 11456, 17905, 12178, 16115, AGC= 42, IDX= 509,-0.14, 0.703, 2.080, 0.681, 1.592, PHS=-0.801, 0.535,-0.914, RAW= 334.0,  16.6, CAL= 336.1,  22.1, ROT= 173.9, -22.1

2025-01-09T05:49:00.570Z,1736401740.570 [DAT](INFO): got valid direction response:
 05:48:59.2705 LVL= 11456, 17905, 12178, 16115, AGC= 42, IDX= 509,-0.14, 0.703, 2.080, 0.681, 1.592, PHS=-0.801, 0.535,-0.914, RAW= 334.0,  16.6, CAL= 336.1,  22.1, ROT= 173.9, -22.1

2025-01-09T05:49:00.570Z,1736401740.570 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:49:00.571Z,1736401740.571 [DAT](INFO): direction in FSK: [-0.921283,0.098457,0.376224]
2025-01-09T05:49:00.572Z,1736401740.572 [DAT](INFO): publishing direction and range info
2025-01-09T05:49:00.576Z,1736401740.576 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:00.577Z,1736401740.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:00.811Z,1736401740.811 [DAT](INFO): DAT read: Rx Time:05:48:59.7705 

2025-01-09T05:49:00.813Z,1736401740.813 [DAT](INFO): Rx dataTimestamp_ set to:1736401740.811940
2025-01-09T05:49:00.813Z,1736401740.813 [DAT](INFO): Reached modem response timeout
2025-01-09T05:49:00.814Z,1736401740.814 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:00.818Z,1736401740.818 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:00.867Z,1736401740.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:01.061Z,1736401741.061 [DAT](INFO): DAT read: Bearing 173.0, -23.9 (Local)

2025-01-09T05:49:01.062Z,1736401741.062 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.0, -23.9 (Local)

2025-01-09T05:49:01.063Z,1736401741.063 [DAT](INFO): DAT read: Range 10 to 50 :    . m (trip time 1.3 ms) speed 0.0

2025-01-09T05:49:01.064Z,1736401741.064 [DAT](INFO): unknown deviceResponse_: Range 10 to 50 :    . m (trip time 1.3 ms) speed 0.0

2025-01-09T05:49:01.068Z,1736401741.068 [DAT](INFO): DAT read: 05:48:59.7705 LVL= 10144, 17985, 11250, 15155, AGC= 41, IDX= 509,-0.22, 1.897,-3.096, 1.845, 2.782, PHS=-0.797, 0.452,-0.940, RAW= 335.4,  18.9, CAL= 337.0,  23.9, ROT= 173.0, -23.9

2025-01-09T05:49:01.069Z,1736401741.069 [DAT](INFO): got valid direction response:
 05:48:59.7705 LVL= 10144, 17985, 11250, 15155, AGC= 41, IDX= 509,-0.22, 1.897,-3.096, 1.845, 2.782, PHS=-0.797, 0.452,-0.940, RAW= 335.4,  18.9, CAL= 337.0,  23.9, ROT= 173.0, -23.9

2025-01-09T05:49:01.069Z,1736401741.069 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-09T05:49:01.071Z,1736401741.071 [DAT](INFO): direction in FSK: [-0.907439,0.111419,0.405142]
2025-01-09T05:49:01.074Z,1736401741.074 [DAT](INFO): Reached modem response timeout
2025-01-09T05:49:01.074Z,1736401741.074 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:01.075Z,1736401741.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:01.188Z,1736401741.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:01.315Z,1736401741.315 [DAT](INFO): DAT read: Rx Time:05:49:00.2704 

2025-01-09T05:49:01.316Z,1736401741.316 [DAT](INFO): Rx dataTimestamp_ set to:1736401741.315264
2025-01-09T05:49:01.319Z,1736401741.319 [DAT](INFO): DAT read: Bearing 171.7, -24.3 (Local)

2025-01-09T05:49:01.320Z,1736401741.320 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.7, -24.3 (Local)

2025-01-09T05:49:01.321Z,1736401741.321 [DAT](INFO): Reached modem response timeout
2025-01-09T05:49:01.322Z,1736401741.322 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:01.323Z,1736401741.323 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:01.565Z,1736401741.565 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2msspeed 0.0

2025-01-09T05:49:01.569Z,1736401741.569 [DAT](INFO): DAT read: 05:49:00.2704 LVL= 11360, 18337, 11618, 16963, AGC= 42, IDX= 508,-0.27, 1.784, 3.063, 1.684, 2.671, PHS=-0.799, 0.439,-0.990, RAW= 337.1,  19.6, CAL= 338.3,  24.3, ROT= 171.7, -24.3

2025-01-09T05:49:01.571Z,1736401741.571 [DAT](INFO): got valid direction response:
 05:49:00.2704 LVL= 11360, 18337, 11618, 16963, AGC= 42, IDX= 508,-0.27, 1.784, 3.063, 1.684, 2.671, PHS=-0.799, 0.439,-0.990, RAW= 337.1,  19.6, CAL= 338.3,  24.3, ROT= 171.7, -24.3

2025-01-09T05:49:01.571Z,1736401741.571 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:49:01.572Z,1736401741.572 [DAT](INFO): direction in FSK: [-0.901857,0.131567,0.411514]
2025-01-09T05:49:01.572Z,1736401741.572 [DAT](INFO): publishing direction and range info
2025-01-09T05:49:01.575Z,1736401741.575 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:01.576Z,1736401741.576 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:01.602Z,1736401741.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:01.820Z,1736401741.820 [DAT](INFO): DAT read: Rx Time:05:49:00.7705 

2025-01-09T05:49:01.821Z,1736401741.821 [DAT](INFO): Rx dataTimestamp_ set to:1736401741.820598
2025-01-09T05:49:01.822Z,1736401741.822 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:49:01.823Z,1736401741.823 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:49:01.824Z,1736401741.824 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:01.824Z,1736401741.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:02.034Z,1736401742.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:02.067Z,1736401742.067 [DAT](INFO): Reached modem response timeout
2025-01-09T05:49:02.067Z,1736401742.067 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:02.068Z,1736401742.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:02.321Z,1736401742.321 [DAT](INFO): DAT read: Rx Time:05:49:01.2705 

2025-01-09T05:49:02.322Z,1736401742.322 [DAT](INFO): Rx dataTimestamp_ set to:1736401742.321446
2025-01-09T05:49:02.323Z,1736401742.323 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-09T05:49:02.324Z,1736401742.324 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:49:02.324Z,1736401742.324 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:02.324Z,1736401742.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:02.404Z,1736401742.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:02.571Z,1736401742.571 [DAT](INFO): Reached modem response timeout
2025-01-09T05:49:02.571Z,1736401742.571 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:02.572Z,1736401742.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:02.824Z,1736401742.824 [DAT](INFO): DAT read: Rx Time:05:49:01.7706 

2025-01-09T05:49:02.825Z,1736401742.825 [DAT](INFO): Rx dataTimestamp_ set to:1736401742.824321
2025-01-09T05:49:02.827Z,1736401742.827 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:49:02.828Z,1736401742.828 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:49:02.829Z,1736401742.829 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:02.829Z,1736401742.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:02.870Z,1736401742.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:03.076Z,1736401743.076 [DAT](INFO): Reached modem response timeout
2025-01-09T05:49:03.076Z,1736401743.076 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:03.076Z,1736401743.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:03.200Z,1736401743.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:03.328Z,1736401743.328 [DAT](INFO): DAT read: Rx Time:05:49:02.2706 

2025-01-09T05:49:03.328Z,1736401743.328 [DAT](INFO): Rx dataTimestamp_ set to:1736401743.328184
2025-01-09T05:49:03.330Z,1736401743.330 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:49:03.330Z,1736401743.330 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:49:03.331Z,1736401743.331 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:03.331Z,1736401743.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:03.579Z,1736401743.579 [DAT](INFO): Reached modem response timeout
2025-01-09T05:49:03.580Z,1736401743.580 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:03.580Z,1736401743.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:03.654Z,1736401743.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:03.832Z,1736401743.832 [DAT](INFO): DAT read: Rx Time:05:49:02.7707 

2025-01-09T05:49:03.832Z,1736401743.832 [DAT](INFO): Rx dataTimestamp_ set to:1736401743.832093
2025-01-09T05:49:03.833Z,1736401743.833 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-09T05:49:03.834Z,1736401743.834 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:49:03.835Z,1736401743.835 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:03.835Z,1736401743.835 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:04.048Z,1736401744.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:04.083Z,1736401744.083 [DAT](INFO): Reached modem response timeout
2025-01-09T05:49:04.084Z,1736401744.084 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:04.084Z,1736401744.084 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:04.336Z,1736401744.336 [DAT](INFO): DAT read: Rx Time:05:49:03.2706 

2025-01-09T05:49:04.336Z,1736401744.336 [DAT](INFO): Rx dataTimestamp_ set to:1736401744.335940
2025-01-09T05:49:04.337Z,1736401744.337 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:49:04.338Z,1736401744.338 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:49:04.339Z,1736401744.339 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:04.339Z,1736401744.339 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:04.447Z,1736401744.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:04.588Z,1736401744.588 [DAT](INFO): Reached modem response timeout
2025-01-09T05:49:04.588Z,1736401744.588 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:04.588Z,1736401744.588 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:04.840Z,1736401744.840 [DAT](INFO): DAT read: Rx Time:05:49:03.7707 

2025-01-09T05:49:04.840Z,1736401744.840 [DAT](INFO): Rx dataTimestamp_ set to:1736401744.840000
2025-01-09T05:49:04.841Z,1736401744.841 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-09T05:49:04.843Z,1736401744.843 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:49:04.844Z,1736401744.844 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:04.844Z,1736401744.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:04.905Z,1736401744.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:05.091Z,1736401745.091 [DAT](INFO): Reached modem response timeout
2025-01-09T05:49:05.092Z,1736401745.092 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:05.092Z,1736401745.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:05.290Z,1736401745.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:05.344Z,1736401745.344 [DAT](INFO): DAT read: Rx Time:05:49:04.2706 

2025-01-09T05:49:05.346Z,1736401745.346 [DAT](INFO): Rx dataTimestamp_ set to:1736401745.345228
2025-01-09T05:49:05.349Z,1736401745.349 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-09T05:49:05.351Z,1736401745.351 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:49:05.353Z,1736401745.353 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:05.354Z,1736401745.354 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:05.595Z,1736401745.595 [DAT](INFO): Reached modem response timeout
2025-01-09T05:49:05.595Z,1736401745.595 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:49:05.596Z,1736401745.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:49:05.781Z,1736401745.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:05.850Z,1736401745.850 [DAT](INFO): DAT read: user:198>

2025-01-09T05:49:05.851Z,1736401745.851 [DAT](INFO): DAT read: user:198>

2025-01-09T05:49:05.852Z,1736401745.852 [DAT](INFO): DAT read: Tx time:05:49:05.1824

2025-01-09T05:49:05.852Z,1736401745.852 [DAT](INFO): Ping request sent.
2025-01-09T05:49:05.853Z,1736401745.853 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:05.853Z,1736401745.853 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:05.854Z,1736401745.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001114
2025-01-09T05:49:06.100Z,1736401746.100 [DAT](INFO): DAT read: TxSync time:05:49:05.1816

2025-01-09T05:49:06.101Z,1736401746.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247892
2025-01-09T05:49:06.130Z,1736401746.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:06.352Z,1736401746.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499146
2025-01-09T05:49:06.516Z,1736401746.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:06.604Z,1736401746.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751464
2025-01-09T05:49:06.856Z,1736401746.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003010
2025-01-09T05:49:06.930Z,1736401746.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:07.108Z,1736401747.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255489
2025-01-09T05:49:07.317Z,1736401747.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:07.361Z,1736401747.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507982
2025-01-09T05:49:07.612Z,1736401747.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759694
2025-01-09T05:49:07.771Z,1736401747.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:07.865Z,1736401747.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012048
2025-01-09T05:49:08.116Z,1736401748.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263335
2025-01-09T05:49:08.163Z,1736401748.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:08.368Z,1736401748.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515017
2025-01-09T05:49:08.535Z,1736401748.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:08.620Z,1736401748.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766945
2025-01-09T05:49:08.873Z,1736401748.873 [DAT](INFO): DAT read: Rx Time:05891

2025-01-09T05:49:08.874Z,1736401748.874 [DAT](INFO): Rx dataTimestamp_ set to:1736401748.873517
2025-01-09T05:49:08.875Z,1736401748.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022565
2025-01-09T05:49:08.958Z,1736401748.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:09.124Z,1736401749.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271005
2025-01-09T05:49:09.383Z,1736401749.383 [DAT](INFO): DAT read: 05:49:07.5891 LVL= 13248, 17569,  7154, 15331, AGC= 42, IDX= 152, 0.01, 2.815,-2.278, 2.503,-3.005, PHS=-0.375, 0.774,-0.779, RAW= 344.5,   5.5, CAL= 345.6,   7.7, ROT= 164.4,  -7.7

2025-01-09T05:49:09.384Z,1736401749.384 [DAT](INFO): got valid direction response:
 05:49:07.5891 LVL= 13248, 17569,  7154, 15331, AGC= 42, IDX= 152, 0.01, 2.815,-2.278, 2.503,-3.005, PHS=-0.375, 0.774,-0.779, RAW= 344.5,   5.5, CAL= 345.6,   7.7, ROT= 164.4,  -7.7

2025-01-09T05:49:09.385Z,1736401749.385 [DAT](INFO): DAT read: Bearing 164.4,  -7.7 (Local)

2025-01-09T05:49:09.385Z,1736401749.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.4,  -7.7 (Local)

2025-01-09T05:49:09.387Z,1736401749.387 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-01-09T05:49:09.388Z,1736401749.388 [DAT](INFO): DAT read: user:199>

2025-01-09T05:49:09.388Z,1736401749.388 [DAT](INFO): DAT read: Tx time:05:49:08.6824

2025-01-09T05:49:09.389Z,1736401749.389 [DAT](INFO): Ping request sent.
2025-01-09T05:49:09.389Z,1736401749.389 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:09.389Z,1736401749.389 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-09T05:49:09.390Z,1736401749.390 [DAT](INFO): direction in FSK: [-0.954478,0.266495,0.133986]
2025-01-09T05:49:09.390Z,1736401749.390 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:09.391Z,1736401749.391 [DAT](INFO): publishing direction and range info
2025-01-09T05:49:09.404Z,1736401749.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:09.430Z,1736401749.430 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:09.430Z,1736401749.430 [DAT](INFO): publishing direction and range info
2025-01-09T05:49:09.628Z,1736401749.628 [DAT](INFO): DAT read: TxSync time:05:49:08.6816

2025-01-09T05:49:09.799Z,1736401749.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:10.168Z,1736401750.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:10.547Z,1736401750.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:10.981Z,1736401750.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:11.381Z,1736401751.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:11.859Z,1736401751.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:12.234Z,1736401752.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:12.400Z,1736401752.400 [DAT](INFO): DAT read: Rx Time:05:49:11.0892

2025-01-09T05:49:12.400Z,1736401752.400 [DAT](INFO): Rx dataTimestamp_ set to:1736401752.400057
2025-01-09T05:49:12.641Z,1736401752.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:12.904Z,1736401752.904 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-01-09T05:49:12.905Z,1736401752.905 [DAT](INFO): DAT read: user:200>

2025-01-09T05:49:12.906Z,1736401752.906 [DAT](INFO): DAT read: Tx time:05:49:12.1825

2025-01-09T05:49:12.906Z,1736401752.906 [DAT](INFO): Ping request sent.
2025-01-09T05:49:12.906Z,1736401752.906 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:12.907Z,1736401752.907 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-01-09T05:49:12.907Z,1736401752.907 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:12.907Z,1736401752.907 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:13.062Z,1736401753.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:13.156Z,1736401753.156 [DAT](INFO): DAT read: TxSync time:05:49:12.1817

2025-01-09T05:49:13.437Z,1736401753.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:13.909Z,1736401753.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:14.254Z,1736401754.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:14.655Z,1736401754.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:15.090Z,1736401755.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:15.468Z,1736401755.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:15.928Z,1736401755.928 [DAT](INFO): DAT read: Rx Time:05:49:14.5891

2025-01-09T05:49:15.928Z,1736401755.928 [DAT](INFO): Rx dataTimestamp_ set to:1736401755.927908
2025-01-09T05:49:15.946Z,1736401755.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:16.265Z,1736401756.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:16.433Z,1736401756.433 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-01-09T05:49:16.433Z,1736401756.433 [DAT](INFO): DAT read: user:201>

2025-01-09T05:49:16.434Z,1736401756.434 [DAT](INFO): DAT read: Tx time:05:49:15.6825

2025-01-09T05:49:16.435Z,1736401756.435 [DAT](INFO): Ping request sent.
2025-01-09T05:49:16.435Z,1736401756.435 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:16.435Z,1736401756.435 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-01-09T05:49:16.435Z,1736401756.435 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:16.436Z,1736401756.436 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:16.679Z,1736401756.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:16.684Z,1736401756.684 [DAT](INFO): DAT read: TxSync time:05:49:15.6817

2025-01-09T05:49:17.101Z,1736401757.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:17.482Z,1736401757.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:17.979Z,1736401757.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:18.303Z,1736401758.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:18.705Z,1736401758.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:19.124Z,1736401759.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:19.456Z,1736401759.456 [DAT](INFO): DAT read: Rx Time:05:49:18.0891

2025-01-09T05:49:19.456Z,1736401759.456 [DAT](INFO): Rx dataTimestamp_ set to:1736401759.455982
2025-01-09T05:49:19.515Z,1736401759.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:19.961Z,1736401759.961 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-01-09T05:49:19.961Z,1736401759.961 [DAT](INFO): DAT read: user:202>

2025-01-09T05:49:19.962Z,1736401759.962 [DAT](INFO): DAT read: Tx time:05:49:19.1825

2025-01-09T05:49:19.962Z,1736401759.962 [DAT](INFO): Ping request sent.
2025-01-09T05:49:19.962Z,1736401759.962 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:19.963Z,1736401759.963 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-01-09T05:49:19.963Z,1736401759.963 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:19.963Z,1736401759.963 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:20.012Z,1736401760.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:20.212Z,1736401760.212 [DAT](INFO): DAT read: TxSync time:05:49:19.1817

2025-01-09T05:49:20.316Z,1736401760.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:20.712Z,1736401760.712 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:21.153Z,1736401761.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:21.532Z,1736401761.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:22.012Z,1736401762.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:22.330Z,1736401762.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:22.764Z,1736401762.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:22.984Z,1736401762.984 [DAT](INFO): DAT read: Rx Time:05:49:21.5892

2025-01-09T05:49:22.984Z,1736401762.984 [DAT](INFO): Rx dataTimestamp_ set to:1736401762.983838
2025-01-09T05:49:23.165Z,1736401763.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:23.489Z,1736401763.489 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-01-09T05:49:23.489Z,1736401763.489 [DAT](INFO): DAT read: user:203>

2025-01-09T05:49:23.490Z,1736401763.490 [DAT](INFO): DAT read: Tx time:05:49:22.6825

2025-01-09T05:49:23.490Z,1736401763.490 [DAT](INFO): Ping request sent.
2025-01-09T05:49:23.490Z,1736401763.490 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:23.491Z,1736401763.491 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-01-09T05:49:23.491Z,1736401763.491 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:23.492Z,1736401763.492 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:23.568Z,1736401763.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:23.740Z,1736401763.740 [DAT](INFO): DAT read: TxSync time:05:49:22.6817

2025-01-09T05:49:24.018Z,1736401764.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:24.381Z,1736401764.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:24.772Z,1736401764.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:25.206Z,1736401765.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:25.567Z,1736401765.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:26.029Z,1736401766.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:26.394Z,1736401766.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:26.512Z,1736401766.512 [DAT](INFO): DAT read: Rx Time:05:49:25.0893

2025-01-09T05:49:26.512Z,1736401766.512 [DAT](INFO): Rx dataTimestamp_ set to:1736401766.512174
2025-01-09T05:49:26.811Z,1736401766.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:27.021Z,1736401767.021 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-01-09T05:49:27.025Z,1736401767.025 [DAT](INFO): DAT read: user:204>

2025-01-09T05:49:27.028Z,1736401767.028 [DAT](INFO): DAT read: Tx time:05:49:26.1826

2025-01-09T05:49:27.029Z,1736401767.029 [DAT](INFO): Ping request sent.
2025-01-09T05:49:27.030Z,1736401767.030 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:27.031Z,1736401767.031 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-01-09T05:49:27.031Z,1736401767.031 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:27.033Z,1736401767.033 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:27.215Z,1736401767.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:27.268Z,1736401767.268 [DAT](INFO): DAT read: TxSync time:05:49:26.1818

2025-01-09T05:49:27.593Z,1736401767.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:27.990Z,1736401767.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:28.433Z,1736401768.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:28.796Z,1736401768.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:29.236Z,1736401769.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:29.603Z,1736401769.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:30.006Z,1736401770.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:30.042Z,1736401770.042 [DAT](INFO): DAT read: Rx Time:05:49:28.5893

2025-01-09T05:49:30.044Z,1736401770.044 [DAT](INFO): Rx dataTimestamp_ set to:1736401770.043443
2025-01-09T05:49:30.436Z,1736401770.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:30.545Z,1736401770.545 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-01-09T05:49:30.546Z,1736401770.546 [DAT](INFO): DAT read: user:205>

2025-01-09T05:49:30.556Z,1736401770.556 [DAT](INFO): DAT read: Tx time:05:49:29.6826

2025-01-09T05:49:30.556Z,1736401770.556 [DAT](INFO): Ping request sent.
2025-01-09T05:49:30.556Z,1736401770.556 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:30.557Z,1736401770.557 [DAT](INFO): DAT read: TxSync time:05:49:29.6818

2025-01-09T05:49:30.557Z,1736401770.557 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-01-09T05:49:30.557Z,1736401770.557 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:30.558Z,1736401770.558 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:30.819Z,1736401770.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:31.264Z,1736401771.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:31.621Z,1736401771.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:32.036Z,1736401772.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:32.474Z,1736401772.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:32.843Z,1736401772.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:33.265Z,1736401773.265 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:33.319Z,1736401773.319 [DAT](INFO): DAT read: Rx Time:05:49:32.0892

2025-01-09T05:49:33.319Z,1736401773.319 [DAT](INFO): Rx dataTimestamp_ set to:1736401773.318943
2025-01-09T05:49:33.653Z,1736401773.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:33.829Z,1736401773.829 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-01-09T05:49:33.830Z,1736401773.830 [DAT](INFO): DAT read: user:206>

2025-01-09T05:49:33.830Z,1736401773.830 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-01-09T05:49:34.045Z,1736401774.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:34.076Z,1736401774.076 [DAT](INFO): DAT read: Tx time:05:49:33.1826

2025-01-09T05:49:34.077Z,1736401774.077 [DAT](INFO): Ping request sent.
2025-01-09T05:49:34.077Z,1736401774.077 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:34.078Z,1736401774.078 [DAT](INFO): DAT read: TxSync time:05:49:33.1818

2025-01-09T05:49:34.078Z,1736401774.078 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:34.497Z,1736401774.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:34.855Z,1736401774.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:35.296Z,1736401775.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:35.666Z,1736401775.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:36.067Z,1736401776.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:36.487Z,1736401776.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:36.848Z,1736401776.848 [DAT](INFO): DAT read: Rx Time:05:49:35.5892

2025-01-09T05:49:36.848Z,1736401776.848 [DAT](INFO): Rx dataTimestamp_ set to:1736401776.847812
2025-01-09T05:49:36.885Z,1736401776.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:37.330Z,1736401777.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:37.355Z,1736401777.355 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-01-09T05:49:37.357Z,1736401777.357 [DAT](INFO): DAT read: user:207>

2025-01-09T05:49:37.358Z,1736401777.358 [DAT](INFO): DAT read: Tx time:05:49:36.6826

2025-01-09T05:49:37.360Z,1736401777.360 [DAT](INFO): Ping request sent.
2025-01-09T05:49:37.360Z,1736401777.360 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:37.361Z,1736401777.361 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-01-09T05:49:37.362Z,1736401777.362 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:37.363Z,1736401777.363 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:37.604Z,1736401777.604 [DAT](INFO): DAT read: TxSync time:05:49:36.6818

2025-01-09T05:49:37.697Z,1736401777.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:38.114Z,1736401778.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:38.529Z,1736401778.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:38.928Z,1736401778.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:39.361Z,1736401779.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:39.716Z,1736401779.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:40.116Z,1736401780.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:40.387Z,1736401780.387 [DAT](INFO): DAT read: Rx Time:05:49:39.0894

2025-01-09T05:49:40.387Z,1736401780.387 [DAT](INFO): Rx dataTimestamp_ set to:1736401780.387211
2025-01-09T05:49:40.558Z,1736401780.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:40.888Z,1736401780.888 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-01-09T05:49:40.889Z,1736401780.889 [DAT](INFO): DAT read: user:208>

2025-01-09T05:49:40.890Z,1736401780.890 [DAT](INFO): DAT read: Tx time:05:49:40.1827

2025-01-09T05:49:40.890Z,1736401780.890 [DAT](INFO): Ping request sent.
2025-01-09T05:49:40.890Z,1736401780.890 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:40.891Z,1736401780.891 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-01-09T05:49:40.891Z,1736401780.891 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:40.892Z,1736401780.892 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:40.977Z,1736401780.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:41.140Z,1736401781.140 [DAT](INFO): DAT read: TxSync time:05:49:40.1819

2025-01-09T05:49:41.356Z,1736401781.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:41.747Z,1736401781.747 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:42.136Z,1736401782.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:42.564Z,1736401782.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:42.948Z,1736401782.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:43.382Z,1736401783.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:43.780Z,1736401783.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:43.912Z,1736401783.912 [DAT](INFO): DAT read: Rx Time:05:49:42.5894

2025-01-09T05:49:43.913Z,1736401783.913 [DAT](INFO): Rx dataTimestamp_ set to:1736401783.912528
2025-01-09T05:49:44.160Z,1736401784.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:44.418Z,1736401784.418 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-01-09T05:49:44.419Z,1736401784.419 [DAT](INFO): DAT read: user:209>

2025-01-09T05:49:44.420Z,1736401784.420 [DAT](INFO): DAT read: Tx time:05:49:43.6827

2025-01-09T05:49:44.420Z,1736401784.420 [DAT](INFO): Ping request sent.
2025-01-09T05:49:44.420Z,1736401784.420 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:44.420Z,1736401784.420 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-01-09T05:49:44.421Z,1736401784.421 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:44.421Z,1736401784.421 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:44.595Z,1736401784.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:44.668Z,1736401784.668 [DAT](INFO): DAT read: TxSync time:05:49:43.6819

2025-01-09T05:49:44.974Z,1736401784.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:45.403Z,1736401785.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:45.777Z,1736401785.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:46.177Z,1736401786.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:46.623Z,1736401786.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:46.985Z,1736401786.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:47.425Z,1736401787.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:47.444Z,1736401787.444 [DAT](INFO): DAT read: Rx Time:05:49:46.0894

2025-01-09T05:49:47.444Z,1736401787.444 [DAT](INFO): Rx dataTimestamp_ set to:1736401787.444074
2025-01-09T05:49:47.791Z,1736401787.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:47.953Z,1736401787.953 [DAT](INFO): DAT read: 05:49:46.0894 LVL= 12848, 14321, 13762, 17907, AGC= 40, IDX= 440,-0.04, 1.306, 2.645, 0.656, 1.841, PHS=-0.447, 0.851,-1.188, RAW= 351.0,   8.8, CAL= 351.9,  12.8, ROT= 158.1, -12.8

2025-01-09T05:49:47.954Z,1736401787.954 [DAT](INFO): got valid direction response:
 05:49:46.0894 LVL= 12848, 14321, 13762, 17907, AGC= 40, IDX= 440,-0.04, 1.306, 2.645, 0.656, 1.841, PHS=-0.447, 0.851,-1.188, RAW= 351.0,   8.8, CAL= 351.9,  12.8, ROT= 158.1, -12.8

2025-01-09T05:49:47.955Z,1736401787.955 [DAT](INFO): DAT read: Bearing 158.1, -12.8 (Local)

2025-01-09T05:49:47.955Z,1736401787.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 158.1, -12.8 (Local)

2025-01-09T05:49:47.957Z,1736401787.957 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-01-09T05:49:47.957Z,1736401787.957 [DAT](INFO): DAT read: user:210>

2025-01-09T05:49:47.959Z,1736401787.959 [DAT](INFO): DAT read: Tx time:05:49:47.1827

2025-01-09T05:49:47.960Z,1736401787.960 [DAT](INFO): Ping request sent.
2025-01-09T05:49:47.960Z,1736401787.960 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:47.960Z,1736401787.960 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-01-09T05:49:47.961Z,1736401787.961 [DAT](INFO): direction in FSK: [-0.904779,0.363719,0.221548]
2025-01-09T05:49:47.961Z,1736401787.961 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:47.962Z,1736401787.962 [DAT](INFO): publishing direction and range info
2025-01-09T05:49:47.965Z,1736401787.965 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:47.965Z,1736401787.965 [DAT](INFO): publishing direction and range info
2025-01-09T05:49:48.200Z,1736401788.200 [DAT](INFO): DAT read: TxSync time:05:49:47.1819

2025-01-09T05:49:48.206Z,1736401788.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:48.649Z,1736401788.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:49.007Z,1736401789.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:49.440Z,1736401789.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:49.812Z,1736401789.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:50.220Z,1736401790.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:50.642Z,1736401790.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:50.972Z,1736401790.972 [DAT](INFO): DAT read: Rx Time:05:49:49.5894

2025-01-09T05:49:50.972Z,1736401790.972 [DAT](INFO): Rx dataTimestamp_ set to:1736401790.971931
2025-01-09T05:49:51.040Z,1736401791.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:51.465Z,1736401791.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:51.501Z,1736401791.501 [DAT](INFO): DAT read: 05:49:49.5894 LVL= 11056, 18273, 11666, 16627, AGC= 42, IDX= 425, 0.16,-1.914,-0.803,-1.990,-1.038, PHS=-0.788, 0.282,-0.955, RAW= 337.1,  24.0, CAL= 338.0,  27.7, ROT= 172.0, -27.7

2025-01-09T05:49:51.503Z,1736401791.503 [DAT](INFO): got valid direction response:
 05:49:49.5894 LVL= 11056, 18273, 11666, 16627, AGC= 42, IDX= 425, 0.16,-1.914,-0.803,-1.990,-1.038, PHS=-0.788, 0.282,-0.955, RAW= 337.1,  24.0, CAL= 338.0,  27.7, ROT= 172.0, -27.7

2025-01-09T05:49:51.504Z,1736401791.504 [DAT](INFO): DAT read: Bearing 172.0, -27.7 (Local)

2025-01-09T05:49:51.504Z,1736401791.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.0, -27.7 (Local)

2025-01-09T05:49:51.506Z,1736401791.506 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-01-09T05:49:51.506Z,1736401791.506 [DAT](INFO): DAT read: user:211>

2025-01-09T05:49:51.511Z,1736401791.511 [DAT](INFO): DAT read: Tx time:05:49:50.6828

2025-01-09T05:49:51.512Z,1736401791.512 [DAT](INFO): Ping request sent.
2025-01-09T05:49:51.512Z,1736401791.512 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:51.512Z,1736401791.512 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-01-09T05:49:51.513Z,1736401791.513 [DAT](INFO): direction in FSK: [-0.876777,0.123223,0.464842]
2025-01-09T05:49:51.513Z,1736401791.513 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:51.514Z,1736401791.514 [DAT](INFO): publishing direction and range info
2025-01-09T05:49:51.525Z,1736401791.525 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:51.525Z,1736401791.525 [DAT](INFO): publishing direction and range info
2025-01-09T05:49:51.729Z,1736401791.729 [DAT](INFO): DAT read: TxSync time:05:49:50.6820

2025-01-09T05:49:51.844Z,1736401791.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:52.242Z,1736401792.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:52.673Z,1736401792.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:53.061Z,1736401793.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:53.477Z,1736401793.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:53.902Z,1736401793.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:54.261Z,1736401794.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:54.508Z,1736401794.508 [DAT](INFO): DAT read: Rx Time:05:49:53.0893

2025-01-09T05:49:54.508Z,1736401794.508 [DAT](INFO): Rx dataTimestamp_ set to:1736401794.507782
2025-01-09T05:49:54.698Z,1736401794.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:55.014Z,1736401795.014 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-01-09T05:49:55.015Z,1736401795.015 [DAT](INFO): DAT read: user:212>

2025-01-09T05:49:55.016Z,1736401795.016 [DAT](INFO): DAT read: Tx time:05:49:54.1828

2025-01-09T05:49:55.017Z,1736401795.017 [DAT](INFO): Ping request sent.
2025-01-09T05:49:55.017Z,1736401795.017 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:55.018Z,1736401795.018 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-01-09T05:49:55.018Z,1736401795.018 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:55.024Z,1736401795.024 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:55.091Z,1736401795.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:55.264Z,1736401795.264 [DAT](INFO): DAT read: TxSync time:05:49:54.1820

2025-01-09T05:49:55.521Z,1736401795.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:55.880Z,1736401795.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:56.286Z,1736401796.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:56.716Z,1736401796.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:57.087Z,1736401797.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:57.544Z,1736401797.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:57.905Z,1736401797.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:58.036Z,1736401798.036 [DAT](INFO): DAT read: Rx Time:05:49:56.5895

2025-01-09T05:49:58.036Z,1736401798.036 [DAT](INFO): Rx dataTimestamp_ set to:1736401798.035895
2025-01-09T05:49:58.297Z,1736401798.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:58.554Z,1736401798.554 [DAT](INFO): DAT read: 05:49:56.5895 LVL= 17088, 18833, 15010, 18899, AGC= 40, IDX= 420, 0.42, 2.028,-2.780, 2.728,-2.480, PHS=-1.688,-0.254,-1.079, RAW= 305.0,  40.6, CAL= 312.8,  40.6, ROT= 197.2, -40.6

2025-01-09T05:49:58.556Z,1736401798.556 [DAT](INFO): got valid direction response:
 05:49:56.5895 LVL= 17088, 18833, 15010, 18899, AGC= 40, IDX= 420, 0.42, 2.028,-2.780, 2.728,-2.480, PHS=-1.688,-0.254,-1.079, RAW= 305.0,  40.6, CAL= 312.8,  40.6, ROT= 197.2, -40.6

2025-01-09T05:49:58.558Z,1736401798.558 [DAT](INFO): DAT read: Bearing 197.2, -40.6 (Local)

2025-01-09T05:49:58.558Z,1736401798.558 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.2, -40.6 (Local)

2025-01-09T05:49:58.560Z,1736401798.560 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-01-09T05:49:58.561Z,1736401798.561 [DAT](INFO): DAT read: user:213>

2025-01-09T05:49:58.568Z,1736401798.568 [DAT](INFO): DAT read: Tx time:05:49:57.6828

2025-01-09T05:49:58.568Z,1736401798.568 [DAT](INFO): Ping request sent.
2025-01-09T05:49:58.568Z,1736401798.568 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:49:58.569Z,1736401798.569 [DAT](INFO): DAT read: TxSync time:05:49:57.6820

2025-01-09T05:49:58.569Z,1736401798.569 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-01-09T05:49:58.570Z,1736401798.570 [DAT](INFO): direction in FSK: [-0.725316,-0.224523,0.650774]
2025-01-09T05:49:58.587Z,1736401798.587 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:58.588Z,1736401798.588 [DAT](INFO): publishing direction and range info
2025-01-09T05:49:58.598Z,1736401798.598 [DAT](INFO): publishing transmit ping time
2025-01-09T05:49:58.612Z,1736401798.612 [DAT](INFO): publishing direction and range info
2025-01-09T05:49:58.778Z,1736401798.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:59.103Z,1736401799.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:59.573Z,1736401799.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:49:59.916Z,1736401799.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:00.331Z,1736401800.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:00.771Z,1736401800.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:01.132Z,1736401801.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:01.315Z,1736401801.315 [DAT](INFO): DAT read: Rx Time:05:50:00.0896

2025-01-09T05:50:01.316Z,1736401801.316 [DAT](INFO): Rx dataTimestamp_ set to:1736401801.315598
2025-01-09T05:50:01.601Z,1736401801.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:02.016Z,1736401802.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:02.069Z,1736401802.069 [DAT](INFO): DAT read: Range 10 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-01-09T05:50:02.069Z,1736401802.069 [DAT](INFO): DAT read: user:214>

2025-01-09T05:50:02.070Z,1736401802.070 [DAT](INFO): DAT read: Tx time:05:50:01.1829

2025-01-09T05:50:02.071Z,1736401802.071 [DAT](INFO): Ping request sent.
2025-01-09T05:50:02.071Z,1736401802.071 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:50:02.071Z,1736401802.071 [DAT](INFO): DAT read: TxSync time:05:50:01.1821

2025-01-09T05:50:02.072Z,1736401802.072 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-01-09T05:50:02.072Z,1736401802.072 [DAT](INFO): publishing transmit ping time
2025-01-09T05:50:02.073Z,1736401802.073 [DAT](INFO): publishing transmit ping time
2025-01-09T05:50:02.423Z,1736401802.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:02.851Z,1736401802.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:03.213Z,1736401803.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:03.648Z,1736401803.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:04.052Z,1736401804.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:04.423Z,1736401804.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:04.840Z,1736401804.840 [DAT](INFO): DAT read: Rx Time:05:50:03.5894

2025-01-09T05:50:04.840Z,1736401804.840 [DAT](INFO): Rx dataTimestamp_ set to:1736401804.839890
2025-01-09T05:50:04.868Z,1736401804.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:05.246Z,1736401805.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:05.631Z,1736401805.631 [DAT](INFO): DAT read: 05:50:03.5894 LVL= 11328, 18721, 11634, 16835, AGC= 42, IDX= 441, 0.05,-2.457,-1.171,-2.401,-1.542, PHS=-0.827, 0.418,-0.863, RAW= 331.4,  19.6, CAL= 333.7,  24.4, ROT= 176.3, -24.4

2025-01-09T05:50:05.632Z,1736401805.632 [DAT](INFO): got valid direction response:
 05:50:03.5894 LVL= 11328, 18721, 11634, 16835, AGC= 42, IDX= 441, 0.05,-2.457,-1.171,-2.401,-1.542, PHS=-0.827, 0.418,-0.863, RAW= 331.4,  19.6, CAL= 333.7,  24.4, ROT= 176.3, -24.4

2025-01-09T05:50:05.633Z,1736401805.633 [DAT](INFO): DAT read: Bearing 176.3, -24.4 (Local)

2025-01-09T05:50:05.634Z,1736401805.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.3, -24.4 (Local)

2025-01-09T05:50:05.635Z,1736401805.635 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-01-09T05:50:05.636Z,1736401805.636 [DAT](INFO): DAT read: user:215>

2025-01-09T05:50:05.637Z,1736401805.637 [DAT](INFO): DAT read: Tx time:05:50:04.6829

2025-01-09T05:50:05.637Z,1736401805.637 [DAT](INFO): Ping request sent.
2025-01-09T05:50:05.637Z,1736401805.637 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:50:05.638Z,1736401805.638 [DAT](INFO): DAT read: TxSync time:05:50:04.6821

2025-01-09T05:50:05.638Z,1736401805.638 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-01-09T05:50:05.695Z,1736401805.695 [DAT](INFO): direction in FSK: [-0.908785,0.058768,0.413104]
2025-01-09T05:50:05.695Z,1736401805.695 [DAT](INFO): publishing transmit ping time
2025-01-09T05:50:05.695Z,1736401805.695 [DAT](INFO): publishing direction and range info
2025-01-09T05:50:05.698Z,1736401805.698 [DAT](INFO): publishing transmit ping time
2025-01-09T05:50:05.707Z,1736401805.707 [DAT](INFO): publishing direction and range info
2025-01-09T05:50:05.771Z,1736401805.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:06.049Z,1736401806.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:06.451Z,1736401806.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:06.886Z,1736401806.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:07.251Z,1736401807.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:07.696Z,1736401807.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:08.065Z,1736401808.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:08.368Z,1736401808.368 [DAT](INFO): DAT read: Rx Time:05:50:07.0895

2025-01-09T05:50:08.368Z,1736401808.368 [DAT](INFO): Rx dataTimestamp_ set to:1736401808.367812
2025-01-09T05:50:08.473Z,1736401808.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:08.878Z,1736401808.878 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-01-09T05:50:08.880Z,1736401808.880 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-01-09T05:50:08.946Z,1736401808.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:09.276Z,1736401809.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:09.750Z,1736401809.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:10.082Z,1736401810.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:10.483Z,1736401810.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:10.944Z,1736401810.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:11.291Z,1736401811.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:11.761Z,1736401811.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:12.124Z,1736401812.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:12.535Z,1736401812.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:12.960Z,1736401812.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:13.348Z,1736401813.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:13.782Z,1736401813.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:14.135Z,1736401814.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:14.544Z,1736401814.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:14.977Z,1736401814.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:15.354Z,1736401815.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:15.807Z,1736401815.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:16.157Z,1736401816.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:16.166Z,1736401816.166 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging.
2025-01-09T05:50:16.184Z,1736401816.184 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-01-09T05:50:16.437Z,1736401816.437 [DAT](INFO): DAT read: user:216>

2025-01-09T05:50:16.439Z,1736401816.439 [DAT](INFO): DAT read: Tx time:05:50:15.5820

2025-01-09T05:50:16.439Z,1736401816.439 [DAT](INFO): Ping request sent.
2025-01-09T05:50:16.440Z,1736401816.440 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:50:16.440Z,1736401816.440 [DAT](INFO): publishing transmit ping time
2025-01-09T05:50:16.441Z,1736401816.441 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-01-09T05:50:16.567Z,1736401816.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:16.688Z,1736401816.688 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-01-09T05:50:16.996Z,1736401816.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:17.368Z,1736401817.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:17.824Z,1736401817.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:18.184Z,1736401818.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:18.584Z,1736401818.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:18.709Z,1736401818.709 [DAT](INFO): DAT read: Rx Time:05:50:17.4606

2025-01-09T05:50:18.710Z,1736401818.710 [DAT](INFO): Rx dataTimestamp_ set to:1736401818.709270
2025-01-09T05:50:19.032Z,1736401819.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:19.212Z,1736401819.212 [DAT](INFO): DAT read: OK

2025-01-09T05:50:19.213Z,1736401819.213 [DAT](INFO): unknown deviceResponse_: OK

2025-01-09T05:50:19.213Z,1736401819.213 [DAT](INFO): DAT read: user:217>

2025-01-09T05:50:19.214Z,1736401819.214 [DAT](INFO): DAT read: Tx time:05:50:18.5321

2025-01-09T05:50:19.214Z,1736401819.214 [DAT](INFO): Ping request sent.
2025-01-09T05:50:19.214Z,1736401819.214 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:50:19.215Z,1736401819.215 [DAT](INFO): publishing transmit ping time
2025-01-09T05:50:19.388Z,1736401819.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:19.871Z,1736401819.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:20.220Z,1736401820.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:20.602Z,1736401820.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:21.034Z,1736401821.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:21.417Z,1736401821.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:21.732Z,1736401821.732 [DAT](INFO): DAT read: Rx Time:05:50:20.4106

2025-01-09T05:50:21.733Z,1736401821.733 [DAT](INFO): Rx dataTimestamp_ set to:1736401821.732203
2025-01-09T05:50:21.906Z,1736401821.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:22.235Z,1736401822.235 [DAT](INFO): DAT read: OK

2025-01-09T05:50:22.236Z,1736401822.236 [DAT](INFO): unknown deviceResponse_: OK

2025-01-09T05:50:22.236Z,1736401822.236 [DAT](INFO): DAT read: user:218>

2025-01-09T05:50:22.237Z,1736401822.237 [DAT](INFO): DAT read: Tx time:05:50:21.5321

2025-01-09T05:50:22.237Z,1736401822.237 [DAT](INFO): Ping request sent.
2025-01-09T05:50:22.237Z,1736401822.237 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:50:22.237Z,1736401822.237 [DAT](INFO): publishing transmit ping time
2025-01-09T05:50:22.293Z,1736401822.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:22.660Z,1736401822.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:23.096Z,1736401823.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:23.463Z,1736401823.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:23.921Z,1736401823.921 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +1,    +0,A
2025-01-09T05:50:23.929Z,1736401823.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-09T05:50:23.930Z,1736401823.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:24.269Z,1736401824.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:50:24.269Z,1736401824.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:24.673Z,1736401824.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:50:24.673Z,1736401824.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:24.764Z,1736401824.764 [DAT](INFO): DAT read: Rx Time:05:50:23.4107

2025-01-09T05:50:24.765Z,1736401824.765 [DAT](INFO): Rx dataTimestamp_ set to:1736401824.764584
2025-01-09T05:50:25.114Z,1736401825.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:25.267Z,1736401825.267 [DAT](INFO): DAT read: OK

2025-01-09T05:50:25.268Z,1736401825.268 [DAT](INFO): unknown deviceResponse_: OK

2025-01-09T05:50:25.502Z,1736401825.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:25.951Z,1736401825.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:26.289Z,1736401826.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:26.696Z,1736401826.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:27.124Z,1736401827.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:27.500Z,1736401827.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:27.968Z,1736401827.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:28.318Z,1736401828.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:28.711Z,1736401828.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:29.161Z,1736401829.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:29.521Z,1736401829.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:30.012Z,1736401830.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:30.338Z,1736401830.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:30.734Z,1736401830.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:31.175Z,1736401831.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:31.548Z,1736401831.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:32.005Z,1736401832.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:32.378Z,1736401832.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:32.765Z,1736401832.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:33.205Z,1736401833.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:33.569Z,1736401833.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:34.028Z,1736401834.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:34.388Z,1736401834.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:34.786Z,1736401834.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:35.211Z,1736401835.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:35.583Z,1736401835.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:36.005Z,1736401836.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:36.426Z,1736401836.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:36.805Z,1736401836.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:37.217Z,1736401837.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:37.607Z,1736401837.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:38.027Z,1736401838.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:38.449Z,1736401838.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:38.829Z,1736401838.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:39.252Z,1736401839.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:39.622Z,1736401839.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:40.024Z,1736401840.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:40.453Z,1736401840.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:40.461Z,1736401840.461 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-01-09T05:50:40.462Z,1736401840.462 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-01-09T05:50:40.516Z,1736401840.516 [DockingStepper](INFO): Changing to mode: 4
2025-01-09T05:50:40.516Z,1736401840.516 [DockingStepper](INFO): Slide mode.
2025-01-09T05:50:40.579Z,1736401840.579 [DockingStepper](INFO): Commanding negative:34694
2025-01-09T05:50:40.834Z,1736401840.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:41.289Z,1736401841.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:41.646Z,1736401841.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:42.052Z,1736401842.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:42.484Z,1736401842.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:42.858Z,1736401842.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:43.307Z,1736401843.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:43.666Z,1736401843.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:44.083Z,1736401844.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:44.506Z,1736401844.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:44.893Z,1736401844.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:44.910Z,1736401844.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:50:44.928Z,1736401844.928 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:50:44.928Z,1736401844.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:50:45.183Z,1736401845.183 [DAT](INFO): DAT read: user:219>

2025-01-09T05:50:45.185Z,1736401845.185 [DAT](INFO): DAT read: Tx time:05:50:44.3333

2025-01-09T05:50:45.186Z,1736401845.186 [DAT](INFO): Ping request sent.
2025-01-09T05:50:45.187Z,1736401845.187 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:50:45.188Z,1736401845.188 [DAT](INFO): publishing transmit ping time
2025-01-09T05:50:45.190Z,1736401845.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002972
2025-01-09T05:50:45.301Z,1736401845.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:45.432Z,1736401845.432 [DAT](INFO): DAT read: TxSync time:05:50:44.3325

2025-01-09T05:50:45.432Z,1736401845.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246189
2025-01-09T05:50:45.684Z,1736401845.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497550
2025-01-09T05:50:45.684Z,1736401845.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:45.936Z,1736401845.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749648
2025-01-09T05:50:46.087Z,1736401846.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:46.191Z,1736401846.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004146
2025-01-09T05:50:46.440Z,1736401846.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253465
2025-01-09T05:50:46.516Z,1736401846.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:46.695Z,1736401846.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508047
2025-01-09T05:50:46.901Z,1736401846.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:46.944Z,1736401846.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757722
2025-01-09T05:50:47.200Z,1736401847.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013258
2025-01-09T05:50:47.334Z,1736401847.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:47.449Z,1736401847.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262627
2025-01-09T05:50:47.700Z,1736401847.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513436
2025-01-09T05:50:47.718Z,1736401847.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:47.954Z,1736401847.954 [DAT](INFO): DAT read: Rx Time:05:50:46.7397

2025-01-09T05:50:47.954Z,1736401847.954 [DAT](INFO): Rx dataTimestamp_ set to:1736401847.953920
2025-01-09T05:50:47.955Z,1736401847.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768699
2025-01-09T05:50:48.112Z,1736401848.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:48.208Z,1736401848.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021172
2025-01-09T05:50:48.456Z,1736401848.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269491
2025-01-09T05:50:48.546Z,1736401848.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:48.709Z,1736401848.709 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-01-09T05:50:48.710Z,1736401848.710 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:50:48.953Z,1736401848.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:49.349Z,1736401849.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:49.721Z,1736401849.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:50.129Z,1736401850.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:50.567Z,1736401850.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:50.932Z,1736401850.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:51.354Z,1736401851.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:51.764Z,1736401851.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:52.151Z,1736401852.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:52.596Z,1736401852.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:52.969Z,1736401852.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:53.383Z,1736401853.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:53.769Z,1736401853.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:54.166Z,1736401854.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:54.604Z,1736401854.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:54.993Z,1736401854.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:55.412Z,1736401855.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:55.789Z,1736401855.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:56.207Z,1736401856.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:56.622Z,1736401856.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:56.996Z,1736401856.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:57.427Z,1736401857.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:57.801Z,1736401857.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:58.231Z,1736401858.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:58.650Z,1736401858.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:59.015Z,1736401859.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:59.453Z,1736401859.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:50:59.819Z,1736401859.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:00.228Z,1736401860.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:00.679Z,1736401860.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:01.037Z,1736401861.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:01.507Z,1736401861.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:01.842Z,1736401861.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:02.254Z,1736401862.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:02.687Z,1736401862.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:03.057Z,1736401863.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:03.517Z,1736401863.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:03.871Z,1736401863.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:04.264Z,1736401864.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:04.710Z,1736401864.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:05.089Z,1736401865.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:05.547Z,1736401865.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:05.881Z,1736401865.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:06.284Z,1736401866.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:06.715Z,1736401866.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:07.103Z,1736401867.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:07.560Z,1736401867.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:07.913Z,1736401867.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:08.321Z,1736401868.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:08.767Z,1736401868.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:09.114Z,1736401869.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:09.603Z,1736401869.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:09.954Z,1736401869.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:10.328Z,1736401870.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:10.761Z,1736401870.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:11.131Z,1736401871.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:11.597Z,1736401871.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:11.993Z,1736401871.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:12.357Z,1736401872.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:12.792Z,1736401872.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:13.161Z,1736401873.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:13.624Z,1736401873.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:14.031Z,1736401874.031 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:14.365Z,1736401874.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:14.816Z,1736401874.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:15.184Z,1736401875.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:15.596Z,1736401875.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:16.022Z,1736401876.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:16.387Z,1736401876.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:16.836Z,1736401876.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:17.202Z,1736401877.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:17.618Z,1736401877.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:18.038Z,1736401878.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:18.407Z,1736401878.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:18.844Z,1736401878.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:19.212Z,1736401879.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:19.618Z,1736401879.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:20.049Z,1736401880.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:20.429Z,1736401880.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:20.855Z,1736401880.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:21.244Z,1736401881.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:21.637Z,1736401881.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:22.067Z,1736401882.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:22.444Z,1736401882.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:22.886Z,1736401882.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:23.263Z,1736401883.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:23.666Z,1736401883.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:24.091Z,1736401884.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:24.473Z,1736401884.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:24.906Z,1736401884.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:25.279Z,1736401885.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:25.696Z,1736401885.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:26.123Z,1736401886.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:26.484Z,1736401886.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:26.909Z,1736401886.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:27.290Z,1736401887.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:27.697Z,1736401887.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:28.130Z,1736401888.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:28.512Z,1736401888.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:28.980Z,1736401888.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:29.316Z,1736401889.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:29.723Z,1736401889.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:30.160Z,1736401890.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:30.544Z,1736401890.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:30.980Z,1736401890.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:31.340Z,1736401891.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:31.742Z,1736401891.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:32.181Z,1736401892.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:32.551Z,1736401892.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:32.972Z,1736401892.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:33.356Z,1736401893.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:33.766Z,1736401893.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:34.170Z,1736401894.170 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +93,  +12,A
2025-01-09T05:51:34.177Z,1736401894.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:51:34.177Z,1736401894.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:34.571Z,1736401894.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:51:34.571Z,1736401894.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:34.994Z,1736401894.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:35.381Z,1736401895.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:35.780Z,1736401895.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:36.203Z,1736401896.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:36.601Z,1736401896.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:37.020Z,1736401897.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:37.395Z,1736401897.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:37.800Z,1736401897.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:38.232Z,1736401898.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:38.610Z,1736401898.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:39.014Z,1736401899.014 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250108215244 +10.9,   0.0,1493.1,  0
2025-01-09T05:51:39.021Z,1736401899.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:51:39.021Z,1736401899.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:39.424Z,1736401899.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:51:39.424Z,1736401899.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:39.827Z,1736401899.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-09T05:51:39.827Z,1736401899.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:40.252Z,1736401900.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:40.642Z,1736401900.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:41.056Z,1736401901.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:41.450Z,1736401901.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:41.839Z,1736401901.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:42.267Z,1736401902.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:42.653Z,1736401902.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:43.093Z,1736401903.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:43.459Z,1736401903.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:43.875Z,1736401903.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:44.296Z,1736401904.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:44.672Z,1736401904.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:45.132Z,1736401905.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:45.476Z,1736401905.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:45.882Z,1736401905.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:46.314Z,1736401906.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:46.683Z,1736401906.683 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:47.160Z,1736401907.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:47.502Z,1736401907.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:47.899Z,1736401907.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:48.322Z,1736401908.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:48.703Z,1736401908.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:49.183Z,1736401909.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:49.514Z,1736401909.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:49.925Z,1736401909.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:50.344Z,1736401910.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:50.745Z,1736401910.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:51.213Z,1736401911.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:51.536Z,1736401911.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:51.946Z,1736401911.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:52.389Z,1736401912.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:52.753Z,1736401912.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:53.223Z,1736401913.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:53.570Z,1736401913.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:53.981Z,1736401913.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:54.394Z,1736401914.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:54.773Z,1736401914.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:55.230Z,1736401915.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:55.606Z,1736401915.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:55.975Z,1736401915.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:56.407Z,1736401916.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:56.794Z,1736401916.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:57.236Z,1736401917.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:57.640Z,1736401917.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:58.009Z,1736401918.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:58.429Z,1736401918.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:58.802Z,1736401918.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:59.275Z,1736401919.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:51:59.651Z,1736401919.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:00.016Z,1736401920.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:00.443Z,1736401920.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:00.822Z,1736401920.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:01.237Z,1736401921.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:01.679Z,1736401921.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:02.039Z,1736401922.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:02.466Z,1736401922.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:02.865Z,1736401922.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:03.249Z,1736401923.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:03.715Z,1736401923.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:04.075Z,1736401924.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:04.494Z,1736401924.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:04.871Z,1736401924.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:05.276Z,1736401925.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:05.705Z,1736401925.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:06.087Z,1736401926.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:06.501Z,1736401926.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:06.890Z,1736401926.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:07.287Z,1736401927.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:07.732Z,1736401927.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:08.101Z,1736401928.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:08.526Z,1736401928.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:08.907Z,1736401928.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:09.317Z,1736401929.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:09.739Z,1736401929.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:10.132Z,1736401930.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:10.556Z,1736401930.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:10.565Z,1736401930.565 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-01-09T05:52:10.566Z,1736401930.566 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-01-09T05:52:10.577Z,1736401930.577 [DockingStepper](INFO): Changing to mode: 1
2025-01-09T05:52:10.577Z,1736401930.577 [DockingStepper](INFO): Standby mode.
2025-01-09T05:52:10.635Z,1736401930.635 [DockingStepper](INFO): Commanding positive:34496
2025-01-09T05:52:10.954Z,1736401930.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:11.187Z,1736401931.187 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-01-09T05:52:11.329Z,1736401931.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:11.443Z,1736401931.443 [DAT](INFO): DAT read: user:220>

2025-01-09T05:52:11.446Z,1736401931.446 [DAT](INFO): DAT read: Tx time:05:52:10.5833

2025-01-09T05:52:11.447Z,1736401931.447 [DAT](INFO): Ping request sent.
2025-01-09T05:52:11.448Z,1736401931.448 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:52:11.448Z,1736401931.448 [DAT](INFO): publishing transmit ping time
2025-01-09T05:52:11.450Z,1736401931.450 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-01-09T05:52:11.693Z,1736401931.693 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-01-09T05:52:11.781Z,1736401931.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:12.160Z,1736401932.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:12.560Z,1736401932.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:12.956Z,1736401932.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:13.356Z,1736401933.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:13.709Z,1736401933.709 [DAT](INFO): DAT read: Rx Time:05:52:12.4630

2025-01-09T05:52:13.709Z,1736401933.709 [DAT](INFO): Rx dataTimestamp_ set to:1736401933.709022
2025-01-09T05:52:13.796Z,1736401933.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:14.164Z,1736401934.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:14.211Z,1736401934.211 [DAT](INFO): DAT read: OK

2025-01-09T05:52:14.212Z,1736401934.212 [DAT](INFO): unknown deviceResponse_: OK

2025-01-09T05:52:14.212Z,1736401934.212 [DAT](INFO): DAT read: user:221>

2025-01-09T05:52:14.468Z,1736401934.468 [DAT](INFO): DAT read: Tx time:05:52:13.5833

2025-01-09T05:52:14.469Z,1736401934.469 [DAT](INFO): Ping request sent.
2025-01-09T05:52:14.469Z,1736401934.469 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:52:14.470Z,1736401934.470 [DAT](INFO): publishing transmit ping time
2025-01-09T05:52:14.599Z,1736401934.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:14.970Z,1736401934.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:15.369Z,1736401935.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:15.817Z,1736401935.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:16.177Z,1736401936.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:16.599Z,1736401936.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:16.737Z,1736401936.737 [DAT](INFO): DAT read: Rx Time:05:52:15.4631

2025-01-09T05:52:16.737Z,1736401936.737 [DAT](INFO): Rx dataTimestamp_ set to:1736401936.736760
2025-01-09T05:52:16.989Z,1736401936.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:17.244Z,1736401937.244 [DAT](INFO): DAT read: 05:52:15.4632 LVL= 13584, 25825, 15218, 18307, AGC= 35, IDX= 440, 0.07,-2.577,-1.097,-1.947,-0.493, PHS=-1.996,-0.557,-1.457, RAW= 308.3,  48.4, CAL= 314.5,  48.3, ROT= 195.5, -48.3

2025-01-09T05:52:17.245Z,1736401937.245 [DAT](INFO): got valid direction response:
 05:52:15.4632 LVL= 13584, 25825, 15218, 18307, AGC= 35, IDX= 440, 0.07,-2.577,-1.097,-1.947,-0.493, PHS=-1.996,-0.557,-1.457, RAW= 308.3,  48.4, CAL= 314.5,  48.3, ROT= 195.5, -48.3

2025-01-09T05:52:17.246Z,1736401937.246 [DAT](INFO): DAT read: OK

2025-01-09T05:52:17.246Z,1736401937.246 [DAT](INFO): unknown deviceResponse_: OK

2025-01-09T05:52:17.246Z,1736401937.246 [DAT](INFO): DAT read: user:222>

2025-01-09T05:52:17.247Z,1736401937.247 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-01-09T05:52:17.248Z,1736401937.248 [DAT](INFO): direction in FSK: [-0.641036,-0.177775,0.746638]
2025-01-09T05:52:17.405Z,1736401937.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:17.495Z,1736401937.495 [DAT](INFO): DAT read: Tx time:05:52:16.5834

2025-01-09T05:52:17.497Z,1736401937.497 [DAT](INFO): Ping request sent.
2025-01-09T05:52:17.497Z,1736401937.497 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:52:17.498Z,1736401937.498 [DAT](INFO): publishing transmit ping time
2025-01-09T05:52:17.820Z,1736401937.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:18.213Z,1736401938.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:18.635Z,1736401938.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:19.022Z,1736401939.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:19.439Z,1736401939.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:19.790Z,1736401939.790 [DAT](INFO): DAT read: Rx Time:05:52:18.4636

2025-01-09T05:52:19.790Z,1736401939.790 [DAT](INFO): Rx dataTimestamp_ set to:1736401939.789815
2025-01-09T05:52:19.893Z,1736401939.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:20.263Z,1736401940.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:20.293Z,1736401940.293 [DAT](INFO): DAT read: OK

2025-01-09T05:52:20.293Z,1736401940.293 [DAT](INFO): unknown deviceResponse_: OK

2025-01-09T05:52:20.680Z,1736401940.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:21.059Z,1736401941.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:21.456Z,1736401941.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:21.880Z,1736401941.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:22.279Z,1736401942.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:22.705Z,1736401942.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:23.081Z,1736401943.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:23.485Z,1736401943.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:23.904Z,1736401943.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:24.294Z,1736401944.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:24.717Z,1736401944.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:25.116Z,1736401945.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:25.497Z,1736401945.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:25.920Z,1736401945.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:26.313Z,1736401946.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:26.752Z,1736401946.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:27.114Z,1736401947.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:27.519Z,1736401947.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:27.948Z,1736401947.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:28.330Z,1736401948.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:28.781Z,1736401948.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:29.134Z,1736401949.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:29.540Z,1736401949.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:29.966Z,1736401949.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:30.348Z,1736401950.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:30.799Z,1736401950.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:31.162Z,1736401951.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:31.564Z,1736401951.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:31.997Z,1736401951.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:32.364Z,1736401952.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:32.832Z,1736401952.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:33.185Z,1736401953.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:33.576Z,1736401953.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:34.033Z,1736401954.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:34.389Z,1736401954.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:34.864Z,1736401954.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:35.192Z,1736401955.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:35.595Z,1736401955.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:36.044Z,1736401956.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:36.416Z,1736401956.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:36.886Z,1736401956.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:37.230Z,1736401957.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:37.623Z,1736401957.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:38.049Z,1736401958.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:38.428Z,1736401958.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:38.889Z,1736401958.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:39.253Z,1736401959.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:39.647Z,1736401959.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:40.067Z,1736401960.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:40.448Z,1736401960.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:40.922Z,1736401960.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:41.281Z,1736401961.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:41.661Z,1736401961.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:42.123Z,1736401962.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:42.480Z,1736401962.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:42.949Z,1736401962.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:43.352Z,1736401963.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:43.869Z,1736401963.869 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:44.354Z,1736401964.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:44.816Z,1736401964.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:45.244Z,1736401965.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:45.261Z,1736401965.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-09T05:52:45.268Z,1736401965.268 [DAT](DEBUG): Acoustic response timeout
2025-01-09T05:52:45.268Z,1736401965.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-09T05:52:45.520Z,1736401965.520 [DAT](INFO): DAT read: user:223>

2025-01-09T05:52:45.520Z,1736401965.520 [DAT](INFO): DAT read: Tx time:05:52:44.6847

2025-01-09T05:52:45.521Z,1736401965.521 [DAT](INFO): Ping request sent.
2025-01-09T05:52:45.521Z,1736401965.521 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:52:45.521Z,1736401965.521 [DAT](INFO): publishing transmit ping time
2025-01-09T05:52:45.522Z,1736401965.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-01-09T05:52:45.619Z,1736401965.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:45.772Z,1736401965.772 [DAT](INFO): DAT read: TxSync time:05:52:44.6839

2025-01-09T05:52:45.773Z,1736401965.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251796
2025-01-09T05:52:46.025Z,1736401966.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503491
2025-01-09T05:52:46.055Z,1736401966.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:46.276Z,1736401966.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755159
2025-01-09T05:52:46.411Z,1736401966.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:46.528Z,1736401966.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007132
2025-01-09T05:52:46.780Z,1736401966.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258803
2025-01-09T05:52:46.804Z,1736401966.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:47.032Z,1736401967.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511048
2025-01-09T05:52:47.248Z,1736401967.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:47.284Z,1736401967.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763070
2025-01-09T05:52:47.536Z,1736401967.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014873
2025-01-09T05:52:47.616Z,1736401967.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:47.788Z,1736401967.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266858
2025-01-09T05:52:48.040Z,1736401968.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518882
2025-01-09T05:52:48.051Z,1736401968.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:48.292Z,1736401968.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771510
2025-01-09T05:52:48.421Z,1736401968.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:48.544Z,1736401968.544 [DAT](INFO): DAT read: Rx Time:05:52:47.0903

2025-01-09T05:52:48.544Z,1736401968.544 [DAT](INFO): Rx dataTimestamp_ set to:1736401968.543879
2025-01-09T05:52:48.545Z,1736401968.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023883
2025-01-09T05:52:48.797Z,1736401968.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276421
2025-01-09T05:52:48.835Z,1736401968.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:49.048Z,1736401969.048 [DAT](INFO): DAT read: Range 10 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-01-09T05:52:49.049Z,1736401969.049 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-09T05:52:49.231Z,1736401969.231 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,              +0.00,        +0.00,  20.0
2025-01-09T05:52:49.238Z,1736401969.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-09T05:52:49.238Z,1736401969.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:49.620Z,1736401969.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-09T05:52:49.620Z,1736401969.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:49.647Z,1736401969.647 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002894
2025-01-09T05:52:50.084Z,1736401970.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:50.094Z,1736401970.094 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DOCKED.. Waiting for state timeout to act...
2025-01-09T05:52:50.095Z,1736401970.095 [lineCaptureHoming:J] Running Loop=1
2025-01-09T05:52:50.095Z,1736401970.095 [lineCaptureHoming:J] Running Loop=1
2025-01-09T05:52:50.096Z,1736401970.096 [lineCaptureHoming:J](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-09T05:52:50.931Z,1736401970.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:51.388Z,1736401971.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:51.723Z,1736401971.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:52.186Z,1736401972.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:52.556Z,1736401972.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:52.832Z,1736401972.832 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:52:52.916Z,1736401972.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:53.351Z,1736401973.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:53.740Z,1736401973.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:54.161Z,1736401974.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:54.543Z,1736401974.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:54.955Z,1736401974.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:55.417Z,1736401975.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:55.780Z,1736401975.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:56.226Z,1736401976.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:56.568Z,1736401976.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:56.976Z,1736401976.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:57.444Z,1736401977.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:57.864Z,1736401977.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:58.297Z,1736401978.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:58.763Z,1736401978.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:59.192Z,1736401979.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:59.560Z,1736401979.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:52:59.917Z,1736401979.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:00.341Z,1736401980.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:00.738Z,1736401980.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:01.123Z,1736401981.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:01.327Z,1736401981.327 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250109T035234/Courier0049.lzma
2025-01-09T05:53:01.549Z,1736401981.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:01.955Z,1736401981.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:02.331Z,1736401982.331 [DataOverHttps](INFO): Moved sent file to Logs/20250109T035234/Courier0049.lzma.bak
2025-01-09T05:53:02.331Z,1736401982.331 [DataOverHttps](INFO): SBD MOMSN=23887657
2025-01-09T05:53:02.387Z,1736401982.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:02.749Z,1736401982.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:03.146Z,1736401983.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:03.586Z,1736401983.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:03.972Z,1736401983.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:04.422Z,1736401984.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:04.788Z,1736401984.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:05.185Z,1736401985.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:05.445Z,1736401985.445 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:53:05.609Z,1736401985.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:05.974Z,1736401985.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:06.404Z,1736401986.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:06.782Z,1736401986.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:07.188Z,1736401987.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:07.649Z,1736401987.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:08.020Z,1736401988.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:08.485Z,1736401988.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:08.821Z,1736401988.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:09.224Z,1736401989.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:09.656Z,1736401989.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:10.028Z,1736401990.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:10.477Z,1736401990.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:10.853Z,1736401990.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:11.252Z,1736401991.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:11.831Z,1736401991.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:12.158Z,1736401992.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:12.612Z,1736401992.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:12.945Z,1736401992.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:13.404Z,1736401993.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:13.786Z,1736401993.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:14.151Z,1736401994.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:14.587Z,1736401994.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:14.984Z,1736401994.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:15.427Z,1736401995.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:15.811Z,1736401995.811 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T05:53:15.813Z,1736401995.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:16.170Z,1736401996.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:16.623Z,1736401996.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:16.997Z,1736401996.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:17.432Z,1736401997.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:17.805Z,1736401997.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:18.204Z,1736401998.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:18.669Z,1736401998.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:19.077Z,1736401999.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:19.417Z,1736401999.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:19.921Z,1736401999.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:20.258Z,1736402000.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:20.297Z,1736402000.297 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DOCKED at depth of 66.403572 with power and with comms
2025-01-09T05:53:20.710Z,1736402000.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:20.726Z,1736402000.726 [lineCaptureHoming:Lap] Stopped
2025-01-09T05:53:20.726Z,1736402000.726 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-01-09T05:53:20.726Z,1736402000.726 [lineCaptureHoming:Lap:Docked] Stopped
2025-01-09T05:53:20.726Z,1736402000.726 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-01-09T05:53:20.726Z,1736402000.726 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-01-09T05:53:20.731Z,1736402000.731 [lineCaptureHoming:Lap](INFO): Running loop #2
2025-01-09T05:53:20.731Z,1736402000.731 [lineCaptureHoming:Lap] Running Loop=2
2025-01-09T05:53:20.731Z,1736402000.731 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-01-09T05:53:20.731Z,1736402000.731 [lineCaptureHoming:Lap:A] Running Loop=1
2025-01-09T05:53:21.072Z,1736402001.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:21.096Z,1736402001.096 [lineCaptureHoming:Lap] Stopped
2025-01-09T05:53:21.097Z,1736402001.097 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-01-09T05:53:21.097Z,1736402001.097 [lineCaptureHoming:Lap:A] Stopped
2025-01-09T05:53:21.109Z,1736402001.109 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-01-09T05:53:21.109Z,1736402001.109 [MissionManager](INFO): lineCaptureHoming is completed.
2025-01-09T05:53:21.110Z,1736402001.110 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-01-09T05:53:21.110Z,1736402001.110 [lineCaptureHoming] Stopped
2025-01-09T05:53:21.110Z,1736402001.110 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-01-09T05:53:21.110Z,1736402001.110 [lineCaptureHoming:Science] Stopped
2025-01-09T05:53:21.110Z,1736402001.110 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-01-09T05:53:21.110Z,1736402001.110 [lineCaptureHoming:Science:B] Stopped
2025-01-09T05:53:21.110Z,1736402001.110 [lineCaptureHoming:Science:C] Stopped
2025-01-09T05:53:21.110Z,1736402001.110 [lineCaptureHoming:Science:E] Stopped
2025-01-09T05:53:21.110Z,1736402001.110 [lineCaptureHoming:Science:F] Stopped
2025-01-09T05:53:21.110Z,1736402001.110 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-01-09T05:53:21.119Z,1736402001.119 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-01-09T05:53:21.119Z,1736402001.119 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-01-09T05:53:21.119Z,1736402001.119 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-01-09T05:53:21.119Z,1736402001.119 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-01-09T05:53:21.119Z,1736402001.119 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-09T05:53:21.119Z,1736402001.119 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-09T05:53:21.119Z,1736402001.119 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-09T05:53:21.119Z,1736402001.119 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-09T05:53:21.119Z,1736402001.119 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-09T05:53:21.119Z,1736402001.119 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-09T05:53:21.119Z,1736402001.119 [lineCaptureHoming:J] Stopped
2025-01-09T05:53:21.120Z,1736402001.120 [lineCaptureHoming:TrackAC.] Stopped
2025-01-09T05:53:21.120Z,1736402001.120 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-01-09T05:53:21.247Z,1736402001.247 [WetLabsBB2FL](INFO): Powering down
2025-01-09T05:53:21.272Z,1736402001.272 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-01-09T05:53:21.283Z,1736402001.283 [WetLabsUBAT](INFO): Powering down
2025-01-09T05:53:21.336Z,1736402001.336 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-01-09T05:53:21.556Z,1736402001.556 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-01-09T05:53:21.556Z,1736402001.556 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-01-09T05:53:21.559Z,1736402001.559 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-01-09T05:53:21.570Z,1736402001.570 [DockingStepper](INFO): Pause
2025-01-09T05:53:21.587Z,1736402001.587 [DAT](INFO): DAT read: user:224>

2025-01-09T05:53:21.588Z,1736402001.588 [DAT](INFO): DAT read: Tx time:05:53:20.7342

2025-01-09T05:53:21.589Z,1736402001.589 [DAT](INFO): Ping request sent.
2025-01-09T05:53:21.589Z,1736402001.589 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:53:21.589Z,1736402001.589 [DAT](INFO): publishing transmit ping time
2025-01-09T05:53:21.589Z,1736402001.589 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-01-09T05:53:21.840Z,1736402001.840 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-01-09T05:53:21.933Z,1736402001.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:22.213Z,1736402002.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:22.631Z,1736402002.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:22.991Z,1736402002.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:23.407Z,1736402003.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:23.856Z,1736402003.856 [DAT](INFO): DAT read: Rx Time:05:53:22.6155

2025-01-09T05:53:23.856Z,1736402003.856 [DAT](INFO): Rx dataTimestamp_ set to:1736402003.855700
2025-01-09T05:53:23.881Z,1736402003.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:24.234Z,1736402004.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:24.359Z,1736402004.359 [DAT](INFO): DAT read: OK

2025-01-09T05:53:24.360Z,1736402004.360 [DAT](INFO): unknown deviceResponse_: OK

2025-01-09T05:53:24.360Z,1736402004.360 [DAT](INFO): DAT read: user:225>

2025-01-09T05:53:24.612Z,1736402004.612 [DAT](INFO): DAT read: Tx time:05:53:23.7342

2025-01-09T05:53:24.612Z,1736402004.612 [DAT](INFO): Ping request sent.
2025-01-09T05:53:24.612Z,1736402004.612 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:53:24.612Z,1736402004.612 [DAT](INFO): publishing transmit ping time
2025-01-09T05:53:24.685Z,1736402004.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:25.016Z,1736402005.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:25.415Z,1736402005.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:25.834Z,1736402005.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:26.045Z,1736402006.045 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-01-09T05:53:26.053Z,1736402006.053 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-01-09T05:53:26.058Z,1736402006.058 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-01-09T05:53:26.063Z,1736402006.063 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-01-09T05:53:26.083Z,1736402006.083 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-01-09T05:53:26.091Z,1736402006.091 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-01-09T05:53:26.099Z,1736402006.099 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-01-09T05:53:26.107Z,1736402006.107 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m
2025-01-09T05:53:26.112Z,1736402006.112 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-01-09T05:53:26.128Z,1736402006.128 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-01-09T05:53:26.136Z,1736402006.136 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-01-09T05:53:26.142Z,1736402006.142 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-01-09T05:53:26.161Z,1736402006.161 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-01-09T05:53:26.165Z,1736402006.165 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-01-09T05:53:26.165Z,1736402006.165 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-09T05:53:26.166Z,1736402006.166 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-09T05:53:26.175Z,1736402006.175 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-09T05:53:26.226Z,1736402006.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:26.358Z,1736402006.358 [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>

2025-01-09T05:53:26.382Z,1736402006.382 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-09T05:53:26.401Z,1736402006.401 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-09T05:53:26.405Z,1736402006.405 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-09T05:53:26.427Z,1736402006.427 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-09T05:53:26.428Z,1736402006.428 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-09T05:53:26.445Z,1736402006.445 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-09T05:53:26.467Z,1736402006.467 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-09T05:53:26.514Z,1736402006.514 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-09T05:53:26.519Z,1736402006.519 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-09T05:53:26.522Z,1736402006.522 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-09T05:53:26.651Z,1736402006.651 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-01-09T05:53:26.664Z,1736402006.664 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-01-09T05:53:26.673Z,1736402006.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:26.675Z,1736402006.675 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-09T05:53:26.678Z,1736402006.678 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-09T05:53:26.678Z,1736402006.678 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-09T05:53:26.687Z,1736402006.687 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-09T05:53:26.880Z,1736402006.880 [DAT](INFO): DAT read: Rx Time:05:53:25.6151

2025-01-09T05:53:26.880Z,1736402006.880 [DAT](INFO): Rx dataTimestamp_ set to:1736402006.879868
2025-01-09T05:53:26.912Z,1736402006.912 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-01-09T05:53:26.927Z,1736402006.927 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-01-09T05:53:26.935Z,1736402006.935 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-01-09T05:53:26.944Z,1736402006.944 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-01-09T05:53:26.954Z,1736402006.954 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-01-09T05:53:26.965Z,1736402006.965 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-09T05:53:26.986Z,1736402006.986 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-09T05:53:27.034Z,1736402007.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:27.038Z,1736402007.038 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-01-09T05:53:27.053Z,1736402007.053 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-09T05:53:27.053Z,1736402007.053 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-09T05:53:27.068Z,1736402007.068 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-09T05:53:27.383Z,1736402007.383 [DAT](INFO): DAT read: OK

2025-01-09T05:53:27.384Z,1736402007.384 [DAT](INFO): unknown deviceResponse_: OK

2025-01-09T05:53:27.384Z,1736402007.384 [DAT](INFO): DAT read: user:226>

2025-01-09T05:53:27.472Z,1736402007.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:27.636Z,1736402007.636 [DAT](INFO): DAT read: Tx time:05:53:26.7342

2025-01-09T05:53:27.636Z,1736402007.636 [DAT](INFO): Ping request sent.
2025-01-09T05:53:27.636Z,1736402007.636 [DAT](INFO): transmitted an acoustic signal
2025-01-09T05:53:27.636Z,1736402007.636 [DAT](INFO): publishing transmit ping time
2025-01-09T05:53:27.916Z,1736402007.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:28.256Z,1736402008.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:28.769Z,1736402008.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:29.089Z,1736402009.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:29.523Z,1736402009.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:29.904Z,1736402009.904 [DAT](INFO): DAT read: Rx Time:05:53:28.6154

2025-01-09T05:53:29.904Z,1736402009.904 [DAT](INFO): Rx dataTimestamp_ set to:1736402009.903833
2025-01-09T05:53:29.909Z,1736402009.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:30.276Z,1736402010.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:30.407Z,1736402010.407 [DAT](INFO): DAT read: OK

2025-01-09T05:53:30.408Z,1736402010.408 [DAT](INFO): unknown deviceResponse_: OK

2025-01-09T05:53:30.683Z,1736402010.683 [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>

2025-01-09T05:53:30.738Z,1736402010.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:30.753Z,1736402010.753 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-01-09T05:53:30.773Z,1736402010.773 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-01-09T05:53:30.778Z,1736402010.778 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-01-09T05:53:30.794Z,1736402010.794 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-01-09T05:53:30.802Z,1736402010.802 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-01-09T05:53:30.810Z,1736402010.810 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-01-09T05:53:30.828Z,1736402010.828 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-01-09T05:53:30.833Z,1736402010.833 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-09T05:53:30.845Z,1736402010.845 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-09T05:53:30.849Z,1736402010.849 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-01-09T05:53:30.865Z,1736402010.865 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-01-09T05:53:30.870Z,1736402010.870 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-01-09T05:53:30.881Z,1736402010.881 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-01-09T05:53:30.885Z,1736402010.885 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-09T05:53:30.897Z,1736402010.897 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-09T05:53:30.901Z,1736402010.901 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-09T05:53:30.913Z,1736402010.913 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-09T05:53:30.927Z,1736402010.927 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-09T05:53:30.933Z,1736402010.933 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-01-09T05:53:30.957Z,1736402010.957 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-01-09T05:53:30.975Z,1736402010.975 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-01-09T05:53:30.983Z,1736402010.983 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-01-09T05:53:30.990Z,1736402010.990 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-09T05:53:30.996Z,1736402010.996 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool
2025-01-09T05:53:31.008Z,1736402011.008 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-01-09T05:53:31.012Z,1736402011.012 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-01-09T05:53:31.028Z,1736402011.028 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakShallowBound = nan m
2025-01-09T05:53:31.032Z,1736402011.032 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDeepBound = nan m
2025-01-09T05:53:31.044Z,1736402011.044 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-09T05:53:31.087Z,1736402011.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:31.092Z,1736402011.092 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-01-09T05:53:31.116Z,1736402011.116 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-01-09T05:53:31.126Z,1736402011.126 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-01-09T05:53:31.138Z,1736402011.138 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-01-09T05:53:31.146Z,1736402011.146 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-01-09T05:53:31.154Z,1736402011.154 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-01-09T05:53:31.167Z,1736402011.167 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-01-09T05:53:31.175Z,1736402011.175 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-01-09T05:53:31.187Z,1736402011.187 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-01-09T05:53:31.236Z,1736402011.236 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-01-09T05:53:31.240Z,1736402011.240 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-01-09T05:53:31.244Z,1736402011.244 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-01-09T05:53:31.248Z,1736402011.248 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-01-09T05:53:31.252Z,1736402011.252 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-01-09T05:53:31.264Z,1736402011.264 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-01-09T05:53:31.269Z,1736402011.269 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-01-09T05:53:31.294Z,1736402011.294 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-01-09T05:53:31.306Z,1736402011.306 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-01-09T05:53:31.314Z,1736402011.314 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-01-09T05:53:31.327Z,1736402011.327 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-01-09T05:53:31.332Z,1736402011.332 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-01-09T05:53:31.336Z,1736402011.336 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-01-09T05:53:31.344Z,1736402011.344 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-01-09T05:53:31.350Z,1736402011.350 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-01-09T05:53:31.354Z,1736402011.354 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-01-09T05:53:31.367Z,1736402011.367 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-01-09T05:53:31.373Z,1736402011.373 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-01-09T05:53:31.377Z,1736402011.377 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-09T05:53:31.381Z,1736402011.381 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-09T05:53:31.393Z,1736402011.393 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-09T05:53:31.398Z,1736402011.398 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-09T05:53:31.414Z,1736402011.414 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-09T05:53:31.427Z,1736402011.427 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-09T05:53:31.434Z,1736402011.434 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-09T05:53:31.438Z,1736402011.438 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-09T05:53:31.446Z,1736402011.446 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-09T05:53:31.476Z,1736402011.476 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-09T05:53:31.501Z,1736402011.501 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-09T05:53:31.525Z,1736402011.525 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-09T05:53:31.529Z,1736402011.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:31.559Z,1736402011.559 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-09T05:53:31.568Z,1736402011.568 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-09T05:53:31.574Z,1736402011.574 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-09T05:53:31.608Z,1736402011.608 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-09T05:53:31.634Z,1736402011.634 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-09T05:53:31.664Z,1736402011.664 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-09T05:53:31.674Z,1736402011.674 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-09T05:53:31.689Z,1736402011.689 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-09T05:53:31.694Z,1736402011.694 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-01-09T05:53:31.706Z,1736402011.706 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-01-09T05:53:31.722Z,1736402011.722 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-01-09T05:53:31.730Z,1736402011.730 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-01-09T05:53:31.742Z,1736402011.742 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-01-09T05:53:31.746Z,1736402011.746 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-01-09T05:53:31.759Z,1736402011.759 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-01-09T05:53:31.766Z,1736402011.766 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-01-09T05:53:31.770Z,1736402011.770 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-01-09T05:53:31.778Z,1736402011.778 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-01-09T05:53:31.792Z,1736402011.792 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-01-09T05:53:31.796Z,1736402011.796 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-01-09T05:53:31.801Z,1736402011.801 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-01-09T05:53:31.821Z,1736402011.821 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-01-09T05:53:31.835Z,1736402011.835 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-01-09T05:53:31.843Z,1736402011.843 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-01-09T05:53:31.852Z,1736402011.852 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-01-09T05:53:31.963Z,1736402011.963 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T05:53:32.001Z,1736402012.001 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-09T05:53:31.998Z,1736402011.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:32.048Z,1736402012.048 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T05:53:32.085Z,1736402012.085 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T05:53:32.124Z,1736402012.124 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-09T05:53:32.157Z,1736402012.157 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T05:53:32.193Z,1736402012.193 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T05:53:32.224Z,1736402012.224 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-09T05:53:32.255Z,1736402012.255 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T05:53:32.294Z,1736402012.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:32.329Z,1736402012.329 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T05:53:32.373Z,1736402012.373 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T05:53:32.415Z,1736402012.415 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-09T05:53:32.446Z,1736402012.446 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-09T05:53:32.521Z,1736402012.521 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-01-09T05:53:32.534Z,1736402012.534 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-01-09T05:53:32.540Z,1736402012.540 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-01-09T05:53:32.542Z,1736402012.542 [OnDock:N.Docked](DEBUG): Construct.
2025-01-09T05:53:32.542Z,1736402012.542 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-01-09T05:53:32.591Z,1736402012.591 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-01-09T05:53:32.591Z,1736402012.591 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-01-09T05:53:32.736Z,1736402012.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:32.793Z,1736402012.793 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission {
  """
  Wait on dock, communicating when possible
  """

  arguments {
    DockedTime = 8 hour
      """
      Time to stay on dock. Mission timeout will be five minutes longer.
      """

    DetachedTimeout = Dock:Docked.detachTimeout
      """
      Time duration limit for determining if the vehicle is detached from the
      dock.
      """

    RangeTimeout = Dock:Docked.rangeTimeout
      """
      Maximum allowed time without acoustic range.
      """

    TrackingUpdatePeriod = 2 minute
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    MaxDepth = BIT:CBIT.stopDepth
      """
      Maximum depth while docked.
      """

    MinAltitude = 5 meter
      """
      Minimum altitude
      """

    MinOffshore = 2 km
      """
      Minimum offshore
      """

    StayOnDock = false
      """
      If true, don't detach from dock at end of mission
      """

    IfconfigInterval = 2 hour
      """
      How long to wait between ifconfig runs
      """

    RunScience = false
      """
      If true, run Science while on the dock.
      """

    # Mission variables (do not change)
    MissionTimeout = DockedTime
      """
      Mission timeout (local variable, do not change)
      """
  }

  timeout duration=MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  # End docking 5 minutes before end of mission to allow clean undock
  assign in sequence MissionTimeout = DockedTime + 5 minute

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Send data when connection exists
  aggregate dataRead {
    run while ( true )

    readDatum {
      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }
  }

  aggregate science {
    run in parallel

    break if ( not RunScience )

    insert Insert/Science.tl
  }

  behavior Estimation:TrackAcousticContact {
    run in parallel

    set contactLabelSetting = TransponderCode
    set numberOfSamplesSetting = NumberOfPings
    set updatePeriodSetting = TrackingUpdatePeriod
  }

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate PeriodicCheck {
    run in parallel

    aggregate CheckIP {
      run in sequence

      behavior Guidance:Execute {
        run in sequence

        set command = "! ifconfig"
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = IfconfigInterval
      }
    }
  }

  behavior Dock:Docked {
    run in sequence

    timeout duration=DockedTime

    set detachTimeout = DetachedTimeout
    set rangeTimeout = RangeTimeout
  }

  # Undock cleanly, instead of relying on DefaultWithUndock to come next
  aggregate Detach {
    run in sequence

    break if ( StayOnDock == true )

    syslog important "Mission ending, breaking off. Range: "
         + Estimation:TrackAcousticContact.range_to_contact~meter + "."

    behavior Dock:Undock {
      run in sequence
    }
  }
}


2025-01-09T05:53:32.794Z,1736402012.794 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-01-09T05:53:33.106Z,1736402013.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:33.118Z,1736402013.118 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-01-09T05:53:33.131Z,1736402013.131 [DefaultWithUndock] Running Loop=1
2025-01-09T05:53:33.131Z,1736402013.131 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-01-09T05:53:33.131Z,1736402013.131 [DefaultWithUndock:A.Wait] Running Loop=1
2025-01-09T05:53:33.131Z,1736402013.131 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-01-09T05:53:33.520Z,1736402013.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:33.998Z,1736402013.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:34.309Z,1736402014.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:34.814Z,1736402014.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:35.130Z,1736402015.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:35.536Z,1736402015.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:35.957Z,1736402015.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:36.335Z,1736402016.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:36.797Z,1736402016.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:36.884Z,1736402016.884 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 1 hour
2025-01-09T05:53:36.885Z,1736402016.885 [CommandExec](IMPORTANT): got command run
2025-01-09T05:53:36.904Z,1736402016.904 [CommandExec](IMPORTANT): Running 
2025-01-09T05:53:37.149Z,1736402017.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:37.153Z,1736402017.153 [DefaultWithUndock] Stopped
2025-01-09T05:53:37.153Z,1736402017.153 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-01-09T05:53:37.153Z,1736402017.153 [DefaultWithUndock:A.Wait] Stopped
2025-01-09T05:53:37.153Z,1736402017.153 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-09T05:53:37.153Z,1736402017.153 [MissionManager](IMPORTANT): Started mission OnDock
2025-01-09T05:53:37.153Z,1736402017.153 [OnDock] Running Loop=1
2025-01-09T05:53:37.154Z,1736402017.154 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-01-09T05:53:37.154Z,1736402017.154 [OnDock:StandardEnvelopes] Running Loop=1
2025-01-09T05:53:37.154Z,1736402017.154 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-01-09T05:53:37.154Z,1736402017.154 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-09T05:53:37.154Z,1736402017.154 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-09T05:53:37.154Z,1736402017.154 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-09T05:53:37.154Z,1736402017.154 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-09T05:53:37.154Z,1736402017.154 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-09T05:53:37.155Z,1736402017.155 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-09T05:53:37.155Z,1736402017.155 [OnDock:BackseatDriver] Running Loop=1
2025-01-09T05:53:37.155Z,1736402017.155 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-01-09T05:53:37.155Z,1736402017.155 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-09T05:53:37.155Z,1736402017.155 [OnDock:PowerOnly] Running Loop=1
2025-01-09T05:53:37.155Z,1736402017.155 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-01-09T05:53:37.155Z,1736402017.155 [OnDock:PowerOnly:A] Running Loop=1
2025-01-09T05:53:37.155Z,1736402017.155 [OnDock:PowerOnly:B] Running Loop=1
2025-01-09T05:53:37.155Z,1736402017.155 [OnDock:PowerOnly:C] Running Loop=1
2025-01-09T05:53:37.155Z,1736402017.155 [OnDock:PowerOnly:D] Running Loop=1
2025-01-09T05:53:37.155Z,1736402017.155 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-01-09T05:53:37.156Z,1736402017.156 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-09T05:53:37.156Z,1736402017.156 [OnDock:dataRead] Running Loop=1
2025-01-09T05:53:37.156Z,1736402017.156 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-01-09T05:53:37.156Z,1736402017.156 [OnDock:dataRead:A] Running Loop=1
2025-01-09T05:53:37.156Z,1736402017.156 [OnDock:science] Running Loop=1
2025-01-09T05:53:37.156Z,1736402017.156 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-01-09T05:53:37.156Z,1736402017.156 [OnDock:science:Science] Running Loop=1
2025-01-09T05:53:37.156Z,1736402017.156 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-01-09T05:53:37.156Z,1736402017.156 [OnDock:science:Science:A] Running Loop=1
2025-01-09T05:53:37.156Z,1736402017.156 [OnDock:science:Science:B] Running Loop=1
2025-01-09T05:53:37.156Z,1736402017.156 [OnDock:science:Science:C] Running Loop=1
2025-01-09T05:53:37.156Z,1736402017.156 [OnDock:science:Science:D] Running Loop=1
2025-01-09T05:53:37.157Z,1736402017.157 [OnDock:science:Science:E] Running Loop=1
2025-01-09T05:53:37.157Z,1736402017.157 [OnDock:science:Science:F] Running Loop=1
2025-01-09T05:53:37.157Z,1736402017.157 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-01-09T05:53:37.157Z,1736402017.157 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-01-09T05:53:37.157Z,1736402017.157 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-01-09T05:53:37.157Z,1736402017.157 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T05:53:37.157Z,1736402017.157 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T05:53:37.159Z,1736402017.159 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-01-09T05:53:37.159Z,1736402017.159 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-01-09T05:53:37.159Z,1736402017.159 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-09T05:53:37.159Z,1736402017.159 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-09T05:53:37.160Z,1736402017.160 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-01-09T05:53:37.160Z,1736402017.160 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-01-09T05:53:37.160Z,1736402017.160 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T05:53:37.160Z,1736402017.160 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T05:53:37.162Z,1736402017.162 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-01-09T05:53:37.162Z,1736402017.162 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-01-09T05:53:37.164Z,1736402017.164 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T05:53:37.165Z,1736402017.165 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T05:53:37.167Z,1736402017.167 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-01-09T05:53:37.167Z,1736402017.167 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-01-09T05:53:37.167Z,1736402017.167 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-09T05:53:37.167Z,1736402017.167 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-09T05:53:37.168Z,1736402017.168 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-01-09T05:53:37.168Z,1736402017.168 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-01-09T05:53:37.168Z,1736402017.168 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T05:53:37.168Z,1736402017.168 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T05:53:37.169Z,1736402017.169 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-01-09T05:53:37.170Z,1736402017.170 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-01-09T05:53:37.170Z,1736402017.170 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T05:53:37.170Z,1736402017.170 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T05:53:37.172Z,1736402017.172 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-01-09T05:53:37.172Z,1736402017.172 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-01-09T05:53:37.172Z,1736402017.172 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-09T05:53:37.172Z,1736402017.172 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-09T05:53:37.172Z,1736402017.172 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-01-09T05:53:37.172Z,1736402017.172 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-01-09T05:53:37.173Z,1736402017.173 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T05:53:37.173Z,1736402017.173 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T05:53:37.173Z,1736402017.173 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-09T05:53:37.174Z,1736402017.174 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-01-09T05:53:37.174Z,1736402017.174 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-01-09T05:53:37.174Z,1736402017.174 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T05:53:37.174Z,1736402017.174 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T05:53:37.175Z,1736402017.175 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-09T05:53:37.176Z,1736402017.176 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-01-09T05:53:37.176Z,1736402017.176 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-01-09T05:53:37.176Z,1736402017.176 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T05:53:37.176Z,1736402017.176 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T05:53:37.176Z,1736402017.176 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence.
2025-01-09T05:53:37.177Z,1736402017.177 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-01-09T05:53:37.178Z,1736402017.178 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-09T05:53:37.178Z,1736402017.178 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1
2025-01-09T05:53:37.178Z,1736402017.178 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-09T05:53:37.178Z,1736402017.178 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence.
2025-01-09T05:53:37.195Z,1736402017.195 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-01-09T05:53:37.195Z,1736402017.195 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-01-09T05:53:37.195Z,1736402017.195 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-01-09T05:53:37.195Z,1736402017.195 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-01-09T05:53:37.196Z,1736402017.196 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-01-09T05:53:37.196Z,1736402017.196 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-01-09T05:53:37.196Z,1736402017.196 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-01-09T05:53:37.196Z,1736402017.196 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-01-09T05:53:37.196Z,1736402017.196 [OnDock:J.] Running Loop=1
2025-01-09T05:53:37.196Z,1736402017.196 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-01-09T05:53:37.196Z,1736402017.196 [OnDock:PeriodicCheck] Running Loop=1
2025-01-09T05:53:37.196Z,1736402017.196 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-01-09T05:53:37.196Z,1736402017.196 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-01-09T05:53:37.197Z,1736402017.197 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-01-09T05:53:37.197Z,1736402017.197 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-01-09T05:53:37.197Z,1736402017.197 [OnDock:B] Running Loop=1
2025-01-09T05:53:37.197Z,1736402017.197 [OnDock:PeriodicCheck] Running Loop=1
2025-01-09T05:53:37.197Z,1736402017.197 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-01-09T05:53:37.198Z,1736402017.198 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-01-09T05:53:37.198Z,1736402017.198 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-01-09T05:53:37.198Z,1736402017.198 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-01-09T05:53:37.198Z,1736402017.198 [OnDock:J.] Running Loop=1
2025-01-09T05:53:37.198Z,1736402017.198 [OnDock:J.](ERROR): Failed to read sound speed
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science] Stopped
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science:Science] Stopped
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science:Science:A] Stopped
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science:Science:B] Stopped
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science:Science:C] Stopped
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science:Science:D] Stopped
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science:Science:E] Stopped
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science:Science:F] Stopped
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science:Science:Read_Oil] Stopped
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science:Science:OceanCurrent] Stopped
2025-01-09T05:53:37.202Z,1736402017.202 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-01-09T05:53:37.212Z,1736402017.212 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-01-09T05:53:37.212Z,1736402017.212 [OnDock:science:Science:PeakDetectChl] Stopped
2025-01-09T05:53:37.212Z,1736402017.212 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-01-09T05:53:37.212Z,1736402017.212 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2025-01-09T05:53:37.212Z,1736402017.212 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T05:53:37.212Z,1736402017.212 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-01-09T05:53:37.212Z,1736402017.212 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-01-09T05:53:37.212Z,1736402017.212 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-09T05:53:37.212Z,1736402017.212 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-09T05:53:37.212Z,1736402017.212 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-01-09T05:53:37.213Z,1736402017.213 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-01-09T05:53:37.213Z,1736402017.213 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2025-01-09T05:53:37.213Z,1736402017.213 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T05:53:37.213Z,1736402017.213 [OnDock:science:Science:PeakDetectOil] Stopped
2025-01-09T05:53:37.213Z,1736402017.213 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-01-09T05:53:37.213Z,1736402017.213 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2025-01-09T05:53:37.213Z,1736402017.213 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T05:53:37.213Z,1736402017.213 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-01-09T05:53:37.213Z,1736402017.213 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-01-09T05:53:37.213Z,1736402017.213 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-09T05:53:37.213Z,1736402017.213 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-09T05:53:37.213Z,1736402017.213 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-01-09T05:53:37.214Z,1736402017.214 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-01-09T05:53:37.214Z,1736402017.214 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2025-01-09T05:53:37.214Z,1736402017.214 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T05:53:37.214Z,1736402017.214 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-01-09T05:53:37.214Z,1736402017.214 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-01-09T05:53:37.214Z,1736402017.214 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2025-01-09T05:53:37.214Z,1736402017.214 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T05:53:37.214Z,1736402017.214 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-01-09T05:53:37.214Z,1736402017.214 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-01-09T05:53:37.214Z,1736402017.214 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-09T05:53:37.214Z,1736402017.214 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-09T05:53:37.216Z,1736402017.216 [CommandExec](IMPORTANT): got command ! ifconfig
2025-01-09T05:53:37.231Z,1736402017.231 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-01-09T05:53:37.249Z,1736402017.249 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-01-09T05:53:37.250Z,1736402017.250 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-09T05:53:37.250Z,1736402017.250 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T05:53:37.250Z,1736402017.250 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-01-09T05:53:37.250Z,1736402017.250 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-01-09T05:53:37.271Z,1736402017.271 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-09T05:53:37.271Z,1736402017.271 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T05:53:37.271Z,1736402017.271 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-01-09T05:53:37.271Z,1736402017.271 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-01-09T05:53:37.271Z,1736402017.271 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped
2025-01-09T05:53:37.271Z,1736402017.271 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T05:53:37.272Z,1736402017.272 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-01-09T05:53:37.272Z,1736402017.272 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-09T05:53:37.272Z,1736402017.272 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped
2025-01-09T05:53:37.272Z,1736402017.272 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-09T05:53:37.272Z,1736402017.272 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-01-09T05:53:37.273Z,1736402017.273 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-01-09T05:53:37.273Z,1736402017.273 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-01-09T05:53:37.273Z,1736402017.273 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-01-09T05:53:37.273Z,1736402017.273 [OnDock:dataRead] Running Loop=1
2025-01-09T05:53:37.319Z,1736402017.319 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-09T05:53:37.319Z,1736402017.319 [OnDock:PowerOnly] Running Loop=1
2025-01-09T05:53:37.319Z,1736402017.319 [OnDock:PowerOnly:D] Stopped
2025-01-09T05:53:37.320Z,1736402017.320 [OnDock:PowerOnly:C] Stopped
2025-01-09T05:53:37.320Z,1736402017.320 [OnDock:PowerOnly:B] Stopped
2025-01-09T05:53:37.320Z,1736402017.320 [OnDock:PowerOnly:A] Stopped
2025-01-09T05:53:37.320Z,1736402017.320 [OnDock:BackseatDriver] Running Loop=1
2025-01-09T05:53:37.320Z,1736402017.320 [OnDock:B] Stopped
2025-01-09T05:53:37.320Z,1736402017.320 [OnDock:C] Running Loop=1
2025-01-09T05:53:37.321Z,1736402017.321 [OnDock:StandardEnvelopes] Running Loop=1
2025-01-09T05:53:37.321Z,1736402017.321 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-09T05:53:37.321Z,1736402017.321 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-09T05:53:37.322Z,1736402017.322 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-09T05:53:37.442Z,1736402017.442 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:4B  
            inet addr:134.89.93.61  Bcast:134.89.93.255  Mask:255.255.255.0
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:1993 errors:0 dropped:0 overruns:0 frame:0
            TX packets:2936 errors:0 dropped:0 overruns:0 carrier:0
            collisions:21 txqueuelen:1000 
            RX bytes:826268 (806.9 Kb)  TX bytes:539695 (527.0 Kb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:651 errors:0 dropped:0 overruns:0 frame:0
            TX packets:651 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:52812 (51.5 Kb)  TX bytes:52812 (51.5 Kb)
  
  
2025-01-09T05:53:37.892Z,1736402017.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:37.898Z,1736402017.898 [OnDock:C] Stopped
2025-01-09T05:53:37.898Z,1736402017.898 [OnDock:D] Running Loop=1
2025-01-09T05:53:38.248Z,1736402018.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:38.256Z,1736402018.256 [OnDock:D] Stopped
2025-01-09T05:53:38.256Z,1736402018.256 [OnDock:E] Running Loop=1
2025-01-09T05:53:38.655Z,1736402018.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:38.661Z,1736402018.661 [OnDock:E] Stopped
2025-01-09T05:53:38.661Z,1736402018.661 [OnDock:K] Running Loop=1
2025-01-09T05:53:39.085Z,1736402019.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:39.089Z,1736402019.089 [OnDock:K](IMPORTANT): Restarting logs
2025-01-09T05:53:39.089Z,1736402019.089 [OnDock:K] Stopped
2025-01-09T05:53:39.090Z,1736402019.090 [OnDock:L.Execute] Running Loop=1
2025-01-09T05:53:39.459Z,1736402019.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-09T05:53:39.464Z,1736402019.464 [OnDock:L.Execute](INFO): Executing command restart logs
2025-01-09T05:53:39.464Z,1736402019.464 [OnDock:L.Execute] Stopped
2025-01-09T05:53:39.464Z,1736402019.464 [OnDock:N.Docked] Running Loop=1
2025-01-09T05:53:39.464Z,1736402019.464 [OnDock:N.Docked](DEBUG): Initialize.
2025-01-09T05:53:39.464Z,1736402019.464 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.